Work machine

Abstract

Provided is a technique that allows for smooth transition of a work machine from automatic operation of an actuator to operation by manipulation of an operator. In a shovel 100 according to an embodiment of the present disclosure, when an operator's manipulated input to a hydraulic actuator HA is started in a state in which the hydraulic actuator HA is automatically operated, the actual operation state of the hydraulic actuator HA and the operation state of the hydraulic actuator HA corresponding to the manipulated input of the operator approach each other over time, thereby transitioning to a state in which the hydraulic actuator HA operates according to the manipulated input of the operator.

Description

Work machinery

[0001] The present disclosure relates to work machines.

[0002] BACKGROUND ART Conventionally, a work machine in which an actuator is operated by automatic driving has been known (see Patent Document 1).

[0003] Patent Document 1 discloses a shovel in which at least one of the boom, arm, and bucket is automatically operated.

[0004] International Publication No. 2018 / 062374

[0005] However, when an actuator is operating under automatic operation, there are cases where an operator intervenes in the automatic operation to correct the operation. In this case, the actuator may switch from automatic operation to operation under operator control when there is a large discrepancy between the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operation input. As a result, there is a possibility that large vibrations may occur in the work machine.

[0006] In view of the above-mentioned problems, an object of the present invention is to provide a technology that enables a work machine to smoothly transition from automatic operation of an actuator to operation under the control of an operator.

[0007] In order to achieve the above object, in one embodiment of the present disclosure, a work machine is provided in which, when an operator starts to input an operation to an actuator while the actuator is operating automatically, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operating input become closer over time, and the actuator transitions to a state in which it operates in accordance with the operator's operating input.

[0008] According to the above-described embodiment, the work machine can be smoothly shifted from automatic operation of the actuator to operation under the control of the operator.

[0009] FIG. 1 is a side view showing an example of a shovel. FIG. 2 is a top view showing an example of a shovel. FIG. 3 is a diagram showing an example of a configuration related to remote operation of a shovel. FIG. 4 is a diagram showing an example of a hardware configuration of a shovel. FIG. 5 is a diagram showing an example of a configuration of an operation system and a hydraulic drive system of a shovel. FIG. 6 is a functional block diagram showing an example of a functional configuration related to automatic operation of a shovel. FIG. 7 is a flowchart showing an example of a control process related to an intervention operation in an automatic operation mode. FIG. 8 is a flowchart showing an example of a control process in a transition mode. FIG. 9 is a flowchart showing an example of a control process in an intervention operation mode. FIG. 10 is a diagram showing a first example of a change over time in pilot pressure when transitioning from the automatic operation mode to the intervention operation mode. FIG. 11 is a diagram showing a second example of a change over time in pilot pressure when transitioning from the automatic operation mode to the intervention operation mode.

[0010] Hereinafter, an embodiment will be described with reference to the drawings.

[0011] [Outline of Shovel] An outline of a shovel 100 according to this embodiment will be described with reference to FIGS. 1 to 3. FIG.

[0012] Fig. 1 is a side view showing an example of a shovel 100. Fig. 2 is a top view showing an example of the shovel 100. Fig. 3 is a diagram showing an example of a configuration related to remote operation of the shovel 100. Hereinafter, the direction in which the attachment AT extends when viewed from above the shovel 100 (the upward direction in Fig. 2) will be defined as "front," and directions in the shovel 100 or directions seen from the shovel 100 may be described.

[0013] As shown in FIGS. 1 and 2 , the excavator 100 includes a lower traveling body 1 , an upper rotating body 3 , an attachment AT including a boom 4 , an arm 5 , and a bucket 6 , and a cabin 10 .

[0014] The undercarriage 1 uses crawlers 1C to travel the excavator 100. The crawlers 1C include a left crawler 1CL and a right crawler 1CR. The crawler 1CL is hydraulically driven by a traveling hydraulic motor 1ML. Similarly, the crawler 1CL is hydraulically driven by a traveling hydraulic motor 1MR. This allows the undercarriage 1 to travel independently.

[0015] The upper rotating body 3 is mounted on the lower traveling body 1 so as to be rotatable (freely rotatable) via the rotating mechanism 2. For example, the upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by a rotating hydraulic motor 2M.

[0016] The boom 4 is attached to the front center of the upper rotating body 3 so as to be able to tilt up and down about a rotation axis that extends in the left-right direction. The arm 5 is attached to the tip of the boom 4 so as to be able to rotate about a rotation axis that also extends in the left-right direction. The bucket 6 is attached to the tip of the arm 5 so as to be able to rotate about a rotation axis that also extends in the left-right direction.

[0017] The bucket 6 is an example of an end attachment, and is used for, for example, excavation work, slope work, ground leveling work, and the like.

[0018] The bucket 6 is attached to the tip of the arm 5 in a manner that allows it to be appropriately replaced depending on the work content of the shovel 100. In other words, instead of the bucket 6, a bucket of a different type from the bucket 6, such as a relatively large bucket, a slope bucket, or a dredging bucket, may be attached to the tip of the arm 5. Also, a type of end attachment other than a bucket, such as a mixer, breaker, or crusher, may be attached to the tip of the arm 5. Also, a spare attachment such as a quick coupling or a tiltrotator may be provided between the arm 5 and the end attachment.

[0019] The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0020] The cabin 10 is a control room where an operator sits and operates the excavator 100. The cabin 10 is mounted on the front left side of the upper rotating body 3, for example.

[0021] For example, the excavator 100 operates driven elements such as the lower running body 1 (i.e., a pair of left and right crawlers 1CL, 1CR), upper rotating body 3, boom 4, arm 5, and bucket 6 in response to operations by an operator seated in the cabin 10.

[0022] Furthermore, instead of or in addition to being configured to be operable by an operator inside the cabin 10, the shovel 100 may be configured to be remotely operable from outside the shovel 100. When the shovel 100 is remotely operated, the interior of the cabin 10 may be unmanned. Furthermore, when the shovel 100 is exclusively for remote operation, the cabin 10 may be omitted. The following description will be given on the assumption that the operation of the operator includes at least one of operation of the operating device 26 by the operator inside the cabin 10 and remote operation by an operator outside the shovel 100.

[0023] 3, remote operation includes a mode in which the shovel 100 is operated by an operation input related to an actuator of the shovel 100, which is performed by a remote operation support device 300 that can communicate with the shovel 100 via a communication line NW. In this case, the shovel 100 is equipped with a communication device 60, and can communicate with the remote operation support device 300 via a predetermined communication line NW.

[0024] The communication line NW may include, for example, a local area network (LAN) at a work site. The communication line NW may also include a wide area network (WAN). Examples of wide area networks include a mobile communication network terminated at a base station, a satellite communication network using a communication satellite, and the Internet. The communication line NW may also include, for example, a short-distance communication line based on a wireless communication standard such as Wi-Fi or Bluetooth (registered trademark).

[0025] The remote operation support device 300 is provided, for example, in a management center or the like that externally manages the work of the shovel 100. The remote operation support device 300 may also be a portable operation terminal, in which case the operator can remotely operate the shovel 100 while directly checking the work status of the shovel 100 from the vicinity of the shovel 100.

[0026] The shovel 100 may, for example, transmit to the remote operation support device 300, via a communication device 60 mounted thereon, an image (hereinafter referred to as a "peripheral image") showing the surroundings including the area in front of the shovel 100, based on an image captured by an imaging device (e.g., a sensing device S6 described below) mounted thereon. The shovel 100 may also transmit, via the communication device 60, an image captured by the imaging device to the remote operation support device 300, and the remote operation support device 300 may process the image received from the shovel 100 to generate a peripheral image. The remote operation support device 300 may then display, on its own display device, a peripheral image showing the surroundings including the area in front of the shovel 100. Various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the shovel 100 may also be displayed on the remote operation support device 300 (display unit). This allows the operator using the remote operation support device 300 to remotely operate the excavator 100 while checking, for example, the displayed contents of an image or information screen showing the state of the area around the excavator 100. The excavator 100 may operate actuators in response to a remote operation signal that is received by the communication device 60 from the remote operation support device 300 and that indicates the content of the remote operation, to drive driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

[0027] Remote control may also include a mode in which the shovel 100 is operated by an external voice input, gesture input, or the like to the shovel 100 by a person (e.g., a worker) around the shovel 100. Specifically, the shovel 100 recognizes voices uttered by surrounding workers and gestures made by the workers through a voice input device (e.g., a microphone) or a gesture input device (e.g., an imaging device) mounted on the shovel 100. Then, the shovel 100 may operate actuators in accordance with the content of the recognized voices, gestures, or the like to drive driven elements such as the lower traveling body 1 (left and right crawlers 1C), upper rotating body 3, boom 4, arm 5, and bucket 6.

[0028] Furthermore, the excavator 100 may automatically operate the actuators regardless of the content of the operation by the operator. This allows the excavator 100 to realize a function of automatically operating at least some of the driven elements such as the lower traveling body 1, the upper rotating body 3, and the attachment AT, i.e., a so-called "automatic driving function." The automatic driving function is also called a "machine control (MC) function."

[0029] The automatic driving function includes, for example, a semi-automatic driving function. The semi-automatic driving function is also referred to as an operation-assisted MC function. The semi-automatic driving function is a function that automatically operates other driven elements (actuators) in conjunction with a driven element (actuator) to be operated in response to an operator's operation. The automatic driving function may also include a fully automatic driving function. The fully automatic driving function is also referred to as a fully automatic MC function. The fully automatic driving function is a function that automatically operates at least some of multiple driven elements (actuators) without operator operation. When the fully automatic driving function is enabled in the shovel 100, the interior of the cabin 10 may be unmanned. When the shovel 100 operates exclusively using the fully automatic driving function, the cabin 10 may be omitted. The semi-automatic driving function, the fully automatic driving function, etc. also include, for example, a rule-based automatic driving function. The rule-based automatic driving function is an automatic driving function in which the operation of a driven element (actuator) to be operated automatically is determined according to predefined rules. Furthermore, the semi-automatic driving function, the fully automatic driving function, etc. may include an autonomous driving function. The autonomous driving function is an automatic driving function in which the excavator 100 autonomously makes various decisions and determines the operation details of the driven elements (actuators) that are the targets of the automatic driving in accordance with the results of those decisions.

[0030] Furthermore, the work of the shovel 100 may be remotely monitored. In this case, for example, a remote monitoring support device having the same functions as the remote operation support device 300 is provided. A monitor, who is a user of the remote monitoring support device, can monitor the status of the work of the shovel 100 while checking a peripheral image displayed on the remote monitoring support device (display unit). Furthermore, for example, if the monitor determines it is necessary from a safety standpoint, the monitor can intervene in the operation by the operator or automatic operation of the shovel 100 and bring the shovel 100 to an emergency stop by making a predetermined input using the remote monitoring support device (input unit).

[0031] [Hardware Configuration of Shovel] Next, the hardware configuration of the shovel 100 will be described with reference to FIG. 4 in addition to FIGS. 1 to 3.

[0032] FIG. 4 is a block diagram showing an example of the hardware configuration of the shovel 100.

[0033] In FIG. 4, the paths through which mechanical power is transmitted are indicated by double lines, the paths through which high-pressure hydraulic oil that drives the hydraulic actuator flows are indicated by solid lines, the paths through which pilot pressure is transmitted are indicated by dashed lines, and the paths through which electrical signals are transmitted are indicated by dotted lines.

[0034] The shovel 100 includes various components, such as a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with the user, a communication system for communicating with the outside world, and a control system for various controls.

[0035] 4 , the hydraulic drive system of the excavator 100 includes hydraulic actuators HA that hydraulically drive each of the driven elements, such as the lower traveling structure 1 (left and right crawlers 1C), upper rotating structure 3, boom 4, arm 5, and bucket 6, as described above. The hydraulic drive system of the excavator 100 according to this embodiment also includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0036] The hydraulic actuator HA includes traveling hydraulic motors 1ML, 1MR, a swing hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and the like.

[0037] Note that the hydraulic actuators HA of the shovel 100 may be partially or entirely replaced with electric actuators. In other words, the shovel 100 may be a hybrid shovel or an electric shovel.

[0038] The engine 11 is the prime mover of the excavator 100 and the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, on the rear of the upper rotating body 3. The engine 11 rotates at a constant speed at a preset target rotation speed under direct or indirect control by a controller 30 (described later), for example, to drive the main pump 14 and the pilot pump 15.

[0039] It should be noted that instead of or in addition to the engine 11, another prime mover (for example, an electric motor) may be mounted on the excavator 100.

[0040] The regulator 13 controls (adjusts) the discharge amount of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilt angle") in response to a control command from the controller 30.

[0041] The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, thereby adjusting the stroke length of the piston and controlling the discharge flow rate and discharge pressure.

[0042] The control valve 17 drives the hydraulic actuators HA in response to an operator's operation of the operating device 26, the details of remote operation, or an operation command corresponding to the automatic operation function. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to each hydraulic actuator in response to an operator's operation or an operation command corresponding to the automatic operation function. The control valve 17 includes directional control valves 17A to 17F that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each hydraulic actuator HA.

[0043] The directional control valve 17A controls the flow rate and flow direction of the hydraulic oil supplied to the boom cylinder 7. In this way, the directional control valve 17A can extend and retract the boom cylinder 7 at a variable speed.

[0044] The directional control valve 17B controls the flow rate and flow direction of the hydraulic oil supplied to the arm cylinder 8. In this way, the directional control valve 17B can extend and retract the arm cylinder 8 at a variable speed.

[0045] The directional control valve 17C controls the flow rate and flow direction of the hydraulic oil supplied to the bucket cylinder 9. In this way, the directional control valve 17C can extend and retract the bucket cylinder 9 at a variable speed.

[0046] The directional control valve 17D controls the flow rate and flow direction of the hydraulic oil supplied to the traveling hydraulic motor 1ML, thereby enabling the traveling hydraulic motor 1ML to rotate in both directions at variable speeds.

[0047] The directional control valve 17E controls the flow rate and direction of hydraulic oil supplied to the traveling hydraulic motor 1MR. This allows the directional control valve 17E to rotate the traveling hydraulic motor 1MR in both directions at variable speeds. The directional control valve 17E is, for example, a spool valve.

[0048] The directional control valve 17F controls the flow rate and flow direction of the hydraulic oil supplied to the swing hydraulic motor 2M, thereby enabling the swing hydraulic motor 2M to rotate in both directions at variable speeds.

[0049] Hereinafter, any one of the directional control valves 17A to 17F may be individually referred to as the "directional control valve 17X" as shown in Fig. 5. In this example, the directional control valve 17X is a spool valve that supplies hydraulic oil supplied from the main pump 14 through the oil passage OL1 or OL2 to the hydraulic actuator HA, and also discharges hydraulic oil discharged by the hydraulic actuator HA into a hydraulic oil tank.

[0050] <Operation System> As shown in FIGS. 4 and 5 , the operation system of the excavator 100 includes the pilot pump 15 , an operation device 26 , and a hydraulic control valve 31 .

[0051] The pilot pump 15 supplies pilot pressure to various hydraulic devices via a pilot line 25. The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0052] The pilot pump 15 may be omitted. In this case, the relatively high-pressure hydraulic oil discharged from the main pump 14 may be reduced in pressure by a predetermined pressure reducing valve, and the resulting relatively low-pressure hydraulic oil may be supplied to various hydraulic devices as pilot pressure.

[0053] The operating device 26 is provided near the cockpit of the cabin 10 and is used by the operator to operate the various driven elements. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive the respective driven elements, thereby enabling the operator to operate the driven elements that are driven by the hydraulic actuators HA. As shown in Fig. 5, the operating device 26 includes a lever device 26X for operating the respective driven elements (hydraulic actuators HA).

[0054] It should be noted that some of the driven elements (hydraulic actuators HA) may be operable by a pedal device instead of or in addition to the lever device 26X.

[0055] For example, as shown in Fig. 4, the operating device 26 is an electrical type. Specifically, the operating device 26 outputs an electric signal (hereinafter referred to as an "operation signal") corresponding to the operation content, and the operation signal is input to the controller 30. The controller 30 then outputs an operation command corresponding to the operation signal, that is, an operation command (control signal) corresponding to the operation content of the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

[0056] 5, the lever device 26X is configured so that the operator can tilt it in two opposing directions (for example, forward / backward or left / right). The lever device 26X outputs an electric signal (operation signal) corresponding to the operation in the two opposing directions, and the output operation signal is input to the controller 30.

[0057] A correspondence relationship between the operation amount of the lever device 26X (e.g., the tilt angle of the lever device 26X) and the control signal (control current) to the hydraulic control valves 31L, 31R is preset in the controller 30. The hydraulic control valves 31L, 31R corresponding to each lever device 26X are controlled based on the preset correspondence relationship.

[0058] The directional control valves 17A to 17F that drive the hydraulic actuators HA built into the control valve 17 may be of an electromagnetic solenoid type. In this case, an operation signal output from the operating device 26 (i.e., each lever device 26X) may be directly input to the control valve 17 (i.e., each electromagnetic solenoid type directional control valve).

[0059] The operating device 26 may also be a hydraulic pilot type. Specifically, the operating device 26 (i.e., each lever device 26X) uses hydraulic oil supplied from the pilot pump 15 through a pilot line and outputs a pilot pressure corresponding to the operation to a secondary pilot line. The secondary pilot line is then connected to the control valve 17. As a result, a pilot pressure corresponding to the operation of various driven elements (hydraulic actuators HA) in the operating device 26 can be input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation of the operating device 26 by an operator or the like. In this case, an operating state sensor capable of acquiring information regarding the operating state of the operating device 26 is provided, and the output of the operating state sensor is input to the controller 30. As a result, the controller 30 can grasp the operating state of the operating device 26. The operating state sensor is, for example, a pressure sensor (operating pressure sensor) that acquires information regarding the pilot pressure (operating pressure) in the secondary pilot line of the operating device 26.

[0060] As described above, some or all of the hydraulic actuators HA may be replaced with electric actuators. In this case, for example, the controller 30 may output an operation command to the electric actuator or a driver that drives the electric actuator, in accordance with the operation content of the operation device 26 or the content of remote operation specified by the remote operation signal. Furthermore, the electric actuator may be configured to be operable by the operation device 26 by directly inputting an operation signal from the operation device 26 to the electric actuator or a driver.

[0061] Furthermore, if the excavator 100 is exclusively remotely operated or exclusively operates using a fully automatic driving function, the operating device 26 may be omitted.

[0062] The hydraulic control valve 31 is provided for each driven element (hydraulic actuator HA) operated by the operating device 26. The hydraulic control valve 31 may be provided, for example, in a pilot line between the pilot pump 15 and the control valve 17 and configured to change its flow path area (i.e., the cross-sectional area through which hydraulic oil can flow). This allows the hydraulic control valve 31 to output a predetermined pilot pressure to the secondary pilot line using hydraulic oil from the pilot pump 15 supplied through the primary pilot line. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 in response to an operation command from the controller 30. Therefore, for example, the controller 30 can cause the hydraulic control valve 31 to directly supply a pilot pressure in response to the operation content (operation signal) of the operating device 26 to the control valve 17, thereby realizing the operation of the excavator 100 based on the operation of the operator.

[0063] Furthermore, the controller 30 may control the hydraulic control valve 31 to realize an automatic driving function of the shovel 100. Specifically, the controller 30 outputs an operation command corresponding to the automatic driving function from the hydraulic control valve 31 to the hydraulic control valve 31. In this way, the controller 30 can realize the operation of the shovel 100 using the automatic driving function.

[0064] Furthermore, the controller 30 may control the hydraulic control valve 31 to realize remote operation of the shovel 100. Specifically, the controller 30 outputs, via the communication device 60, to the hydraulic control valve 31 an operation command corresponding to the content of the remote operation specified in a remote operation signal received from the remote operation support device 300. As a result, the controller 30 causes the hydraulic control valve 31 to supply a pilot pressure corresponding to the content of the remote operation to the control valve 17, thereby realizing the operation of the shovel 100 based on the remote operation by the operator.

[0065] As shown in FIG. 5, the hydraulic control valve 31 includes two hydraulic control valves 31L, 31R corresponding to the respective operating directions (e.g., the raising and lowering directions of the boom 4) of the double-acting driven element (hydraulic actuator HA).

[0066] The hydraulic control valve 31L operates in response to an operation command (control current) input from the controller 30. Specifically, the hydraulic control valve 31L uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the left pilot port of the directional control valve 17X. This allows the hydraulic control valve 31L to adjust the pilot pressure acting on the left pilot port of the directional control valve 17X. For example, by inputting a control current corresponding to a tilting operation of the lever device 26X in a first direction from the controller 30, the hydraulic control valve 31L can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26X to the left pilot port of the directional control valve 17X. Furthermore, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26X, the hydraulic control valve 31L can apply pilot pressure to the left pilot port of the directional control valve 17X regardless of the operation content of the lever device 26X. Therefore, under the control of the controller 30, the hydraulic control valve 31L can realize operation of the double-acting hydraulic actuator HA in a first direction based on the automatic operation function or remote control function of the excavator 100.

[0067] The hydraulic control valve 31R operates in response to an operation command (control current) input from the controller 30. Specifically, the hydraulic control valve 31R uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the right pilot port of the directional control valve 17X. This allows the hydraulic control valve 31R to adjust the pilot pressure acting on the right pilot port of the directional control valve 17X. For example, by inputting a control current corresponding to a tilting operation of the lever device 26X in a second direction from the controller 30, the hydraulic control valve 31R can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26X to the right pilot port of the directional control valve 17X. Furthermore, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26X, the hydraulic control valve 31R can apply pilot pressure to the right pilot port of the directional control valve 17X regardless of the operation content of the lever device 26X. Therefore, under the control of the controller 30, the hydraulic control valve 31R can realize operation of the double-acting hydraulic actuator HA in the second direction based on the automatic operation function or remote control function of the excavator 100.

[0068] In this way, the hydraulic control valves 31L, 31R can adjust the pilot pressure output to the secondary side so that the directional control valve 17X can be stopped at any valve position depending on the operation state of the lever device 26X under the control of the controller 30. Furthermore, the hydraulic control valves 31L, 31R can adjust the pilot pressure output to the secondary side so that the directional control valve 17X can be stopped at any valve position regardless of the operation state of the lever device 26X under the control of the controller 30.

[0069] The controller 30 controls the hydraulic control valve 31L in response to an operation signal, a remote operation signal, etc. corresponding to the operation of the hydraulic actuator HA in the first direction by the operator. This allows the controller 30 to supply a pilot pressure corresponding to the operation content (operation amount) of the hydraulic actuator HA in the first direction by the operator to the left pilot port of the directional control valve 17X. Furthermore, the controller 30 controls the hydraulic control valve 31R in response to an operation signal, a remote operation signal, etc. corresponding to the operation by the operator. This allows the controller 30 to supply a pilot pressure corresponding to the operation content (operation amount) of the hydraulic actuator HA in the second direction by the operator to the right pilot port of the directional control valve 17X.

[0070] In this way, the controller 30 controls the hydraulic control valves 31L, 31R in accordance with the operation signal output from the lever device 26X and the remote operation signal received by the communication device 60, thereby realizing the operation of the hydraulic actuator HA in accordance with the operation content of the operator.

[0071] Furthermore, the controller 30 controls the hydraulic control valve 31L to supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the directional control valve 17X, regardless of whether the operator operates the hydraulic actuator HA in the first direction. Furthermore, the controller 30 controls the hydraulic control valve 31R to supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the directional control valve 17X, regardless of whether the operator operates the hydraulic actuator HA in the second direction.

[0072] In this way, the controller 30 can automatically control the operation of the hydraulic actuator in two opposing directions, thereby realizing automatic operation functions and remote control functions of the excavator 100.

[0073] Furthermore, when the controller 30 determines that a braking operation to slow down or stop the hydraulic actuator HA is necessary while the hydraulic actuator HA is being operated in the first direction by the operator, it may control the hydraulic control valve 31R. Specifically, when the hydraulic actuator HA is being operated in the first direction, the controller 30 may apply a predetermined pilot pressure from the hydraulic control valve 31R to the right pilot port of the directional control valve 17X. This causes the pilot pressure to act on the right pilot port of the directional control valve 17X in a manner that counteracts the pilot pressure acting on the left pilot port of the directional control valve 17X from the hydraulic control valve 31L in response to the operation of the hydraulic actuator HA in the first direction. Therefore, the controller 30 can forcibly move the spool of the directional control valve 17X closer to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA in response to the operation of the hydraulic actuator HA in the first direction by the operator. Similarly, when the controller 30 determines that a braking operation to slow down or stop the hydraulic actuator HA is necessary in a state in which the operator is operating the hydraulic actuator HA in the second direction, the controller 30 may control the hydraulic control valve 31L. This allows the controller 30 to forcibly bring the spool of the directional control valve 17X closer to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA corresponding to the operator's operation of the hydraulic actuator HA in the second direction.

[0074] If the operating device 26 is of a hydraulic pilot type, a shuttle valve may be provided between the operating device 26 and the hydraulic control valve 31 and the control valve 17. Similar to the hydraulic control valve 31, a shuttle valve is provided for each driven element (hydraulic actuator HA) operated by the operating device 26. Furthermore, two shuttle valves are provided for each double-acting hydraulic actuator HA. For example, the higher of the pilot pressure output in response to the operation of the lever device 26X in the first direction and the pilot pressure on the secondary side of the hydraulic control valve 31L acts on the left pilot port of the directional control valve 17X through the shuttle valve. Furthermore, the higher of the pilot pressure output in response to the operation of the lever device 26X in the second direction and the pilot pressure on the secondary side of the hydraulic control valve 31R acts on the right pilot port of the directional control valve 17X through the shuttle valve. The controller 30 can control the directional control valve 17X regardless of the operator's operation of the lever device 26X by outputting a pilot pressure higher than the pilot pressure on the secondary side of the lever device 26X from the hydraulic control valves 31L, 31R. Therefore, the controller 30 can control the operation of the driven elements (the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6) regardless of the operating state of the operation device 26 by the operator, thereby realizing an automatic operation function and a remote operation function.

[0075] Furthermore, if the operating device 26 is a hydraulic pilot type, in addition to the shuttle valve, a pressure reducing valve may be provided in the pilot line between the lever device 26X and the shuttle valve. The pressure reducing valve is configured to operate in response to, for example, a control signal input from the controller 30 and change its flow path area. As a result, the controller 30 can forcibly reduce the pilot pressure output from the lever device 26X when the operator operates the lever device 26X. Therefore, even when the lever device 26X is operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the lever device 26X. Furthermore, for example, even when the lever device 26X is operated, the controller 30 can reduce the pilot pressure output from the lever device 26X using the pressure reducing valve to make it lower than the pilot pressure output from the hydraulic control valves 31L, 31R. Therefore, by controlling the hydraulic control valves 31L, 31R and the pressure reducing valve, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the directional control valve 17X in the control valve 17, for example, regardless of the operation of the lever device 26X. Therefore, the controller 30 can more appropriately realize the automatic operation function and remote control function of the excavator 100 by controlling, for example, the pressure reducing valve in addition to the hydraulic control valves 31L, 31R.

[0076] <User Interface System> As shown in FIG. 4 , the user interface system of the shovel 100 includes the operation device 26 , the output device 50 , and the input device 52 .

[0077] The output device 50 outputs various information to the user of the shovel 100 (e.g., the operator of the cabin 10 or an external remote operator) and people in the vicinity of the shovel 100 (e.g., workers or drivers of work vehicles).

[0078] For example, the output device 50 includes a lighting device, a display device 50A, etc. that output various types of information visually. The lighting device is, for example, a warning light (indicator lamp), etc. The display device 50A is, for example, a liquid crystal display, an organic EL (electroluminescence) display, etc. For example, as shown in FIG. 2 , the lighting device and the display device 50A may be provided inside the cabin 10 and output various types of information visually to an operator or the like inside the cabin 10. Furthermore, the lighting device and the display device 50A may be provided on the side of the upper rotating body 3 or the like and output various types of information visually to workers or the like around the excavator 100.

[0079] The output device 50 may also include a sound output device 50B that outputs various types of information auditorily. The sound output device 50B includes, for example, a buzzer, a speaker, etc. The sound output device 50B is provided, for example, inside or outside the cabin 10, and outputs various types of information auditorily to an operator inside the cabin 10 and people (workers, etc.) around the excavator 100.

[0080] The output device 50 may also include a device that outputs various information in a tactile manner, such as by vibrating the cockpit.

[0081] The input device 52 receives various inputs from the user of the excavator 100, and signals corresponding to the received inputs are taken into the controller 30. For example, as shown in Fig. 2, the input device 52 is provided inside the cabin 10 and receives inputs from an operator or the like inside the cabin 10. The input device 52 may also be provided, for example, on the side of the upper rotating body 3 and receive inputs from a worker or the like in the vicinity of the excavator 100.

[0082] For example, the input device 52 includes an operation input device that accepts input from a user through mechanical operation. The operation input device may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), and the like.

[0083] The input device 52 may also include an audio input device that accepts audio input from the user. The audio input device includes, for example, a microphone.

[0084] The input device 52 may also include a gesture input device that accepts gesture inputs from the user. The gesture input device includes, for example, an imaging device that captures an image of a gesture made by the user.

[0085] The input device 52 may also include a biometric input device that accepts biometric input from the user, such as input of biometric information such as the user's fingerprint or iris.

[0086] For example, the shovel 100 includes a predetermined input device 52 for switching between enabling and disabling the automatic driving function. In this case, when an input to the predetermined input device 52 is received, the controller 30 switches between enabling and disabling the automatic driving function.

[0087] For example, when an input is accepted from a state in which no input is being accepted to a predetermined input device 52 (e.g., a knob switch provided on the knob of the lever device 26X) provided on the operation device 26, the controller 30 switches the semi-automatic operation function from disabled to enabled. Then, the controller 30 maintains the enabled state of the semi-automatic operation function while the state in which input is being accepted to the input device 52 continues, and switches the semi-automatic operation function from enabled to disabled when input to the predetermined input device 52 is no longer accepted. This allows the operator to perform semi-automatic operation of the excavator 100 by making an input to the predetermined input device 52 while operating the operation device 26 and maintaining that state.

[0088] Furthermore, the controller 30 may switch between enabling and disabling the semi-automatic operation function for each predetermined input from a predetermined input device 52 (for example, a switch provided on the console or a touch panel for operating a predetermined operation screen displayed on the display device 50A) provided in a location separate from the operation device 26. In this case, when a predetermined hydraulic actuator HA is operated via the operation device 26 while the semi-automatic operation function is enabled, the controller 30 causes the excavator 100 to perform semi-automatic operation.

[0089] Furthermore, the controller 30 may determine whether to start or stop semi-automatic operation based on an input to the input device 52 (e.g., the above-mentioned knob switch) provided on the operating device 26 while the semi-automatic operation function is enabled, assuming that the semi-automatic operation function is enabled or disabled based on an input to a predetermined input device 52 provided separately from the operating device 26. Specifically, when the semi-automatic operation function is enabled, the controller 30 starts semi-automatic operation of the shovel 100 when the input to the input device 52 provided on the operating device 26 transitions from a state in which the input is not accepted to a state in which the input is accepted. Then, the controller 30 stops the semi-automatic operation of the shovel 100 when the input through the input device 52 provided on the operating device 26 is no longer accepted. However, even when the semi-automatic operation of the shovel 100 is stopped, the hydraulic actuator HA can be operated in response to operation of the operating device 26 by the operator. That is, the operator can switch between manual operation of the shovel 100 and operation for semi-automatic operation based on the presence or absence of an input to the input device 52 provided on the operating device 26.

[0090] Furthermore, for example, when an input to a predetermined input device 52 is received while fully automatic operation is not being performed, the controller 30 enables a fully automatic operation function and starts fully automatic operation of the shovel 100. Furthermore, when an input to a predetermined input device 52 is received while fully automatic operation is not being performed, the controller 30 may enable the fully automatic operation function, and start fully automatic operation when an input to an input device 52 other than the predetermined input device 52 is received. Then, when the predetermined fully automatic operation ends, the controller 30 stops the fully automatic operation. Furthermore, when an input to an input device 52 other than the predetermined input device 52 is received while fully automatic operation is being performed, the controller 30 may stop the fully automatic operation, and thereafter, when an input to the predetermined input device 52 is received, the controller 30 may disable the fully automatic operation function. Furthermore, when an input to the predetermined input device 52 is received while fully automatic operation is being performed, the controller 30 may forcibly stop the fully automatic operation and disable the fully automatic operation function.

[0091] <Communication System> As shown in FIG. 4 , the communication system of the shovel 100 according to this embodiment includes a communication device 60 .

[0092] The communication device 60 is connected to an external communication line NW and communicates with devices provided separately from the shovel 100. The devices provided separately from the shovel 100 may include devices external to the shovel 100 as well as portable terminal devices (mobile terminals) brought into the cabin 10 by the user of the shovel 100. The communication device 60 may be, for example, a 4G (4 th Generation) and 5G (5 th The communication device 60 may include a mobile communication module conforming to a standard such as the IEEE 802.11 standard (International IEEE 802.11 Generation). The communication device 60 may also include, for example, a satellite communication module. The communication device 60 may also include, for example, a Wi-Fi communication module or a Bluetooth (registered trademark) communication module. When there are multiple connectable communication lines NW, the communication device 60 may include multiple communication devices 60 in accordance with the types of the communication lines NW.

[0093] For example, the communication device 60 communicates with an external device such as the remote operation support device 300 at the work site through a local communication line established at the work site. The local communication line is, for example, a local 5G (so-called local 5G) mobile communication line established at the work site or a local network using Wi-Fi 6.

[0094] The communication device 60 may also communicate with an external device such as the remote operation support device 300 located outside the work site through a wide area communication line that includes the work site, i.e., a wide area network.

[0095] Furthermore, if remote operation or remote monitoring of the shovel 100 is not performed, the communication device 60 may be omitted.

[0096] 4, the control system of the shovel 100 includes a controller 30. The control system of the shovel 100 according to this embodiment also includes sensing devices S1 to S6.

[0097] The controller 30 performs various controls related to the shovel 100 .

[0098] The functions of the controller 30 may be realized by any hardware or any combination of hardware and software, etc. For example, as shown in Fig. 4, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, which are connected by a bus B1.

[0099] The auxiliary storage device 30A is a non-volatile storage means that stores the programs to be installed as well as necessary files, data, etc. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory.

[0100] For example, when a program start instruction is received, the memory device 30B loads the program from the auxiliary storage device 30A so that it can be read by the CPU 30C. The memory device 30B is, for example, an SRAM (Static Random Access Memory).

[0101] The CPU 30C executes, for example, a program loaded into the memory device 30B, and realizes various functions of the controller 30 according to instructions of the program.

[0102] The interface device 30D functions as, for example, a communication interface for connecting to a communication line inside the shovel 100. The interface device 30D may include a plurality of different types of communication interfaces in accordance with the types of communication lines to be connected.

[0103] The interface device 30D also functions as an external interface for reading data from a recording medium and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected to a connector installed inside the cabin 10 via a detachable cable. The recording medium may also be a general-purpose recording medium, such as an SD memory card or a USB (Universal Serial Bus) memory. As a result, a program that realizes various functions of the controller 30 can be provided, for example, by a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. The program may also be downloaded from another computer external to the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0104] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be distributed and realized by a plurality of controllers mounted on the shovel 100.

[0105] The sensing device S1 is attached to the boom 4 and measures the attitude of the boom 4. The sensing device S1 outputs measurement data representing the attitude of the boom 4. The attitude of the boom 4 is, for example, the attitude angle (hereinafter referred to as the "boom angle") around the rotation axis of the base end of the boom 4, which corresponds to the connection point between the boom 4 and the upper rotating body 3. The sensing device S1 includes, for example, a rotary potentiometer, a rotary encoder, an acceleration sensor, an angular acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same may be true for the sensing devices S2 to S4 below. The sensing device S1 may also include a cylinder sensor that detects the extension / retraction position of the boom cylinder 7. The same may be true for the sensing devices S2 and S3 below. The output of the sensing device S1, i.e., the measurement data representing the attitude of the boom 4, is input to the controller 30. This allows the controller 30 to grasp the attitude of the boom 4.

[0106] The sensing device S2 is attached to the arm 5 and measures the posture of the arm 5. The sensing device S2 outputs measurement data representing the posture of the arm 5. The posture of the arm 5 is, for example, the posture angle (hereinafter referred to as "arm angle") around the rotation axis of the base end of the arm 5, which corresponds to the connection part between the arm 5 and the boom 4. The output of the sensing device S2 (measurement data representing the posture of the arm 5) is input to the controller 30. This allows the controller 30 to grasp the posture of the arm 5.

[0107] The sensing device S3 is attached to the bucket 6 and measures the attitude of the bucket 6. The sensing device S3 outputs measurement data that indicates the attitude of the bucket 6. The attitude of the bucket 6 is, for example, the attitude angle around the rotation axis of the base end of the bucket 6, which corresponds to the connection part with the arm 5 (hereinafter referred to as the "bucket angle"). The output of the sensing device S3 (measurement data that indicates the attitude of the bucket 6) is input to the controller 30. This enables the controller 30 to grasp the attitude of the bucket 6.

[0108] The sensing device S4 measures the attitude state of the machine body (e.g., the upper rotating body 3) of the shovel 100. The sensing device S4 outputs measurement data representing the attitude state of the machine body of the shovel 100. The attitude state of the machine body of the shovel 100 is, for example, the inclination state of the machine body with respect to a predetermined reference plane (e.g., a horizontal plane). For example, the sensing device S4 is attached to the upper rotating body 3 and measures the inclination angles of the shovel 100 about two axes in the fore-aft and lateral directions (hereinafter referred to as the "fore-aft inclination angle" and the "lateral inclination angle"). The output of the sensing device S4 (measurement data representing the attitude state of the machine body of the shovel 100) is input into the controller 30. This allows the controller 30 to grasp the attitude state (inclination state) of the machine body (upper rotating body 3).

[0109] The sensing device S5 is attached to the upper rotating body 3 and measures the rotation state of the upper rotating body 3. The sensing device S5 outputs measurement data representing the rotation state of the upper rotating body 3. The sensing device S5 measures, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The sensing device S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc. The output of the sensing device S5 (measurement data representing the rotation state of the upper rotating body 3) is input into the controller 30. This allows the controller 30 to grasp the rotation state of the upper rotating body 3, such as the rotation angle.

[0110] For example, the controller 30 can grasp (estimate) the position of the tip of the attachment AT (bucket 6) based on the outputs of the sensing devices S1 to S5. Therefore, the controller 30 can control the operation of the automatic driving function of the excavator 100 while grasping the position of the tip of the attachment AT.

[0111] If the sensing device S4 includes a gyro sensor, a six-axis sensor, an IMU, or the like that can detect angular velocities around three axes, the rotation state (e.g., rotation angular velocity) of the upper rotating body 3 may be detected based on the detection signal of the sensing device S4. In this case, the sensing device S5 may be omitted.

[0112] Furthermore, in addition to the sensing devices S1 to S5, the shovel 100 may be provided with a sensing device (positioning device) that measures the position of the shovel 100. The positioning device may measure the position in world (global) coordinates, or may measure the position in local coordinates at the work site. In the former case, the positioning device is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, the positioning device is a transceiver that communicates with equipment that serves as a reference for the position at the work site and is capable of outputting a signal corresponding to the position relative to the reference. The output of the positioning device is taken into the controller 30.

[0113] The sensing device S6 is an imaging device that acquires images showing the state of the periphery of the shovel 100. Furthermore, the sensing device S6 may acquire (generate) three-dimensional data (hereinafter simply referred to as "three-dimensional data of objects") that represents the positions and outer shapes of objects around the shovel 100 within the imaging range (angle of view) based on the acquired images and data related to distances, which will be described later. The three-dimensional data of objects around the shovel 100 is, for example, data of coordinate information of a point cloud that represents the surface of the object, distance image data, etc.

[0114] 1 and 2, the sensing device S6 includes a front camera S6F that captures an image in front of the upper rotating body 3. The sensing device S6 may also include a rear camera S6B that captures an image behind the upper rotating body 3, a left camera S6L that captures an image to the left of the upper rotating body 3, a right camera S6R that captures an image to the right of the upper rotating body 3, etc. This allows the sensing device S6 to capture an image of the entire circumference around the excavator 100, i.e., a range covering an angular direction of 360 degrees, when viewed from above the excavator 100. Furthermore, the operator can visually recognize peripheral images based on images captured by the left camera S6L, right camera S6R, and rear camera S6B via the display unit of the output device 50 and the remote operation support device 300, and check the conditions to the left, right, and rear of the upper rotating body 3. In addition, the operator can remotely operate the shovel 100 while checking the operation of the attachment AT including the bucket 6 by viewing the surrounding image based on the front camera S6F through the display unit of the remote operation support device 300.

[0115] The sensing device S6 is, for example, a monocular camera. Alternatively, the sensing device S6 may be, for example, a stereo camera, a TOF (Time Of Flight) camera, or the like (hereinafter collectively referred to as a "3D camera") that is capable of acquiring data related to distance (depth) in addition to two-dimensional images.

[0116] The output data of the sensing device S6 (e.g., image data or three-dimensional data of objects around the shovel 100, etc.) is input to the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30 to, for example, monitor objects around the shovel 100 based on the output data of the sensing device S6. Also, for example, the controller 30 can determine the surrounding environment of the shovel 100 based on the output data of the sensing device S6. Also, for example, the controller 30 can determine the attitude state of the attachment AT shown in the captured image based on the output data of the sensing device S6 (front camera). Also, for example, the controller 30 can determine the attitude state of the machine body (upper rotating body 3) of the shovel 100 based on the objects around the shovel 100, based on the output data of the sensing device S6.

[0117] Furthermore, instead of or in addition to the sensing device S6, a sensing device (distance sensor) capable of measuring the distance between the shovel 100 and surrounding objects may be provided on the upper rotating body 3. The distance sensor is attached, for example, to the top of the upper rotating body 3, and acquires data regarding the distance and direction of surrounding objects relative to the shovel 100. Furthermore, the distance sensor may acquire (generate) three-dimensional data (for example, point cloud coordinate information data) of objects around the shovel 100 within the sensing range based on the acquired data. The distance sensor is, for example, a LIDAR (Light Detection and Ranging) sensor. Furthermore, for example, the distance sensor may be, for example, a millimeter-wave radar, an ultrasonic sensor, an infrared sensor, or the like.

[0118] Depending on the application of the sensing device S6, some of the front camera S6F, rear camera S6B, left camera S6L, and right camera S6R may be omitted. Furthermore, if the shovel 100 is not remotely operated or objects around the shovel 100 are not monitored, the sensing device S6 may be omitted.

[0119] Hereinafter, the sensing devices S1 to S6 may be collectively referred to as sensing device SX, or any one of them may be individually referred to as sensing device SX.

[0120] [Functional Configuration Related to Automatic Operation of Shovel] Next, a functional configuration related to automatic operation of the shovel 100 will be described with reference to FIG. 6 .

[0121] FIG. 6 is a functional block diagram showing an example of a functional configuration related to the automatic operation of the excavator 100.

[0122] In this example, an automatic operation mode, an intervention operation mode, and a transition mode are prepared as operation modes for the hydraulic actuator HA that is the target of automatic operation when the automatic operation function is enabled. The automatic operation mode is an operation mode in which the hydraulic actuator HA that is the target of automatic operation is automatically operated. The intervention operation mode is an operation mode in which the hydraulic actuator HA that is the target of automatic operation is operated by operation by an operator (hereinafter referred to as "intervention operation"). The transition mode is a transitional operation mode for transitioning from the automatic operation mode to the intervention operation mode.

[0123] 6, the controller 30 includes, as functional units, a target trajectory generation unit 301, an automatic driving control unit 302, an intervention operation control unit 303, and an arbitration control unit 304. These functions are realized, for example, by loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing it on the CPU 30C.

[0124] The target trajectory generating unit 301 generates a target trajectory for a predetermined portion of the excavator 100 during automatic operation or an accessory (e.g., a suspended load) that moves in conjunction with the excavator 100. The target trajectory generating unit 301 generates, for example, a target trajectory for the tip of the attachment AT, specifically, for the working portion of the bucket 6. The working portion of the bucket 6 is, for example, the tip of the bucket 6 in excavation work or leveling work, or the back surface of the bucket 6 in compaction work. The target trajectory generating unit 301 may also generate a target trajectory for a load suspended from the bucket 6 in crane work. The target trajectory generating unit 301 may also generate a target trajectory for a predetermined portion of the crawlers 1CL, 1CR when the excavator automatically moves to the next work location according to a predetermined setup.

[0125] For example, the target trajectory generating unit 301 acquires information about the current terrain shape of the work target based on the output of the sensing device S6 or the like. The target trajectory generating unit 301 may then generate a target trajectory for the working portion of the bucket 6 based on the information about the current terrain shape of the work target and information about the target shape (target shape information). The target shape information is information about the target construction surface. The information about the target construction surface may be input by a user via the input device 52 or the remote operation support device 300, for example, or may be downloaded from an external device via the communication device 60. Specifically, the target trajectory generating unit 301 may generate a target trajectory for the toe of the bucket 6 for rough excavation when the difference between the current terrain shape and the target construction surface is relatively large compared to a predetermined standard. On the other hand, the target trajectory generating unit 301 may generate a target trajectory for moving the working portion of the bucket 6 along the target construction surface when the difference between the current terrain shape and the target construction surface is relatively small compared to the predetermined standard.

[0126] The automatic driving control unit 302 controls the automatic driving function of the shovel 100. Specifically, the automatic driving control unit 302 controls the operation of the hydraulic actuator HA that is the target of automatic driving. The automatic driving control unit 302 controls the hydraulic actuator HA so that predetermined parts of the shovel 100 or an attachment move along a target trajectory. In the case of semi-automatic driving, the automatic driving control unit 302 operates the hydraulic actuator HA that is the target of automatic driving in conjunction with the operation of another hydraulic actuator HA that is operated by the operation of the operator so that predetermined parts of the shovel 100 or an attachment move along the target trajectory. In the case of fully automatic driving, the automatic driving control unit 302 operates multiple hydraulic actuators HA that are the target of automatic driving in conjunction with the operation of another hydraulic actuator HA that is operated by the operation of the operator so that predetermined parts of the shovel 100 or an attachment move along the target trajectory. Specifically, the automatic driving control unit 302 outputs an operation command to the hydraulic control valve 31 to operate the hydraulic actuator HA that is the target of automatic driving so that predetermined parts of the shovel 100 or an attachment move along the target trajectory. More specifically, the automatic driving control unit 302 may measure the positions of predetermined parts of the excavator 100 or its accessories based on the outputs of the sensing devices S1 to S5, etc. Then, the automatic driving control unit 302 may generate and output an operation command for the hydraulic control valve 31 by performing feedback control based on the deviation between the measurement result and the target trajectory. For example, if the operation command for the hydraulic control valve 31 corresponds to the operation of the double-acting hydraulic actuator HA in a first direction, the operation command for the hydraulic control valve 31 is an operation command for the hydraulic control valve 31L. On the other hand, if the operation command for the hydraulic control valve 31 corresponds to the operation of the double-acting hydraulic actuator HA in a second direction, the operation command for the hydraulic control valve 31 is an operation command for the hydraulic control valve 31R.

[0127] The intervention operation control unit 303 controls the hydraulic actuator HA in accordance with the intervention operation on the hydraulic actuator HA that is the target of automatic operation. Specifically, the intervention operation control unit 303 outputs an operation command to the hydraulic control valve 31 that corresponds to the content of the intervention operation on the hydraulic actuator HA that is the target of automatic operation.

[0128] The arbitration control unit 304 arbitrates between the output of the automatic driving control unit 302 and the output of the intervention operation control unit 303. Specifically, the arbitration control unit 304 selects an operation mode for the hydraulic actuator HA that is the target of automatic driving. If there are multiple hydraulic actuators HA that are the target of automatic driving, an operation mode is selected for each of the multiple hydraulic actuators HA. Then, the arbitration control unit 304 arbitrates between the output of the automatic driving control unit 302 and the output of the intervention operation control unit 303 in accordance with the selected operation mode, and outputs an operation command corresponding to the arbitration result to the hydraulic control valve 31.

[0129] The arbitration control unit 304 selects the automatic driving mode when there is no intervention operation, whereas the arbitration control unit 304 selects one driving mode from the automatic driving mode, the intervention operation mode, and the transition mode in accordance with predetermined conditions when there is an intervention operation.

[0130] When the automatic driving mode is selected, the arbitration control unit 304 outputs the operation command output from the automatic driving control unit 302 to the hydraulic control valve 31 .

[0131] On the other hand, when the intervention operation mode is selected, the arbitration control unit 304 outputs the operation command output from the intervention operation control unit 303 to the hydraulic control valve 31. Furthermore, when the intervention operation mode is selected, the arbitration control unit 304 sends a command (target trajectory correction command) to the target trajectory generation unit 301 to correct the target trajectory based on the actual operating state caused by the intervention operation. As a result, even if the position of a predetermined part of the excavator 100 or an accessory deviates from the target trajectory to some extent due to the intervention operation, the target trajectory generation unit 301 can correct the target trajectory based on the position or trajectory that deviated due to the intervention operation. For example, the target trajectory generation unit 301 corrects the target trajectory by, for example, translating the target trajectory so that it passes through the actual positions of the predetermined parts of the excavator 100 or an accessory. Therefore, when the automatic operation mode is restored due to, for example, the end of the intervention operation, a situation in which a deviation between the target trajectory and the position of the predetermined part of the excavator 100 or an accessory causes a relatively large acceleration or deceleration of the hydraulic actuator HA, resulting in rattle or vibration of the hydraulic actuator HA, can be suppressed. Therefore, the arbitration control unit 304 can smoothly return to automatic operation from operation due to intervention of the hydraulic actuator HA.

[0132] Furthermore, when the arbitration control unit 304 selects the transition mode, it generates an operation command for transitioning from the automatic operation mode to the intervention operation mode and outputs it to the hydraulic control valve 31 (see Figures 8, 10, and 11).

[0133] When the transition mode is selected, the arbitration control unit 304 may send a target trajectory correction command to the target trajectory generation unit 301, as in the case of selecting the intervention operation mode. This is because the intervention operation may be canceled during the transition mode, and the vehicle may return to the automatic driving mode.

[0134] [Control Processing Corresponding to Intervention Operation During Autonomous Driving Mode] Next, with reference to FIG. 7, a control processing corresponding to an intervention operation during the autonomous driving mode, which is executed by the controller 30, will be described.

[0135] FIG. 7 is a flowchart illustrating an example of a control process related to an intervention operation in the autonomous driving mode.

[0136] This flowchart is executed at a predetermined control cycle when the automatic operation mode is selected and an intervention operation is being performed. Furthermore, if there are multiple hydraulic actuators HA that are targets of automatic operation, this flowchart is executed for each of the multiple hydraulic actuators HA.

[0137] 7, in step S102, the arbitration control unit 304 determines whether the current direction of movement of the hydraulic actuator HA that is the target of automatic operation is the same as the direction of movement corresponding to the intervention operation. If the current direction of movement of the hydraulic actuator HA that is the target of automatic operation is the same as the direction of movement corresponding to the intervention operation, the arbitration control unit 304 proceeds to step S104, and if not, the arbitration control unit 304 proceeds to step S110.

[0138] In step S104, the arbitration control unit 304 determines whether the operation amount of the intervening operation is equal to or greater than the operation amount corresponding to the current operating state of the hydraulic actuator HA that is the target of automatic operation. For example, the arbitration control unit 304 determines whether the pilot pressure of the hydraulic control valve 31 that corresponds to the operation amount of the intervening operation is equal to or greater than the current pilot pressure of the hydraulic control valve 31. If the operation amount of the intervening operation is equal to or greater than the operation amount corresponding to the current operating state of the hydraulic actuator HA that is the target of automatic operation, the arbitration control unit 304 proceeds to step S106; otherwise, the arbitration control unit 304 proceeds to step S108.

[0139] In step S106, the arbitration control unit 304 selects the intervention operation mode. That is, the arbitration control unit 304 shifts the operation mode of the hydraulic actuator HA that is the target of automatic operation from the automatic operation mode to the intervention operation mode.

[0140] On the other hand, in step S108, the arbitration control unit 304 selects the automatic operation mode. That is, the arbitration control unit 304 maintains the operation mode of the hydraulic actuator HA that is the target of automatic operation at automatic operation.

[0141] In step S110, the arbitration control unit 304 selects a transition mode. That is, the arbitration control unit 304 transitions the operation mode of the hydraulic actuator HA that is the target of automatic operation from the automatic operation mode to the transition mode.

[0142] When the process of any one of steps S106, S108, and S110 is completed, the controller 30 ends the process of this flowchart.

[0143] In this way, when an intervention operation in the same direction as the automatic driving is started, the arbitration control unit 304 can wait until the operation amount of the intervention operation becomes equal to or greater than the operation amount corresponding to the automatic driving of the hydraulic actuator HA, and then transition the hydraulic actuator HA to the intervention operation mode. Therefore, for example, a transition to the intervention operation mode can be made upon start of the intervention operation, which can suppress a situation in which the operation of the hydraulic actuator HA suddenly decelerates and vibrations occur, and the hydraulic actuator HA can be smoothly transitioned from automatic driving to operation by the intervention operation.

[0144] [Control Processing During Transition Mode] Next, the control processing during the transition mode executed by the controller 30 will be described with reference to FIG.

[0145] FIG. 8 is a flowchart illustrating an example of a control process in the transition mode.

[0146] This flowchart is executed at every predetermined control period when the transition mode is selected as the operation mode of the hydraulic actuator HA that is the target of automatic operation.

[0147] In this example, the manipulated variable corresponding to operation of the double-acting hydraulic actuator HA in a certain direction (for example, the above-mentioned first direction) is defined as a positive manipulated variable, and the manipulated variable corresponding to operation in the opposite direction (for example, the above-mentioned second direction) is defined as a negative manipulated variable. For example, when the manipulated variable is converted into the pilot pressure on the secondary side of the hydraulic control valve 31, the pilot pressure of the hydraulic control valve 31L corresponding to operation of the hydraulic actuator HA in the first direction is defined as a positive pilot pressure. On the other hand, the pilot pressure of the hydraulic control valve 31R corresponding to operation of the hydraulic actuator HA in the second direction is defined as a negative pilot pressure.

[0148] As shown in FIG. 8 , in step S202, the arbitration control unit 304 determines whether the intervening operation is continuing. For example, the arbitration control unit 304 determines that the intervening operation is continuing if the operation amount of the intervening operation is not zero. Alternatively, the arbitration control unit 304 may determine that the intervening operation is continuing if the operation amount of the intervening operation has not been zero for a predetermined period of time immediately preceding the intervening operation. If the intervening operation is continuing, the arbitration control unit 304 proceeds to step S204. If the intervening operation is not continuing, the arbitration control unit 304 proceeds to step S212.

[0149] In step S204, the arbitration control unit 304 determines whether the operation amount of the hydraulic actuator HA that is the target of automatic operation has reached the operation amount of the intervention operation through the previous processing of step S206. For example, the arbitration control unit 304 determines whether the pilot pressure of the hydraulic control valve 31 has reached the pilot pressure corresponding to the intervention operation through the previous processing of step S206. If the operation amount of the hydraulic actuator HA that is the target of automatic operation has not reached the operation amount of the intervention operation, the arbitration control unit 304 proceeds to step S206, and if it has reached the operation amount, the arbitration control unit 304 proceeds to step S210.

[0150] In step S206, the arbitration control unit 304 changes the operation amount of the hydraulic actuator HA so that it gradually approaches the operation amount of the intervention operation. Specifically, the arbitration control unit 304 generates an operation command for changing the pilot pressure on the secondary side of the hydraulic control valve 31 so that it gradually approaches the pilot pressure corresponding to the intervention operation, and outputs the operation command to the hydraulic control valve 31. At this time, if the operation command corresponds to a positive pilot pressure, the operation command is output to the hydraulic control valve 31L, and if the operation command corresponds to a negative pilot pressure, the operation command is output to the hydraulic control valve 31R.

[0151] For example, in step S206, the arbitration control unit 304 calculates a command value PIout of the pilot pressure using the following equation (1), and outputs an operation command corresponding to the command value PIout to the hydraulic control valve 31.

[0152] PIout=PI_a+Kp・PI_b+Ki・∫(PI_b)dt...(1)

[0153] The pilot pressure PI_a is the pilot pressure corresponding to the latest output (control command) of the automatic driving control unit 302. The pilot pressure PI_b is the pilot pressure corresponding to the intervention operation. The proportional gain Kp is the gain of the proportional term of the pilot pressure PI_b in the command value PIout (the second term in equation (3)). The integral gain Ki is the gain of the integral term of the pilot pressure PI_b in the command value PIout (the third term in equation (3)). The third term in equation (3) is the integral term of the pilot pressure PI_b starting from the start of the intervention operation.

[0154] The absolute value of the integral term (third term) in equation (3) increases over time from the start of the intervention operation, so the arbitration control unit 304 can gradually bring the command value PIout, i.e., the operation amount of the hydraulic actuator HA that is the target of automatic operation, closer to the pilot pressure corresponding to the intervention operation over time.

[0155] When the process of step S206 is completed, the controller 30 proceeds to step S208.

[0156] In step S208, the arbitration control unit 304 selects the transition mode. That is, the arbitration control unit 304 maintains the operation mode of the hydraulic actuator HA that is the target of automatic operation in the transition mode.

[0157] On the other hand, in step S210, the arbitration control unit 304 selects the intervention operation mode. That is, the arbitration control unit 304 transitions the operation mode of the hydraulic actuator HA that is the target of automatic operation from the transition mode to the intervention operation mode, thereby completing the transition process from the automatic operation mode to the intervention operation mode.

[0158] In step S212, the arbitration control unit 304 selects the automatic operation mode. That is, the arbitration control unit 304 returns the operation mode of the hydraulic actuator HA that is the target of automatic operation from the transition mode to the automatic operation mode.

[0159] When the process of any one of steps S208, S210, and S212 is completed, the controller 30 ends the process of this flowchart.

[0160] In this way, when an intervention operation in the direction opposite to the automatic operation is started, the arbitration control unit 304 can control the hydraulic control valve 31 so that the actual operation amount of the hydraulic actuator HA gradually approaches the operation amount of the intervention operation. Therefore, for example, when the intervention operation is started, a transition to the intervention operation mode can be made at the same time as the intervention operation is started, and a situation in which the operation of the hydraulic actuator HA suddenly decelerates and vibrations occur can be suppressed, and a smooth transition from automatic operation of the hydraulic actuator HA to operation by the intervention operation can be made.

[0161] [Control Processing During Intervention Operation Mode] Next, the control processing during the intervention operation mode executed by the controller 30 will be described with reference to FIG.

[0162] This flowchart is executed at every predetermined control cycle when the intervention operation mode is selected as the operation mode of the hydraulic actuator HA that is the target of automatic operation.

[0163] FIG. 9 is a flowchart showing an example of a control process during the intervention operation mode.

[0164] 9 , in step S302, the arbitration control unit 304 determines whether the direction of the intervention operation is the same as the operating direction of the hydraulic actuator HA corresponding to the automatic driving. For example, the arbitration control unit 304 determines whether the operating direction of the hydraulic actuator HA corresponding to the output of the intervention operation control unit 303 is the same as the operating direction of the hydraulic actuator HA corresponding to the output of the automatic driving control unit 302. If the direction of the intervention operation is the same as the operating direction of the hydraulic actuator HA corresponding to the automatic driving, the arbitration control unit 304 proceeds to step S304, and if not, the arbitration control unit 304 proceeds to step S306.

[0165] In step S304, the arbitration control unit 304 determines whether the operation amount of the intervening operation is less than the operation amount corresponding to the current operating state of the hydraulic actuator HA that is the target of automatic operation. If the operation amount of the intervening operation is less than the operation amount corresponding to the current operating state of the hydraulic actuator HA that is the target of automatic operation, the arbitration control unit 304 proceeds to step S308, and otherwise proceeds to step S310.

[0166] On the other hand, in step S306, the arbitration control unit 304 determines whether the intervening operation has ended. For example, the arbitration control unit 304 determines that the intervening operation has ended if the operation amount of the intervening operation is zero. Alternatively, the arbitration control unit 304 may determine that the intervening operation has ended if the state in which the operation amount of the intervening operation is zero continues for a predetermined time or more. If the intervening operation has ended, the arbitration control unit 304 proceeds to step S308, and if the intervening operation has not ended, the arbitration control unit 304 proceeds to step S310.

[0167] In step S308, the arbitration control unit 304 selects the automatic operation mode. That is, the arbitration control unit 304 returns the operation mode of the hydraulic actuator HA that is the target of automatic operation from the intervention operation mode to the automatic operation mode.

[0168] On the other hand, in step S310, the arbitration control unit 304 selects the intervention operation mode, i.e., maintains the operation mode of the hydraulic actuator HA that is the target of automatic operation in the intervention operation mode.

[0169] When the processing of either step S308 or S310 is completed, the processing of this flowchart ends.

[0170] In this way, the arbitration control unit 304 can return to the automatic operation mode when the operation amount of the intervention operation decreases below the operation amount corresponding to automatic operation, or when the intervention operation ends. This is because the controller 30 realizes operation by intervention operation while continuing the automatic operation function and continuing the control processing by the automatic operation control unit 302 in parallel. Therefore, for example, in a situation where the operator wants to correct part of the trajectory of a specific portion of the excavator 100 or an attachment so that it deviates from the target trajectory, the controller 30 can continuously transition the operating state of the hydraulic actuator HA in the following sequence: automatic operation → operation by intervention operation → automatic operation. This can improve operator convenience and work efficiency.

[0171] [Specific Example of Transition from Automatic Driving Mode to Intervention Driving Mode] Next, with reference to Figs. 10 and 11, a specific example of transition from the automatic driving mode to the intervention driving mode for the hydraulic actuator HA that is the target of automatic driving will be described.

[0172] 10 is a diagram showing a first example of the change over time of the pilot pressure when transitioning from the automatic driving mode to the intervention driving mode. Specifically, Fig. 10 shows a specific example of the change over time of the pilot pressure on the secondary side of the hydraulic control valve 31 when transitioning from the automatic driving mode to the intervention driving mode in a case where the direction of the intervention operation is the same as the actual operating direction of the hydraulic actuator HA based on the automatic driving.

[0173] The pilot pressure on the secondary side of the hydraulic control valve 31 corresponds to the pilot pressure acting on the pilot port of the directional control valve 17X.

[0174] As shown in FIG. 10, in this example, in the automatic driving mode, an intervention operation is started at time t10 in the same direction as the operating direction of the hydraulic actuator HA based on the automatic driving.

[0175] Thereafter, the pilot pressure corresponding to the intervention operation increases in accordance with an increase in the amount of intervention operation, and gradually approaches the pilot pressure corresponding to automatic operation (dashed line in the figure), i.e., the pilot pressure (solid line in the figure) output from the hydraulic control valve 31. Then, at time t11, the pilot pressure corresponding to the intervention operation reaches the pilot pressure corresponding to automatic operation (YES in step S104 in FIG. 7). As a result, the operation mode of the hydraulic actuator HA that is the target of automatic operation transitions from the automatic operation mode to the intervention operation mode (step S106 in FIG. 7).

[0176] After time t11, the pilot pressure corresponding to the intervention operation continues to be equal to or higher than the pilot pressure corresponding to automatic operation (NO in step S304 in Figure 9), and therefore the intervention operation mode continues (step S310 in Figure 9).

[0177] As described above, in this example, the excavator 100 waits until the pilot pressure for the intervention operation rises to or exceeds the actual pilot pressure of the hydraulic control valve 31, i.e., the pilot pressure corresponding to automatic operation, before transitioning to the intervention operation mode. Therefore, the hydraulic actuator HA can transition from an operating state corresponding to automatic operation to an operating state corresponding to the intervention operation while accelerating slowly. Therefore, the excavator 100 can smoothly transition from automatic operation of the hydraulic actuator HA to operation using the intervention operation.

[0178] 11 is a diagram showing a second example of the change over time in the pilot pressure during a transition from the automatic operation mode to the intervention operation mode. Specifically, Fig. 11 shows a specific example of the change over time in the pilot pressure on the secondary side of the hydraulic control valve 31 during a transition from the automatic operation mode to the intervention operation mode in a case where the direction of the intervention operation is opposite to the actual operating direction of the hydraulic actuator HA based on the automatic operation.

[0179] 11 , in this example, in the automatic driving mode, at time t20, an intervention operation is started in a direction (second direction) opposite to the operating direction (first direction) of the hydraulic actuator HA based on the automatic driving (NO in step S102 in FIG. 7 ). As a result, the operation mode of the hydraulic actuator HA transitions from the automatic driving mode to the transition mode (step S110 in FIG. 7 ). The pilot pressure (dashed line in the figure) corresponding to the intervention operation increases in the second direction.

[0180] After time t20, as the operation amount (absolute value) of the intervention operation increases, the pilot pressure in the first direction output from the hydraulic control valve 31 (solid line in the figure), i.e., the pilot pressure on the secondary side of the hydraulic control valve 31L, gradually decreases and approaches the pilot pressure corresponding to the intervention operation (step S206 in FIG. 8). Then, at time t21, the pilot pressure of the hydraulic control valve 31 reaches zero. Between time t20 and time t21, the hydraulic actuator HA gradually decelerates and stops.

[0181] After time t21, the pilot pressure in the second direction output from the hydraulic control valve 31, i.e., the pilot pressure on the secondary side of the hydraulic control valve 31R, gradually increases and approaches the pilot pressure corresponding to the intervention operation (step S206 in FIG. 8 ). Then, at time t22, the pilot pressure in the second direction output from the hydraulic control valve 31 reaches the pilot pressure corresponding to the intervention operation (YES in step S204 in FIG. 8 ). As a result, the operation mode of the hydraulic actuator HA shifts from the transition mode to the intervention operation mode (step S210 in FIG. 8 ). Between time t21 and time t22, the hydraulic actuator HA gradually accelerates in the opposite direction (second direction) from the stopped state.

[0182] In this way, in this example, the excavator 100 gradually brings the pilot pressure output from the hydraulic control valve 31 closer to the pilot pressure corresponding to the intervention operation. As a result, the excavator 100 can gradually decelerate and stop the hydraulic actuator HA, and then accelerate it in the opposite direction to transition to an operating state corresponding to the intervention operation. Therefore, the excavator 100 can smoothly transition from automatic operation of the hydraulic actuator HA to operation by the intervention operation.

[0183] Furthermore, as shown in a comparative example (a two-dot chain line in the figure), after the start of an intervention operation, it is also possible to output from the hydraulic control valve 31 the sum of the pilot pressure in the first direction (positive pilot pressure) corresponding to the automatic operation and the pilot pressure in the second direction (negative pilot pressure) corresponding to the intervention operation. In this case, as the amount of operation of the intervention operation increases, the pilot pressure in the first direction output from the hydraulic control valve 31, i.e., the pilot pressure on the secondary side of the hydraulic control valve 31L, decreases and approaches the pilot pressure corresponding to the intervention operation. At this time, since the position of a predetermined part of the excavator 100 or an accessory deviates from the target trajectory with the start of the intervention operation, the automatic operation control unit 302 increases the pilot pressure corresponding to the automatic operation to align the predetermined part of the excavator 100 or an accessory with the target trajectory. As a result, even if the pilot pressure corresponding to the intervention operation increases to its maximum, the pilot pressure corresponding to the automatic operation also increases, which may prevent the hydraulic control valve 31 from outputting the pilot pressure in the second direction.

[0184] Also, the pilot pressure corresponding to the intervention operation may be multiplied by a proportional gain exceeding 1, and then the sum may be taken of the pilot pressure corresponding to the automatic operation and output from the hydraulic control valve 31. However, in this case, the rate of change of the pilot pressure output from the hydraulic control valve 31 may become large, which may result in a sudden deceleration or a sudden acceleration of the hydraulic actuator HA.

[0185] In contrast to this, in this example, as shown in the above-mentioned formula (3), in addition to the sum of the pilot pressure corresponding to the automatic operation and the proportional term of the pilot pressure corresponding to the intervention operation, an integral term of the pilot pressure corresponding to the intervention operation is added. This makes it possible to make the pilot pressure output from the hydraulic control valve 31 approach and reach the pilot pressure corresponding to the intervention operation, and to suppress sudden deceleration or sudden acceleration of the hydraulic actuator HA due to changes in the pilot pressure output from the hydraulic control valve 31.

[0186] Note that, when PI (Proportional Integral) control is employed as feedback control, the automatic driving control unit 302 may stop updating the integral term in the transition mode. This makes it possible to suppress an increase in the pilot pressure corresponding to automatic driving when the position of a predetermined part of the excavator 100 or an attachment deviates from the target trajectory as an intervention operation begins. This allows the pilot pressure output from the hydraulic control valve 31 to reach the pilot pressure corresponding to the intervention operation more quickly. In other words, the arbitration control unit 304 can terminate the transition mode in a shorter period of time and transition to the intervention operation mode more quickly.

[0187] [Other Embodiments] Next, other embodiments will be described.

[0188] The above-described embodiment may be modified or changed as appropriate.

[0189] For example, the control method (FIGS. 7 to 9) for switching the operation mode of the actuator of the excavator 100 in the above-described embodiment may be applied to other work machines having an automatic operation function. Examples of other work machines include a forklift and a wheel loader.

[0190] [Operation] Next, the operation of the work machine according to this embodiment will be described.

[0191] In this embodiment, when the operator starts to input an operation to the actuator while the actuator is in automatic operation, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operating input become closer over time, and the work machine transitions to a state in which the actuator operates in accordance with the operator's operating input. The work machine is, for example, the excavator 100 described above. The work machine may also be a forklift, a wheel loader, or the like. The actuator is, for example, the hydraulic actuator HA described above. The actuator may also be an electric actuator.

[0192] As a result, even if there is a discrepancy between the operating state of the actuators during automatic operation and the operating state of the actuators corresponding to the operator's operation input when the operator starts to input an operation, the difference will become closer over time, allowing the work machine to transition to a state in which the actuators operate in response to the operator's operation input. This allows the work machine to smoothly transition from automatic operation of the actuators to operation under operator control.

[0193] Furthermore, in this embodiment, when the work machine is in a state where the actuator is operating automatically and the operator starts to input an operation in a direction opposite to the operating direction of the actuator corresponding to the automatic operation, the actuator may gradually decelerate and stop, and then accelerate in the direction corresponding to the operator's operation input.

[0194] This allows the work machine to smoothly transition from automatic actuator operation to operation by operator operation when the operator begins to input operation in the direction opposite to the operating direction of the actuator corresponding to automatic operation.

[0195] Furthermore, in this embodiment, when the actuator is operating automatically and the operator starts to input an operation in the direction opposite to the operating direction of the actuator corresponding to the automatic operation, the actual operating state of the actuator may be brought closer over time to the operating state corresponding to the operator's operation input, thereby transitioning to the operating state corresponding to the operator's operation input.

[0196] This allows the work machine to smoothly transition from automatic actuator operation to operation by operator operation when the operator begins to input operation in the direction opposite to the operating direction of the actuator corresponding to automatic operation.

[0197] Furthermore, in this embodiment, when the work machine is in a state where the actuator is operating automatically and the operator begins to input an operation in the same direction as the operating direction of the actuator corresponding to the automatic operation, the operating state of the actuator corresponding to the operator's operation input may approach the actual operating state over time as the amount of operation of the operator's operation input increases, and the work machine may transition to a state in which the actuator operates in accordance with the operator's operation input.

[0198] This allows the work machine to smoothly transition from automatic actuator operation to operation by operator operation when the operator begins inputting an operation in the same direction as the operating direction of the actuator corresponding to automatic operation.

[0199] Furthermore, in this embodiment, the work machine may be equipped with a first control unit and a second control unit. The first control unit is, for example, the automatic driving control unit 302 described above. The second control unit is, for example, the arbitration control unit 304 described above. Specifically, the first control unit performs control related to the automatic driving of the actuator. When an operator starts inputting an operation into the actuator while the actuator is being automatically driven by the first control unit, the second control unit transitions the actuator to a state in which it operates in response to the operator's operation input. More specifically, the first control unit may continue control related to the automatic driving of the actuator even after the operator starts inputting an operation into the actuator. Then, the second control unit may transition the actuator to a state in which it operates in response to the operator's operation input while the first control unit continues to control the automatic driving of the actuator.

[0200] This allows the work machine to transition to a state in which the actuator operates in response to operation input from the operator while continuing control related to automatic operation. Therefore, even in a situation in which, for example, the operator starts operation input, slightly corrects the operation of the actuator, and immediately ends the operation, the work machine can immediately return to an automatic operation state. Therefore, the work machine can realize actuator operation in a form that allows partial correction of the actuator operation by operation input from the operator, while assuming a state in which the actuator operates through automatic operation.

[0201] Furthermore, in this embodiment, when the operator's operation input to the actuator is completed, the work machine may return to a state in which the first control unit performs automatic operation of the actuator, based on the operating state of the actuator up until the operator's operation input is completed.

[0202] This allows the work machine to return to automatic actuator operation based on the actuator operating state corrected by the operator's operation input, thereby enabling the work machine to smoothly return to automatic actuator operation from actuator operation based on the operator's operation input.

[0203] Furthermore, in this embodiment, when an operator begins to remotely input an operation to the actuator while the actuator is in automatic operation, the working machine may transition to a state in which the actuator operates in accordance with the operator's operation input as the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's remote operation input become closer over time.

[0204] This allows the work machine to smoothly transition from automatic operation of the actuator to operation under remote control by the operator, in line with the start of operation input under remote control by the operator.

[0205] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims.

[0206] Finally, this application claims priority based on Japanese Patent Application No. 2023-141700, filed on August 31, 2023, the entire contents of which are incorporated herein by reference.

[0207] REFERENCE SIGNS LIST 1 Lower traveling body 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 17 Control valve 17X Directional switching valve 26 Operation device 26X Lever device 30 Controller 31, 31L, 31R Hydraulic control valve 60 Communication device 100 Excavator 300 Remote operation support device 301 Target trajectory generation unit 302 Automatic driving control unit 303 Intervention operation control unit 304 Arbitration control unit AT Attachment HA Hydraulic actuator S1 to S6, SX Sensing device S6B Rear camera S6F Front camera S6L Left camera S6R Right camera

Claims

1. A work machine in which, when an operator begins to input operation to an actuator while the actuator is in automatic operation, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operation input become closer over time, causing the actuator to transition to a state in which it operates in response to the operator's operation input.

2. A work machine as described in claim 1, wherein, when the actuator is in automatic operation and an operation input from an operator is initiated in a direction opposite to the movement direction of the actuator corresponding to the automatic operation, the actuator gradually decelerates and stops, and then accelerates in the direction corresponding to the operation input from the operator.

3. A work machine as claimed in claim 1 or 2, wherein when the actuator is in automatic operation and an operator starts to input an operation in a direction opposite to the actuator's operating direction corresponding to the automatic operation, the actual operating state of the actuator is brought closer over time to the operating state corresponding to the operator's operation input, thereby transitioning to an operating state corresponding to the operator's operation input.

4. A work machine as claimed in claim 1 or 2, wherein when the actuator is in automatic operation and an operator input is initiated in the same direction as the actuator's operating direction corresponding to the automatic operation, the actuator transitions to a state in which it operates in response to the operator's input by the actuator's operating state corresponding to the operator's input approaching an actual operating state over time as the amount of operation of the operator's input increases.

5. A work machine as claimed in claim 1 or 2, comprising: a first control unit which performs control relating to automatic operation of the actuator; and a second control unit which, when an operator's operation input to the actuator is started while the actuator is being automatically operated by the first control unit, transitions the actuator to a state in which it operates in response to the operator's operation input, wherein the first control unit continues control relating to the automatic operation of the actuator even after the operator's operation input to the actuator is started, and the second control unit transitions the actuator to a state in which it operates in response to the operator's operation input while control of the automatic operation of the actuator by the first control unit is continuing.

6. A work machine as described in claim 5, wherein, when the operator's operation input to the actuator is terminated, the first control unit returns to a state in which the actuator is automatically operated, based on the operating state of the actuator up until the end of the operator's operation input.

7. A work machine as claimed in claim 1 or 2, wherein when an operator begins to remotely input operation information to the actuator while the actuator is in automatic operation, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's remote operation input become closer over time, so that the actuator transitions to a state in which it operates in response to the operator's operation input.

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