Automatic rotation control system, work machine, and automatic rotation control method for work machine

Abstract

A rotating body (3) rotates around a rotational axis (RX). A work machine (2) is attached to the rotating body (3) and has a bucket (8). An operation unit (25) receives a manual operation from an operator with respect to the work machine (2). A controller (50) performs automatic rotation control for automatically controlling the rotating body (3) and the work machine (2). When the rotation radius, which is the distance between the bucket (8) and the rotational axis (RX), changes to R2 due to a manual operation received by the operation unit (25) during execution of the automatic rotation control, the controller (50) performs the automatic rotation control on the basis of the rotation radius R2 after the change.

Description

Automatic turning control system, work machine, and automatic turning control method for work machine

[0001] The present disclosure relates to an automatic swing control system, a work machine, and an automatic swing control method for a work machine.

[0002] An automatic control device for a hydraulic excavator as a work machine is disclosed, for example, in Japanese Patent Laid-Open Publication No. 9-256407 (Patent Document 1). In Patent Document 1, the working unit (boom, arm, bucket, etc.) is automatically operated based on a time-series working unit position trajectory stored in an automatic control unit. This allows not only excavation work but also a series of operations such as excavation, loading, soil removal, and return to be performed automatically. Furthermore, if manual operation is performed during automatic excavation, excavation control is performed based on the manual operation, and the excavation trajectory data is rewritten with data based on the manual operation.

[0003] Japanese Patent Application Publication No. 9-256407

[0004] However, in the technology of Patent Document 1, only the track data stored during manual operation is rewritten to data corresponding to the manual operation. In other words, if the manual operation is ended before the automatic operation ends, the track data stored during the period when there was no manual operation remains valid. This requires performing all the manual operations corresponding to the track data to be rewritten, which is inconvenient to use.

[0005] An object of the present disclosure is to provide an easy-to-use automatic swing control system, a work machine, and an automatic swing control method for a work machine.

[0006] Each of the automatic swing control systems and work machines disclosed herein includes a swing unit, a work implement, an operation unit, and a controller. The swing unit swings around a swing axis. The work implement is attached to the swing unit and has a work tool. The operation unit accepts manual operation of the work implement by an operator. The controller performs automatic swing control that automatically controls the swing unit and the work implement. If the swing radius, which is the distance between the work tool and the swing axis, changes due to manual operation of the operation unit while the automatic swing control is being performed, the controller performs automatic swing control based on the changed swing radius.

[0007] The automatic rotation control method for a work machine disclosed herein is an automatic rotation control method for a work machine that includes a rotating body that rotates around a rotation axis and a work implement that is attached to the rotating body and has a work tool, and has the following steps.

[0008] During execution of automatic swing control, which automatically controls the rotating body and the work equipment so that the work equipment moves toward the swing end point, the swing radius, which is the distance between the work equipment and the swing axis, changes due to manual operation of the work equipment by the operator. Automatic swing control is performed based on the changed swing radius.

[0009] According to the present disclosure, it is possible to realize an easy-to-use automatic turning control system, a work machine, and an automatic turning control method for a work machine.

[0010] FIG. 1 is a diagram showing the configuration of a hydraulic excavator as an example of a work machine according to an embodiment of the present disclosure. FIG. 2 is a diagram showing an operation flow of excavation and loading by a hydraulic excavator as an example of a work machine. FIG. 3 is a perspective view showing automatic excavation and loading as an example of work for which automatic swing control of a work machine is performed. FIG. 4 is a top view showing a state in which manual operation intervenes while automatic swing control of a work machine is being performed. FIG. 5 is a block diagram showing an automatic swing control system for the work machine of FIG. 1. FIG. 6 is a diagram for explaining the height position of a work implement at a passing point. FIG. 7 is a flow chart showing a first example of an automatic swing control method for a work machine according to an embodiment of the present disclosure. FIG. 8 is a flow chart showing a second example of an automatic swing control method for a work machine according to an embodiment of the present disclosure.

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the specification and drawings, identical or corresponding components are designated by the same reference numerals, and redundant explanations will not be repeated. In addition, in the drawings, configurations may be omitted or simplified for the sake of convenience.

[0012] In the following description, the terms "up," "down," "front," "rear," "left," and "right" refer to directions relative to an operator seated in the operator's seat 4S in the operator's cab 4 shown in Fig. 1. In this specification, a top view refers to a viewpoint from which the work machine 100 is viewed from above.

[0013] <Configuration of Work Machine> The configuration of a hydraulic excavator as an example of a work machine of the present disclosure will be described with reference to FIG.

[0014] Fig. 1 is a diagram schematically illustrating the configuration of a hydraulic excavator as an example of a work machine according to an embodiment of the present disclosure. As shown in Fig. 1, the hydraulic excavator 100 of this embodiment has a main body 1 and a hydraulically operated work implement 2. The main body 1 has a revolving unit 3 and a traveling unit 5.

[0015] The running body 5 has a pair of tracks 5Cr and a travel motor 5M. The hydraulic excavator 100 is capable of traveling by rotation of the tracks 5Cr. The travel motor 5M is provided as a drive source for the running body 5. The travel motor 5M is a hydraulic motor that is hydraulically operated. The running body 5 may have wheels (tires).

[0016] The rotating body 3 is disposed on the running body 5 and is supported by the running body 5. The rotating body 3 can be rotated relative to the running body 5 about a rotation axis RX by a rotation motor (not shown). The rotation axis RX is the rotation center of the rotating body 3. The rotation motor is a hydraulic motor operated by hydraulic pressure. The rotation axis RX is a virtual straight line that is the rotation center of the rotating body 3. Note that the traveling motor 5M or the rotation motor may be an electric motor.

[0017] The rotating body 3 has a driver's cab 4. A driver's seat 4S is provided in the driver's cab 4 where an operator sits. The operator (crew) sits in the driver's cab 4 and can operate the work equipment 2, rotate the rotating body 3 relative to the traveling body 5, and travel the hydraulic excavator 100 using the traveling body 5. The rotating body 3 has an exterior cover 9. The exterior cover 9 covers the machine room. The hydraulic excavator 100 may be remotely operated.

[0018] The work implement 2 is supported by a revolving unit 3. The work implement 2 has a boom 6, an arm 7, and a bucket 8. The work implement 2 further has a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The bucket 8 corresponds to an example of a work implement of the present disclosure.

[0019] The boom 6 is rotatably connected to the main body 1. Specifically, the base end of the boom 6 is rotatably connected to the rotating unit 3 with a boom foot pin 13 as a fulcrum. The arm 7 is rotatably connected to the boom 6. Specifically, the base end of the arm 7 is rotatably connected to the tip of the boom 6 with a boom top pin 14 as a fulcrum. The bucket 8 is rotatably connected to the arm 7. Specifically, the base end of the bucket 8 is rotatably connected to the tip of the arm 7 with an arm top pin 15 as a fulcrum. The bucket 8 may be another work tool such as a grapple.

[0020] One end of the boom cylinder 10 is connected to the revolving unit 3, and the other end is connected to the boom 6. The boom 6 can be moved relative to the main body 1 by the boom cylinder 10. By the operation of the boom cylinder 10, the boom 6 can be rotated in the vertical direction relative to the revolving unit 3, with the boom foot pin 13 as a fulcrum.

[0021] One end of the arm cylinder 11 is connected to the boom 6, and the other end is connected to the arm 7. The arm 7 can move relative to the boom 6 by the arm cylinder 11. By operation of the arm cylinder 11, the arm 7 can rotate up and down or back and forth relative to the boom 6, with the boom top pin 14 as a fulcrum.

[0022] One end of the bucket cylinder 12 is connected to the arm 7, and the other end is connected to a bucket link 17. The bucket 8 can move relative to the arm 7 by the bucket cylinder 12. By the operation of the bucket cylinder 12, the bucket 8 can rotate in the vertical direction relative to the arm 7, with the arm top pin 15 as a fulcrum.

[0023] The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are each a hydraulic cylinder that is driven by hydraulic pressure, but may also be other actuators such as an electric cylinder.

[0024] The hydraulic excavator 100 further has a work implement attitude sensor 20 ( FIG. 5 ), a position and orientation sensor 21, an inclination sensor 22 ( FIG. 5 ), and a detection sensor 23. The work implement attitude sensor 20 detects the attitude of the work implement 2 and outputs an attitude signal indicative of the attitude of the work implement 2. The work implement attitude sensor 20 can detect the attitude of each of the boom 6, the arm 7, and the bucket 8. The work implement attitude sensor 20 includes sensors disposed on each of the boom 6, the arm 7, and the bucket 8. The work implement attitude sensor 20 may be any one of an IMU (Inertial Measurement Unit), a stroke sensor, a potentiometer, an imaging device, etc., or any combination of these.

[0025] The position and orientation sensor 21 is, for example, a Global Navigation Satellite Systems (GNSS) receiver. The position and orientation sensor 21 includes two GNSS receivers 21a and 21b. Each of the two GNSS receivers 21a and 21b is installed at a different position on the rotating unit 3. Each of the GNSS receivers 21a and 21b receives a satellite positioning signal from a satellite indicating the position of the rotating unit 3 in a global coordinate system. The position and orientation sensor 21 outputs the received satellite positioning signal indicating the position of the rotating unit 3 in the global coordinate system. The controller 50 ( FIG. 5 ) calculates the position of the rotating unit 3 in the global coordinate system and the orientation of the rotating unit 3 from the satellite positioning signal.

[0026] The position and orientation sensor 21 may include a rotation angle sensor. The rotation angle sensor is fixed to the rotating unit 3, for example. The rotation angle sensor detects the rotation angle of the rotating unit 3 relative to the running unit 5 and outputs a rotation angle signal indicating the rotation angle of the rotating unit 3. The rotation angle sensor can detect the rotation angle in a machine coordinate system (local coordinate system). The rotation angle sensor may be any one of an IMU, a potentiometer, an imaging device, etc., or any combination of these. The machine coordinate system is an orthogonal coordinate system whose origin is the center of rotation of the rotating unit 3 and is represented by axes extending in the front-to-back direction, axes extending in the left-to-right direction, and axes extending in the up-to-down direction (rotation axis RX).

[0027] The inclination sensor 22 measures the acceleration and angular velocity (swing speed) of the revolving unit 3 and detects the attitude (e.g., roll angle, pitch angle, yaw angle) of the revolving unit 3 based on the measurement results. The inclination sensor 22 is installed, for example, on the underside of the revolving unit 3. The inclination sensor 22 is, for example, an IMU. The inclination sensor 22 outputs an inclination signal obtained by the measurement.

[0028] The detection sensor 23 detects the terrain or objects around the work site of the hydraulic excavator 100. The detection sensor 23 may be attached to, for example, the operator's cab 4, the exterior cover 9, or a location other than these. The detection sensor 23 outputs a detection signal based on the detected object.

[0029] The detection sensor 23 is, for example, a LiDAR (Light Detection and Ranging) that emits laser light to acquire information about an object. The detection sensor 23 may also be a Radar (Radio Detection and Ranging) that acquires information about an object by emitting radio waves. The Radar may, for example, be a millimeter-wave radar that uses a receiving antenna to detect how millimeter-wave band radio waves emitted from a transmitting antenna are reflected off the surface of an object and returned. The detection sensor 23 may also be a visual sensor including a camera. Note that the detection sensor 23 may have a function to detect the attitude of the work implement 2, similar to the work implement attitude sensor 20. For example, the attitude of the work implement 2 may be detected by emitting laser light toward the work implement 2 using the LiDAR.

[0030] The hydraulic excavator 100 further has a command unit 24 ( FIG. 5 ) and an operation unit 25 ( FIG. 5 ). The command unit 24 and the operation unit 25 are each disposed in the cab 4. The command unit 24 and the operation unit 25 each accept manual operation by an operator. The command unit 24 and the operation unit 25 are manually operated by the operator inside the cab 4, and output operation commands for manual operation.

[0031] The indicator 24 is a component for indicating control target points in automatic swing control. Control target points in automatic swing control are points through which the working point of the bucket 8 supported by the swinging body 3 passes during execution of automatic swing control, and include a passing point and a swing end point. A passing point is a point through which the working point of the bucket 8 passes during swing, and a swing end point is a point where the working point of the bucket 8 is located at the end of swing. The working point of the bucket 8 may be, for example, the point where the center of the arm top pin 15 in the lateral direction is located, or it may be the cutting edge 8T of the bucket 8 or the bottom surface of the bucket 8. When the automatic swing control is automatic swing control for automatic loading swing, for example, the swing end point is, for example, a soil unloading point, and the passing point is, for example, an interference avoidance point. The interference avoidance point is, for example, a point set to avoid interference with the loading target 200 ( FIG. 3 ). When the automatic swing control is automatic swing control for automatic return swing, for example, the swing end point is, for example, an excavation point, and the passing point is, for example, an interference avoidance point. The interference avoidance point is, as described above, a point set to avoid interference with the loading object 200 (FIG. 3), for example.

[0032] The operating unit 25 is a part for controlling the movement, rotation, and traveling of the boom 6, arm 7, and bucket 8. The operating unit 25 is an operating lever, an operating switch, etc. for controlling the movement, rotation operation, and traveling operation of the work implement 2.

[0033] <Operation Flow of Excavation and Loading and Automatic Swing Control> Next, the operation flow of excavation and loading of the work machine and automatic swing control will be described with reference to FIGS. 2 to 4. FIG.

[0034] Fig. 2 is a diagram showing the operation flow of excavation and loading by a hydraulic excavator as an example of a work machine. Fig. 3 is a perspective view showing automatic excavation and loading as an example of work in which automatic swing control of a work machine is performed. Fig. 4 is a top view showing manual operation intervening while automatic swing control of a work machine is being performed.

[0035] As shown in Figure 2, in excavation and loading by hydraulic excavator 100, excavation is first performed (step SA). This excavation loads a load such as soil into bucket 8. After excavation, rotating body 3 rotates with the load loaded in bucket 8 (step SB). This rotation is what is known as loading rotation (hoist rotation). During this loading rotation, bucket 8 is controlled so as not to interfere with object 200 to be loaded (Figures 3 and 4). Object 200 is, for example, a dump truck. Dump truck 200 has a vessel 200A for loading the load in bucket 8.

[0036] When bucket 8 reaches the point where the load in bucket 8 is to be discharged into vessel 200A by the loading swing, the swinging unit 3 stops swinging. After this, the load in bucket 8 is discharged (discharged) into vessel 200A of dump truck 200 (step SC). After the discharge, the swinging unit 3 swings back to excavate again (step SD).

[0037] In this embodiment, the automatic swing control of the work machine is performed, for example, during the above-mentioned excavation and loading. In this embodiment, the automatic swing control of the work machine is performed, for example, during at least one of the loading swing (step SB) and the return swing (step SD) during the above-mentioned excavation and loading. In this embodiment, the automatic swing control of the hydraulic excavator 100 may be performed, for example, during the loading swing during the above-mentioned excavation and loading, or may be performed during the return swing, or may be performed during both the loading swing and the return swing.

[0038] In the automatic swing control, the swing unit 3 automatically swings so that the bucket 8 moves from the swing start point to the swing end point. When the automatic swing control is performed during a loading swing as shown by the solid arrow in Figure 3, the swing start point in the automatic swing control is, for example, the position of the bucket 8 at the start of the automatic swing control, and the swing end point is the earth unloading point P2A. When the automatic swing control is performed during a return swing as shown by the dashed arrow in Figure 3, the swing start point in the automatic swing control is, for example, the position of the bucket 8 at the start of the automatic swing control, and the swing end point is the excavation point P1A.

[0039] As shown in Figure 3, in order to automate the above-mentioned excavation and loading work and perform automatic swing control, for example, it is necessary to set a point (control target point) through which the bucket 8 passes during the excavation and loading operation. Therefore, when automatic swing control is performed during a loading swing (solid arrow), an earth discharge point P2A of the bucket 8, which is the work implement, is set. When automatic swing control is performed during a return swing (dashed arrow), an excavation point (return point) P1A of the bucket 8, which is the work implement, is set. Furthermore, whether automatic swing control is performed during a loading swing or a return swing, an interference avoidance point (passing point) P3A is set so that the bucket 8, which is the work implement, does not interfere with the loading target 200.

[0040] The excavation point P1A is, for example, a point where the center of the arm top pin 15 in the left-right direction is located above the vicinity of the location where excavation is to be performed. The discharge point P2A is, for example, a point where the center of the arm top pin 15 in the left-right direction is located directly above the loading object 200 (e.g., vessel 200A). The passing point P3A is, for example, a point where the center of the arm top pin 15 in the left-right direction is located above the vicinity of the side edge SE of the loading object 200 (e.g., side edge of vessel 200A). Here, in order to set the excavation point P1A, the discharge point P2A, and the passing point P3A, the points P1A, P2A, and P3A are described as points where the center of the arm top pin 15 in the left-right direction is located. However, each of the points P1A, P2A, and P3A may be set using other points. For example, the excavation point P1A, the discharge point P2A, and the passing point P3A may be set using a point on the cutting edge 8T of the bucket 8 or a point on the bottom of the bucket 8. Each of the excavation point P1A, the earth unloading point P2A, and the passing point P3A may be, for example, a point on a trajectory with a single turning radius when viewed from above.

[0041] The turning radius is the distance between the work implement (e.g., bucket 8) and the turning axis RX, for example, the distance between the turning center RX and the work implement (e.g., bucket 8) in a top view. The turning radius may be the distance between the turning center RX and a working point of the work implement (e.g., bucket 8) in a top view, or may be the shortest distance between a target point and the turning axis RX.

[0042] The excavation point P1A, the earth unloading point P2A, and the passing point P3A are each set by, for example, the operator operating the indicator 24 ( FIG. 5 ) while the rotating unit 3 is rotating. Specifically, the operator operates the indicator 24 when he visually determines that the center of the arm top pin 15 in the left-right direction is located above the vicinity of the location to be excavated during the rotation of the rotating unit 3. The operator also operates the indicator 24 when he visually determines that the center of the arm top pin 15 in the left-right direction is located above the vicinity of the location to be unloaded from the bucket 8 during the rotation of the rotating unit 3. The operator also operates the indicator 24 when he visually determines that the center of the arm top pin 15 in the left-right direction is located above the vicinity of the side edge SE of the loading target 200 (for example, the side edge of the vessel 200A) during the rotation of the rotating unit 3.

[0043] Based on the attitude of the work implement 2 and the swing angle of the rotating unit 3 at the time the operator operates the indicator 24, the coordinates in the machine coordinate system of specific points (teaching points) corresponding to each of the points P1A, P2A, and P3A are calculated. This allows each specific point to be identified (taught). The specific points are identified, for example, during a return swing after unloading. The excavation point P1A, the earth unloading point P2A, and the passing point P3A are set based on each specific point identified as described above. For example, based on the coordinates of the specific points and the shape, dimensions, and attitude of the bucket 8, the points P1A, P2A, and P3A are set at points safely offset from each specific point. During loading swing under automatic swing control, the operation of the work implement 2 and the swing of the rotating unit 3 are controlled so that the center of the arm top pin 15 in the left-right direction moves from the swing start point, passes through the passing point P3A, and arrives at the earth unloading point P2A. Furthermore, during the return rotation in the automatic rotation control, the operation of the work machine 2 and the rotation of the rotating body 3 are controlled so that the left-right center of the arm top pin 15 passes from the rotation start point through the passing point P3A and reaches the excavation point P1A.

[0044] Furthermore, each specific point may be identified (taught) by the following method. For example, the operator may place a work point at a position corresponding to a desired position (e.g., excavation point P1A) as the swing end point of the automatic swing control (return swing) and operate the indicator 24 to identify (teach) the work point as the specific point corresponding to the "swing end point of the automatic swing control (return swing)." Similarly, the operator may place a work point at a position corresponding to a desired position (e.g., unloading point P2A) as the swing end point of the automatic swing control (loading swing) and operate the indicator 24 to identify (teach) the work point as the specific point corresponding to the "swing end point of the automatic swing control (loading swing)." Similarly, the operator may place a work point at a position corresponding to a desired position (e.g., interference avoidance point P3A) as the pass point of the automatic swing control (return swing, loading swing) and operate the indicator 24 to identify (teach) the work point as the specific point corresponding to the "pass point." By the operation of the operator, the rotation angle of the rotating body 3 and the attitude of the work implement 2 are set in association with the position information of the working point.

[0045] Note that the specific points corresponding to the points P1A, P2A, and P3A may be automatically identified by the detection sensor 23 ( FIG. 1 ) detecting the situation around the hydraulic excavator 100 and objects such as the loading target 200. The specific points corresponding to the control target points (for example, the excavation point P1A, the unloading point P2A, and the passing point P2A) may be identified (taught) based on the detection signal of the detection sensor 23 (for example, a visual sensor including LiDAR, radar, and a camera), and the control target points may be set from the specific points.

[0046] In the above-described automatic swing control, for example, when the vessel 200A of one dump truck 200 becomes full with earth and sand or other loads, the loading position may change, making it difficult to load the load into the vessel 200A of another dump truck 200. There may also be cases where it is desired to gradually change the excavation point. In such cases, in the above-described automatic swing control, the bucket 8 moves to the same excavation point P1A and the same unloading point P2A each time unless the specific points corresponding to the points P1A, P2A, and P3A are re-identified (re-teached). This prevents the operator from adjusting the position of the unloading point P2A or the excavation point P1A according to the loading position or excavation position that the operator actually desires to load or excavate, resulting in poor usability. Furthermore, if the specific points corresponding to the points P1A, P2A, and P3A are not re-identified (re-teached), the work implement 2 may interfere with the loading target, such as the dump truck 200.

[0047] Therefore, in this embodiment, if the operator manually changes the swing radius, which is the distance between the bucket 8 and the swing axis RX, to adjust the loading position, excavation position, etc. while the automatic swing control is being executed, the automatic swing control is executed so that the swing operation continues with the changed swing radius maintained. Hereinafter, this automatic swing control will be described with reference to FIG. 4.

[0048] Automatic swing control is started when the operator presses the start switch for automatic swing control and the conditions for starting automatic swing control are satisfied. Regardless of the position of the bucket 8 at the start of automatic swing control, the bucket 8 heads toward the set coordinates of the passing point (interference avoidance point) or the swing end point.

[0049] 4, more specifically, when the automatic swing control is automatic swing control during a return swing, for example, the swing body 3 automatically swings from the current position (current heading or current angle) of the bucket 8 when the start switch for automatic swing control is pressed until the bucket 8 reaches the position (heading or angle) of excavation point P1A. Also, the boom 6 and arm 7 automatically move up and down from the position (height) of the bucket 8 when the start switch for automatic swing control is pressed until the bucket 8 reaches the position (height) of excavation point P1A.

[0050] As a result, when the automatic swing control is automatic swing control for a return swing, for example, if there is no manual operation from the operator, automatic swing control is executed so that the bucket 8 moves from the current position of the bucket 8 when the start switch for automatic swing control is pressed to the excavation point P1A. Also, if a passing point P3A is set, automatic swing control is executed so that when the bucket 8 passes the set orientation or set angle of the passing point P3A, it passes at a height equal to or higher than the height of the interference avoidance point which is the passing point P3A.

[0051] Furthermore, when the automatic swing control is, for example, automatic swing control during loading swing, the swing body 3 swings automatically from the current position (current heading or current angle) of the bucket 8 when the start switch for automatic swing control is pressed until the bucket 8 reaches the position (heading or angle) of the earth unloading point P2A. Also, the boom 6 and arm 7 move up and down automatically from the position (height) of the bucket 8 when the start switch for automatic swing control is pressed until the bucket 8 reaches the position (height) of the earth unloading point P2A.

[0052] As a result, when the automatic swing control is automatic swing control during a loading swing, for example, if there is no manual operation from the operator, the automatic swing control is executed so that the bucket 8 moves from its current position when the start switch for automatic swing control is pressed to the discharge point P2A. Also, if a passing point P3A is set, the automatic swing control is executed so that the bucket 8 passes at a height equal to or higher than the height of the interference avoidance point, which is the passing point P3A, when passing in the set direction or at the set angle of the passing point P3A.

[0053] Meanwhile, while this automatic swing control is being executed, the operator may wish to manually change the swing radius, which is the distance between the bucket 8 and the swing axis RX, to adjust the loading position, excavation position, etc. For example, while automatic swing control for loading swing is being executed to adjust the loading position, the operator may manually operate the operation unit 25 to change the bucket 8 from point P4A to point P4B. Point P4A is the position of the bucket 8 during automatic swing control toward the earth unloading point P2A when the automatic swing control is, for example, automatic swing control during loading swing, and is a point at a distance R1 from the position of the swing center RX of the swing unit 3. Point P4B is a point on the swing trajectory of swing radius R2. Swing radius R2 is greater than distance R1, but it may also be smaller than distance R1.

[0054] In the automatic swing control of this embodiment, when the swing radius is changed to R2 by manual operation by the operator, the automatic swing control is executed so that the swing operation of the swing unit 3 continues with the changed swing radius R2 maintained. At this time, by changing the swing radius to R2, the position of the control target point (passing point, swing end point) that is further ahead in the swing operation than the position of the bucket 8 at the time of completion of manual operation is automatically reset.

[0055] In the case of manual operation during the automatic swing control (loading swing) shown in FIG. 4 , the manual operation is started before the swing angle (or swing direction) of the unloading point P2A and the passing point P3A is reached. Therefore, the passing point P3A and the unloading point P2A are reset to the passing point P3B and the unloading point P2B, respectively. The unloading point P2B is, for example, a point on the swing trajectory of the swing radius R2 in a top view, and is located at the same swing angle (or swing direction) as the unloading point P2A. The passing point P3B is, for example, a point where the swing trajectory of the swing radius R2 intersects with the side edge SE of the loading object 200 (for example, the side edge of the vessel 200A) in a top view. The passing point P3B is also a point at a height where the work implement 2 does not interfere with the loading object 200. If the height of the loading object 200 changes, the height of the passing point P3B may also be reset. If a manual operation intervenes during execution of automatic turning control, a predetermined height may be added uniformly.

[0056] As described above, after the turning radius is changed to R2 by manual operation by the operator while automatic turning control for loading turning is being executed, the bucket 8 moves automatically until it passes through the reset passing point P3B and reaches the unloading point P2B.

[0057] If the turning trajectory is changed manually after passing through the passing point P3A but before reaching the unloading point P2A, only the unloading point P2A is automatically reset to the unloading point P2B. In this case, the passing point P3A is not reset.

[0058] Furthermore, while automatic swing control for return swing is being executed, the operator may manually operate the operating unit 25 to change the bucket 8 from point P4C to point P4D, for example, to adjust the excavation position. Point P4C is the position of the bucket 8 during automatic swing control toward excavation point P1A when the automatic swing control is, for example, automatic swing control for return swing, and is a point at a distance R3 from the position of the swing center RX of the swing unit 3. Furthermore, point P4D is a point on the swing trajectory with a swing radius R2. The swing radius R2 is greater than the distances R1 and R3, but it may also be smaller than the distances R1 and R3.

[0059] In the automatic turning control of this embodiment, when the turning radius is changed to R2 by manual operation by the operator, the automatic turning control is executed so that the turning operation of the turning unit 3 continues with the changed turning radius R2 maintained. At this time, by changing the turning radius to R2, the position of the control target point (passing point, turning end point) that is further ahead in the turning operation than the position at the time of ending the manual operation is automatically reset.

[0060] In the case of manual operation during the automatic swing control (return swing) shown in FIG. 4 , the manual operation is started before the swing angle (or swing direction) of the excavation point P1A and the passing point P3A is reached. Therefore, the passing point P3A and the excavation point P1A are reset to the passing point P3B and the excavation point P1B, respectively. The excavation point P1B is, for example, a point on a swing trajectory with a swing radius R2 in a top view, and is located at the same swing angle (or swing direction) as the excavation point P1A. The passing point P3B is, for example, a point where the swing trajectory with a swing radius R2 intersects with the side edge SE of the loading object 200 (for example, the side edge of the vessel 200A) in a top view. The passing point P3B is also a point at a height where the work implement 2 does not interfere with the loading object 200. If the height of the loading object 200 changes, the height of the passing point P3B may also be readjusted. If a manual operation intervenes during execution of automatic turning control, a predetermined height may be added uniformly.

[0061] As a result, after the turning radius is changed to R2 by manual operation by the operator while automatic turning control is being executed during the return turn, the bucket 8 automatically moves until it passes through the reset passing point P3B and reaches the excavation point P1B.

[0062] If the turning trajectory is changed by manual operation after passing through the passing point P3A but before reaching the excavation point P1A, only the excavation point P1A is automatically reset to the excavation point P1B. In this case, the passing point P3A is not reset.

[0063] The resetting of the above control target points (turning end points P1B, P2B, passing point P3B) may be triggered by the end of manual operation intervention and performed based on the position at the end of the intervention, or may continue to be set in real time after the start of manual operation intervention, or may continue to be performed at predetermined intervals after the start of manual operation intervention.

[0064] Furthermore, during the period from the start to the completion of manual operation during automatic turning control, each time the turning radius changes, the control target point ahead of the turning operation may be reset in real time based on the changed turning radius. Furthermore, after the manual operation during automatic turning control is completed, the control target point ahead of the turning operation may be reset based on the turning angle (or turning direction) and radius at the time of completion.

[0065] The above describes a case where the control target point is reset on the arc of turning radius R2 after completion of a manual operation during automatic turning control. However, the control target point may also be reset to a position offset toward the inner or outer diameter from the arc of turning radius R2 under predetermined conditions. The predetermined conditions include, for example, the position (range) of vessel 200A, the previous dumping position (the actual dumping position), the dumped shape within vessel 200A, and other obstacles. For example, when dumping point P2B is reset on the arc of turning radius R2 after the change, the control target point may be reset to a position offset toward the inner or outer diameter from the arc of turning radius R2 in the following cases: (1) dumping point P2B is reset outside the range of vessel 200A; (2) it overlaps with the previous dumping position; (3) it interferes with a load within vessel 200A; or (4) it interferes with other obstacles. In this case, the control target point is automatically reset based on the changed turning radius R2 and taking into account the predetermined conditions.

[0066] <Automatic Swing Control System for Work Machine> Next, the configuration of the automatic swing control system for the work machine in this embodiment will be described with reference to FIG.

[0067] Figure 5 is a block diagram showing an automatic swing control system for a work machine according to the present disclosure. As shown in Figure 5, the automatic swing control system has a controller 50. The controller 50 includes a processor, a main memory, and a storage unit 54. The processor is, for example, a CPU (Central Processing Unit). The main memory includes, for example, a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The controller 50 reads a program stored in the storage unit 54, loads it into the main memory, and executes predetermined processing in accordance with the program.

[0068] The controller 50 includes a control target setting unit 51 , a manual operation determination unit 52 , a control target correction unit 53 , a storage unit 54 , and an EPC valve control unit 55 .

[0069] The control target setting unit 51 acquires the attitude signal of the work machine 2 output from the work machine attitude sensor 20. The control target setting unit 51 acquires the satellite positioning signal and the swing angle signal output from the position and orientation sensor 21. The control target setting unit 51 acquires the inclination signal that indicates the inclination state of the hydraulic excavator 100 output from the inclination sensor 22. The control target setting unit 51 acquires the detection signal output from the detection sensor 23. The control target setting unit 51 acquires the instruction signal output from the instruction unit 24.

[0070] The control target setting unit 51 sets the coordinates of the points through which the bucket 8 must pass during automatic swing control. Specifically, the control target setting unit 51 identifies specific points corresponding to the excavation point P1A, the earth unloading point P2A, and the passing point P3A from the coordinates of the center position in the left-right direction of the arm top pin 15 at the time when the command signal is received from the command unit 24. The control target setting unit 51 also sets the excavation point P1A, the earth unloading point P2A, and the passing point P3A based on the identified specific points.

[0071] The control target setting unit 51 has an excavation point setting unit 51A, an earth discharge point setting unit 51B, and a passing point setting unit 51C. The excavation point setting unit 51A sets the excavation point P1A. Specifically, when the operator operates the instruction unit 24 with the purpose of obtaining the excavation point P1A, the coordinates of the center position in the left-right direction of the arm top pin 15 at the time the instruction unit 24 is operated are calculated by the excavation point setting unit 51A as the coordinates of the specific point corresponding to the excavation point P1A. The excavation point setting unit 51A sets the coordinates of the excavation point P1A based on the calculated coordinates of the specific point corresponding to the excavation point P1A.

[0072] The discharge point setting unit 51B sets the discharge point P2A. Specifically, when the operator operates the instruction unit 24 to obtain the discharge point P2A, the coordinates of the center position in the left-right direction of the arm top pin 15 at the time the instruction unit 24 is operated are calculated by the discharge point setting unit 51B as the coordinates of the specific point corresponding to the discharge point P2A. The discharge point setting unit 51B sets the coordinates of the discharge point P2A based on the calculated coordinates of the specific point corresponding to the discharge point P2A.

[0073] The pass point setting unit 51C sets the pass point P3A. Specifically, when the operator operates the instruction unit 24 with the aim of acquiring the pass point P3A, the pass point setting unit 51C calculates the coordinates of the center position in the left-right direction of the arm top pin 15 at the time the instruction unit 24 is operated as the coordinates of the specific point corresponding to the pass point P3A. The pass point setting unit 51C sets the coordinates of the pass point P3A based on the calculated coordinates of the specific point corresponding to the pass point P3A.

[0074] The coordinates of each of points P1A, P2A, and P3A are calculated based on signals acquired from each of the work implement attitude sensor 20, the position and orientation sensor 21, and the inclination sensor 22. However, the signal acquired from the position and orientation sensor 21 is not essential, and the coordinates of each of points P1A, P2A, and P3A may be calculated based on signals acquired from each of the work implement attitude sensor 20 and the inclination sensor 22. In this case, the control target setting unit 51 may refer to the dimensions of each component of the work implement 2 stored in the memory unit 54. The control target setting unit 51 outputs coordinate signals of the set excavation point P1A, earth discharge point P2A, and passing point P3A to the manual operation determination unit 52.

[0075] 5, the excavation point setting unit 51A, the earth discharge point setting unit 51B, and the pass point setting unit 51C are shown as separate units, but the excavation point setting unit 51A, the earth discharge point setting unit 51B, and the pass point setting unit 51C may not be separate units and may be the same unit. In other words, the points P1A, P2A, and P3A may be set by the same unit in the control target setting unit 51. Furthermore, the control target setting unit 51 may output coordinate signals of the set points P1A, P2A, and P3A directly to the EPC valve control unit 55, rather than to the manual operation determination unit 52.

[0076] The manual operation determination unit 52 acquires an operation signal from the operation unit 25. The operation signal from the operation unit 25 is, for example, an operation signal for the arm 7, but is not limited to this. The manual operation determination unit 52 determines, based on the acquired operation signal, whether or not the operator has manually operated the work machine 2 using the operation unit 25 during automatic swing control. The manual operation determination unit 52 outputs a signal indicating the determination result to the control target correction unit 53.

[0077] It should be noted that while the automatic swing control is being executed and the work implement 2 is being manually operated, the work implement 2 is operated based on the amount of manual operation, and the automatic swing operation of the swing body 3 continues.

[0078] The control target correction unit 53 corrects the control target points when it receives a signal indicating a determination result that manual operation of the work machine 2 has been performed from the manual operation determination unit 52. Specifically, the control target correction unit 53 resets (corrects) the coordinates of the excavation point P1B, the earth unloading point P2B, and the passing point P3B on the turning trajectory of the turning radius R2 after the change due to the manual operation.

[0079] As described above, the excavation point P1B is reset (corrected) to, for example, a point on the turning trajectory of the turning radius R2 and located at the same turning angle (or turning direction) as the original excavation point P1A. The coordinates of the excavation point P1B are calculated, for example, from the changed turning radius R2 calculated from the detection signal of the work implement attitude sensor 20 and the turning angle (or turning direction) of the original excavation point P1A. The changed turning radius R2 may also be calculated from the detection result of the detection sensor 23.

[0080] As described above, the unloading point P2B is reset (corrected) to, for example, a point on the turning trajectory of the turning radius R2 and located at the same turning angle (or turning direction) as the original unloading point P2A. The coordinates of the unloading point P2B are calculated, for example, from the changed turning radius R2 calculated from the detection signal of the work implement attitude sensor 20 and the turning angle (or turning direction) of the original unloading point P2A. The changed turning radius R2 may also be calculated from the detection result of the detection sensor 23.

[0081] Passing point P3B is reset (corrected) based on the interference avoidance index (interference avoidance orientation or interference avoidance angle) and the interference avoidance height. The interference avoidance index (interference avoidance orientation or interference avoidance angle) is the orientation or angle from the turning center RX to the point where the turning path of turning radius R2 intersects with the side edge of the object 200 in a top view. Therefore, the controller 50 acquires the interference avoidance index based on the point where the turning path of turning radius R2 intersects with the side edge of the object 200 in a top view. The interference avoidance index is calculated, for example, from the changed turning radius R2 calculated from the detection signal of the work machine attitude sensor 20 and the position data and shape data of the object 200 detected by the detection sensor 23.

[0082] Although the above description has been given of a case in which the passing point P3B is set using the detection sensor 23, the passing point P3B may also be set based on the position data of the previously set passing point P3A and the unloading point P2A without using a detection sensor. Specifically, the side edge SE (flap) of the vessel 200A extends in a direction parallel to the direction from the turning center RX to the unloading point P2A. Therefore, the passing point P3B can be set in a direction that passes through the passing point P3A and is parallel to the direction from the turning center RX to the unloading point P2A.

[0083] 6 , the interference avoidance height for setting pass point P3B is height H4 of the loading object 200 (e.g., vessel 200A). Height H1 of pass point P3B is set so that height H3 of the lower end 8B of the work implement 8 is higher than interference avoidance height H4. Height H3 of the lower end 8B of the work implement 8 is obtained by subtracting height H2 between the arm top pin 15 and the lower end 8B of the work implement 8 from height H1 of the arm top pin 15. Controller 50 obtains interference avoidance height H4 from shape data of the loading object 200 detected by detection sensor 23, and obtains shape data (height H2) of the work implement from memory unit 54. Controller 50 calculates height H1 of pass point P3B based on the obtained interference avoidance height H4 and height H2 from the arm top pin 15 to the lower end 8B of the work implement 8.

[0084] By setting the passing point P3B in this manner, the lower end 8B of the work implement 8 passes through a height H3 that is higher than the interference avoidance height H4 when the work implement 8 reaches the interference avoidance indicator during execution of automatic swing control.

[0085] The interference avoidance height may be set in advance. When the turning radius, which is the distance between the bucket 8 and the turning axis RX, is changed by manual operation by the operator, the controller 50 may reset the interference avoidance height H4 to a new interference avoidance height based on the changed turning radius and position information of the loading object 200. The controller 50 may also reset the interference avoidance height H4 to a new interference avoidance height based on the changed turning radius, position information of the loading object 200, and the reset interference avoidance index.

[0086] 5, the control target correction unit 53 outputs signals indicating the coordinates of the corrected excavation point P1B, earth unloading point P2B, and passing point P3B to the EPC valve control unit 55. The EPC valve control unit 55 controls the EPC valve 28 based on the acquired signals indicating the coordinates of the corrected excavation point P1B, earth unloading point P2B, and passing point P3B.

[0087] The EPC valve 28 controls the hydraulic valve 30 based on a command current from an EPC valve control unit 55 of the controller 50. As a result, the supply of oil pumped up from an oil tank (not shown) by the hydraulic pump 27 to the actuator 29 is controlled via the hydraulic valve 30. The actuator 29 is, for example, a hydraulic actuator, such as the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, or a swing motor.

[0088] By controlling the EPC valve 28 by the EPC valve control unit 55, each hydraulic actuator is controlled so that, during automatic swing control for loading swing, the center of the arm top pin 15 in the left-right direction moves from point P4B through pass point P3B to reach unloading point P2B as shown in Fig. 4. Also, by controlling the EPC valve 28 by the EPC valve control unit 55, each hydraulic actuator is controlled so that, during automatic swing control for return swing, the center of the arm top pin 15 in the left-right direction moves from point P4D through pass point P3B to reach excavation point P1B as shown in Fig. 4. This enables automatic swing control in which the swing end point and interference avoidance point can be adjusted manually by the operator.

[0089] The EPC valve control unit 55 acquires an operation signal from the operation unit 25. The EPC valve control unit 55 may control the EPC valve 28 based on a manual operation command output from the operation unit 25. This makes it possible to control the operation of the work implement 2 and the rotation of the rotating body 3 by manual operation by an operator other than automatic rotation control.

[0090] Various types of information may be input to the memory unit 54 from the input device 26. The input device 26 may be a touch panel, a keyboard, or the like. The input device 26 may be mounted on the hydraulic excavator 100, or may be located remotely from the hydraulic excavator 100 and connected to the controller 50 by wire or wirelessly. Shape data of the bucket 8 (work tool) and the like may be stored in advance in the memory unit 54, and this data may be transmitted wirelessly from the outside to the memory unit 54 by the input device 26.

[0091] The controller 50, the instruction unit 24, the operation unit 25, and the input device 26 may each be mounted on the hydraulic excavator 100, or may be located remotely outside the hydraulic excavator 100. When the controller 50, the instruction unit 24, the operation unit 25, and the input device 26 are each located remotely outside the hydraulic excavator 100, the controller 50, the instruction unit 24, the operation unit 25, and the input device 26 may each be wirelessly connected to the various sensors 20 to 23, the EPC valve 28, etc. The controller 50 may be stored in a server remote from the hydraulic excavator 100. Furthermore, since the operation unit 25 is located remotely from the hydraulic excavator 100, an operator may operate the hydraulic excavator 100 remotely without being seated in the driver's seat 4 of the hydraulic excavator 100.

[0092] <Automatic Swing Control Method for Work Machine> Next, the automatic swing control method for the work machine in this embodiment will be described with reference to FIGS. 5 to 8. FIG.

[0093] 7 and 8 are flow charts showing first and second examples of an automatic swing control method for a work machine according to one embodiment of the present disclosure.

[0094] 5 and 7, the hydraulic excavator 100, which is a work machine, is in a standby state (step S1: FIG. 7). The standby state is a state in which the hydraulic excavator 100 is waiting for the loading target 200 to enter.

[0095] When the loading target 200 approaches, the operator identifies (teaches) specific points corresponding to the bucket 8's excavation point P1A, discharge point P2A, and passing point P3A in order to perform automatic swing control (step S2: FIG. 7). The specific points are identified by the operator operating the indicator 24 when the work implement 2 reaches a predetermined position, as described above. Alternatively, the specific points may be identified by the detection sensor 23 detecting the topography around the hydraulic excavator 100, the shape of the loading target 200, and the like. Identification of each specific point is repeated until all specific points have been identified.

[0096] Once the identification of each specific point is completed, a control target point is set (step S3: FIG. 7). The control target point is set by the control target setting unit 51 of the controller 50. The control target setting unit 51 sets each control target point P1A, P2A, P3A based on each specific point. The control target setting unit 51 sets control target points P1A, P2A, P3A by offsetting the specific points in a safe direction based on the coordinates of each specific point and the shape, dimensions, and attitude of the bucket 8. The control target setting unit 51 calculates the coordinates of each control target point P1A, P2A, P3A and sets them as target points for automatic swing control. Note that the control target setting unit 51 may set each specific point directly as the control target points P1A, P2A, P3A.

[0097] Thereafter, automatic swing control is started (step S4: FIG. 7). The automatic swing control is started, for example, by the operator operating a switch, button, or the like for starting the automatic swing control.

[0098] When automatic swing control for loading swing is started after excavation, the swing unit 3 automatically swings from the bucket 8's current position at the start of automatic swing control until it reaches unloading point P2A, which is the swing end point. If pass point P3A is set, the bucket 8 is controlled to reach a point higher than the height of the loading target 200 (e.g., the side edge SE of vessel 200A) when or before it reaches the azimuth or angle of pass point P3A. After the bucket 8 passes pass point P3A, the swing unit 3 automatically swings to reach unloading point P2A. At this time, the EPC valve control unit 55 of the controller 50 controls the EPC valve 28 based on signals indicating the acquired coordinates of points P2A and P3A.

[0099] Furthermore, when automatic swing control for return swing is initiated after soil unloading, the swing unit 3 automatically attempts to swing from the bucket 8's current position at the start of automatic swing control until it reaches excavation point P1A, which is the swing end point. If pass point P3A is set, the bucket 8 is controlled to reach a point higher than the height of the loading target 200 (for example, the side edge SE of vessel 200A) when or before it reaches the azimuth or angle of pass point P3A. After the bucket 8 passes pass point P3A, the swing unit 3 automatically swings to reach excavation point P1A. At this time, the EPC valve control unit 55 of the controller 50 controls the EPC valve 28 based on signals indicating the acquired coordinates of points P1A and P3A.

[0100] An emergency avoidance operation may be performed during the automatic turning control (step S5: FIG. 7). In this case, the automatic turning control is terminated (step S9: FIG. 7). On the other hand, if an emergency avoidance operation is not performed, the automatic turning control continues.

[0101] During the automatic swing control, it is determined whether or not the operator has manually operated the work implement 2 (step S6: FIG. 7). This determination is made by the manual operation determination unit 52 of the controller 50.

[0102] When the manual operation determination unit 52 determines that a manual operation of the work machine 2 has been performed, the control target point for automatic swing control is corrected (step S7: FIG. 7 ). The control target point for automatic swing control is corrected by the control target correction unit 53 of the controller 50. The control target correction unit 53 corrects the control target point so that automatic swing control is performed while continuing the swing radius after the change due to manual operation, as described above. Specifically, in automatic swing control for loading swing, the control target correction unit 53 resets (corrects) the coordinates of the unloading point P2B to the trajectory of the swing radius R2 after the change due to manual operation. The passing point P3B may also be reset (corrected) to the trajectory of the swing radius R2 after the change due to manual operation. Furthermore, in automatic swing control for return swing, the control target correction unit 53 resets (corrects) the coordinates of the excavation point P1B to the trajectory of the swing radius R2 after the change due to manual operation. The passing point P3B may also be reset (corrected) to the trajectory of the swing radius R2 after the change due to manual operation. As described above, the excavation point P1B, the earth unloading point P2B and the passing point P3B may be reset to positions offset from the arc of turning radius R2 toward the inner or outer diameter side under predetermined conditions.

[0103] In the automatic swing control, the control target correction unit 53 outputs signals indicating the coordinates of the corrected excavation point P1B, earth unloading point P2B, and passing point P3B to the EPC valve control unit 55. The EPC valve control unit 55 controls the EPC valve 28 based on the signals indicating the coordinates of the corrected excavation point P1B, earth unloading point P2B, and passing point P3B that it has acquired. This allows automatic swing control to be performed by continuing the swing radius after a manual change, or by offsetting the swing radius toward the inner diameter or outer diameter side from the changed swing radius.

[0104] On the other hand, if manual operation determination unit 52 determines that manual operation of work implement 2 is not being performed, bucket 8 moves from the swing start point of bucket 8 at the start of automatic swing control to the swing end point (for example, excavation point P1A or earth unloading point P2A). It is then determined whether work implement 2 has reached the target through this swing (step S8: FIG. 7).

[0105] Whether or not the target has been reached is determined by controller 50. Specifically, controller 50 calculates the position of bucket 8 during automatic swing control based on information from work machine attitude sensor 20, position and orientation sensor 21, tilt sensor 22, etc. Controller 50 determines whether or not the calculated position of bucket 8 matches the swing end point (for example, the excavation point or the earth discharge point).

[0106] If the controller 50 determines that the position of the work unit 2 during automatic swing control has not reached the swing end point, the flow from step S5 onwards is repeated. On the other hand, if the controller 50 determines that the position of the work unit 2 during automatic swing control has reached the swing end point, the automatic swing control is terminated (step S9: FIG. 7). In this case, the automatic swing operation of the swing unit 3 is stopped.

[0107] The automatic turning control method in this embodiment is carried out as described above. In the above, the control target is set (step S3) and then the automatic turning control is started (step S4). However, as shown in Fig. 8, the control target point may be set (step S3) after the automatic turning control is started (step S4). In this case, the excavation point P1A, the earth unloading point P2A, and the passing point P3A may be set from the turning radius at the start of the automatic turning control.

[0108] In both the flows of Figures 7 and 8, after the bucket 8 passes through the passing points P3A and P3B, only the rotation operation of the rotating body 3 is automatic, and other operations of the work machine 2 may be left to manual operation by the operator.

[0109] <Effects> Next, the effects of this embodiment will be described.

[0110] 4, in this embodiment, when the turning radius, which is the distance between the bucket 8 and the turning axis RX, is changed to R2 by manual operation of the operation unit 25 while automatic turning control is being performed, automatic turning control is performed based on the changed turning radius R2. In this way, automatic turning control is performed based on the turning radius R2 after the operator has completed manual operation, eliminating the need for re-identification (re-teaching) by the operator and improving usability for the operator.

[0111] 4, when the turning radius is changed to R2 by manual operation of the operation unit 25 during execution of automatic turning control toward the turning end point, the controller 50 maintains the changed turning radius R2 and performs automatic turning control up to the same turning direction or turning angle as the turning end point. This facilitates turning control of the rotating body 3 toward the turning end point (e.g., excavation point, earth removal point) after the turning radius has changed.

[0112] 4, while the operation unit 25 is being manually operated during execution of automatic swing control, the controller 50 operates the work equipment based on the amount of manual operation, and continues the automatic swing operation of the swing unit 3. This makes it possible to change the swing radius manually during automatic swing control.

[0113] 4, when the operation unit 25 is not manually operated during execution of automatic swing control, the controller 50 performs automatic swing control so that the bucket 8 moves from the position of the bucket 8 at the start of the automatic swing control to a preset swing end point. This simplifies the automatic swing control when there is no manual operation.

[0114] 4, the controller 50 acquires the position of the center of rotation RX of the rotating unit 3 and calculates the turning radius based on the acquired position of the center of rotation RX and the position of the bucket 8 on a plane perpendicular to the turning axis RX. This makes it possible to easily acquire the turning radius in automatic turning control.

[0115] 6, controller 50 acquires the interference avoidance orientation or interference avoidance angle and the interference avoidance height, and performs control so that the bottom end of bucket 8 passes through a position higher than the interference avoidance height when bucket 8 reaches the interference avoidance orientation or interference avoidance angle during execution of automatic swing control. This prevents bucket 8 from interfering with, for example, loading target 200 during execution of automatic swing control.

[0116] 4, in this embodiment, when the turning radius is changed by manual operation of the operation unit 25 while automatic turning control is being performed, the turning end point is set as a new turning end point based on the changed turning radius R2, and automatic turning control is performed toward the new turning end point. In this way, the turning end point is automatically set based on the changed turning radius R2, so that re-identification (re-teaching) by the operator is not required, improving usability for the operator.

[0117] 4, when the turning radius is changed by manual operation of the operation unit 25, a new turning end point is set on the arc of the changed turning radius R2. In this way, the new turning end point is automatically set on the arc of the changed turning radius R2, which improves usability for the operator.

[0118] 4, when the turning radius is changed by manual operation of the operation unit 25, a new turning end point position is set based on the turning direction or turning angle of the turning end point and the changed turning radius R2. This makes it possible to easily set the new turning end point position.

[0119] 4, according to this embodiment, at the point in time when the turning radius is changed by manual operation of the operation unit 25, a control target point among the multiple control target points that is in an unreached turning direction or an unreached turning angle is set as a new turning target point based on the changed turning radius R2. This makes it unnecessary to set a control target point for an already-reached turning direction or turning angle, simplifying the setting of the control target points.

[0120] 4, the swing start point of the automatic swing control is the position of the bucket 8 at the start of the automatic swing control. This makes it possible to start the automatic swing control from an unspecified position.

[0121] 6, when the bucket 8 reaches an interference avoidance index, which is at least one of the swing direction and swing angle of the swing unit 3, during execution of the automatic swing control, the bottom end 8B of the bucket 8 passes through height H3, which is equal to or greater than interference avoidance height H4. This prevents the bucket 8 from interfering with the object to be loaded 200, for example, during execution of the automatic swing control.

[0122] 4, when the turning radius is changed by manual operation of the operation unit 25, the interference avoidance index of the rotating unit 3 is set based on the turning radius R2 after the change. This prevents the bucket 8 from interfering with the loading target 200, for example.

[0123] 4, when the turning radius is changed by manual operation of the operation unit 25, the interference avoidance index of the rotating unit 3 is set to a new interference avoidance index based on the changed turning radius R2 and the position information of the obstacle. This prevents the bucket 8 from interfering with the loading target 200, for example.

[0124] 4, when the turning radius is changed by manual operation of the operation unit 25, the interference avoidance height is set to a new interference avoidance height based on the changed turning radius R2 and the position information of the obstacle. This prevents the bucket 8 from interfering with the loading target 200, for example.

[0125] <Additional Notes> The above-described embodiment includes the following technical ideas.

[0126] (Supplementary Note 1) An automatic rotation control system comprising: a rotating body that rotates around a rotation axis; a work machine that is attached to the rotating body and has a work implement; an operation unit that accepts manual operation of the work implement by an operator; and a controller that performs automatic rotation control that automatically controls the rotating body and the work implement, wherein when a rotation radius, which is the distance between the work implement and the rotation axis, changes due to manual operation of the operation unit while the automatic rotation control is being performed, the controller performs automatic rotation control based on the changed rotation radius.

[0127] (Appendix 2) The automatic turning control system described in Appendix 1, wherein, when the turning radius is changed by manual operation of the operating unit while automatic turning control toward the turning end point is being executed, the controller maintains the changed turning radius and performs automatic turning control up to the same turning direction or turning angle as the turning end point.

[0128] (Appendix 3) The automatic rotation control system according to appendix 1 or 2, wherein the controller operates the work machine based on the amount of operation by the manual operation while the operation unit is being manually operated during execution of the automatic rotation control, and continues the automatic rotation operation of the rotating body.

[0129] (Appendix 4) The automatic rotation control system described in Appendix 1, wherein the controller performs automatic rotation control such that the implement moves from the position of the implement at the start of the automatic rotation control to a preset rotation end point when the operating unit is not manually operated during execution of the automatic rotation control.

[0130] (Supplementary Note 5) The automatic turning control system according to any one of Supplementary Note 1 to Supplementary Note 4, wherein the controller acquires a turning center position of the turning body, and calculates a turning radius based on the acquired turning center position and a position of the implement in a plane perpendicular to the turning axis.

[0131] (Supplementary Note 6) An automatic rotation control system according to any one of Supplementary Note 1 to Supplementary Note 5, wherein the controller acquires an interference avoidance index, which is a rotation direction or rotation angle of the rotating body for avoiding interference with an obstacle, and an interference avoidance height, and controls the lower end of the working implement to pass through a position higher than the interference avoidance height when the working implement reaches the interference avoidance index during execution of automatic rotation control.

[0132] (Supplementary Note 7) The automatic turning control system described in Supplementary Note 1, wherein when the turning radius changes due to manual operation of the operation unit while automatic turning control toward the turning end point is being executed, the controller acquires the changed turning radius, sets the turning end point to a new turning end point based on the changed turning radius, and performs automatic turning control toward the new turning end point.

[0133] (Supplementary Note 8) The automatic turning control system according to Supplementary Note 7, wherein when a turning radius is changed by manual operation of the operation unit, the controller sets the position of the new turning end point on an arc of the changed turning radius.

[0134] (Supplementary Note 9) The automatic turning control system according to Supplementary Note 7, wherein when the turning radius is changed by manual operation of the operation unit, the controller sets the position of the new turning end point based on the turning direction or turning angle of the turning end point and the changed turning radius.

[0135] (Supplementary Note 10) An automatic turning control system as described in Supplementary Note 7, wherein a plurality of control target points including the turning end point are set in advance, and the controller sets a control target point among the plurality of control target points that is in an unreached turning direction or an unreached turning angle at the time when the turning radius is changed by manual operation of the operating unit as a new control target point based on the changed turning radius.

[0136] (Supplementary Note 11) The automatic turning control system according to any one of Supplementary Note 1 to Supplementary Note 10, wherein a turning start point of the automatic turning control is the position of the implement at the start of the automatic turning control.

[0137] (Supplementary Note 12) An automatic rotation control system described in any one of Supplementary Note 7 to Supplementary Note 10, wherein the controller acquires an interference avoidance index, which is a rotation direction or rotation angle of the rotating body to avoid interference with an obstacle, and also acquires an interference avoidance height, and controls the lower end of the work implement to pass through a height equal to or higher than the interference avoidance height when the work implement reaches the interference avoidance index during execution of the automatic rotation control.

[0138] (Supplementary Note 13) The automatic turning control system described in Supplementary Note 12, wherein the interference avoidance index is set in advance, and when the turning radius of the work implement changes due to manual operation of the operating unit, the controller sets the interference avoidance index to a new interference avoidance index based on the changed turning radius.

[0139] (Appendix 14) The automatic turning control system described in Appendix 12, wherein the interference avoidance index is set in advance, the controller acquires position information of the obstacle, and when a turning radius changes due to manual operation of the operation unit, sets the interference avoidance index to a new interference avoidance index based on the changed turning radius and the position information of the obstacle.

[0140] (Appendix 15) The automatic turning control system described in Appendix 12, wherein the interference avoidance height is set in advance, the controller acquires position information of the obstacle, and when the turning radius changes due to manual operation of the operation unit, sets the interference avoidance height to a new interference avoidance height based on the changed turning radius and the position information of the obstacle.

[0141] (Supplementary Note 16) The automatic turning control system described in Supplementary Note 12, wherein the interference avoidance index and the interference avoidance height are set in advance, the controller acquires position information of the obstacle, and when a turning radius changes due to manual operation of the operation unit, sets the interference avoidance index to a new interference avoidance index based on the turning radius after the change and the position information of the obstacle, and sets the interference avoidance height to the new interference avoidance height based on the turning radius after the change, the position information of the obstacle, and the new interference avoidance index.

[0142] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0143] DESCRIPTION OF SYMBOLS 1 Main body, 2 Work implement, 3 Swing body, 4 Cab, 4S Cab, 5 Traveling body, 5Cr Track, 5M Traveling motor, 6 Boom, 7 Arm, 8 Work implement (bucket), 8B Lower end, 8T Cutting edge, 9 Exterior cover, 10 Boom cylinder, 11 Arm cylinder, 12 Bucket cylinder, 13 Boom foot pin, 14 Boom top pin, 15 Arm top pin, 17 Bucket link, 20 Work implement attitude sensor, 21 Position and direction sensor, 21a, 21b Receiver, 22 Tilt sensor, 23 Detection sensor, 24 Indicator, 25 Operation unit, 26 Input device, 27 Hydraulic pump, 28 EPC valve, 29 Actuator, 30 Hydraulic valve, 50 Controller, 51 Control target setting unit, 51A Excavation point setting unit, 51B Discharge point setting unit, 51C Passing point setting unit, 52 Manual operation determination unit, 53 control target correction unit, 54 memory unit, 55 EPC valve control unit, 100 work machine (hydraulic excavator), 200 loading target (dump truck), 200A vessel, P1A, P1B excavation point, P2B, P2A earth unloading point, P3A, P3B passing point, R1, R2 turning radius, RX turning axis (turning center), SE side edge.

Claims

1. An automatic rotation control system comprising: a rotating body that rotates around a rotation axis; a work machine that is attached to the rotating body and has a work implement; an operation unit that accepts manual operation of the work implement by an operator; and a controller that performs automatic rotation control that automatically controls the rotating body and the work implement, wherein if the rotation radius, which is the distance between the work implement and the rotation axis, changes due to manual operation of the operation unit while the automatic rotation control is being performed, the controller performs automatic rotation control based on the changed rotation radius.

2. An automatic turning control system as described in claim 1, wherein, when the turning radius is changed by manual operation of the operating unit while automatic turning control is being performed toward the turning end point, the controller maintains the changed turning radius and performs automatic turning control up to the same turning direction or turning angle as the turning end point.

3. An automatic rotation control system as described in claim 1, wherein the controller operates the work equipment based on the amount of operation by the manual operation while the operating unit is being manually operated during execution of automatic rotation control, and continues the automatic rotation operation of the rotating body.

4. An automatic rotation control system as described in claim 1, wherein the controller performs automatic rotation control so that the implement moves from the position of the implement at the start of the automatic rotation control to a preset rotation end point when the operating unit is not manually operated while the automatic rotation control is being executed.

5. An automatic rotation control system as described in claim 1, wherein the controller acquires the rotation center position of the rotating body and calculates the rotation radius based on the acquired rotation center position and the position of the work implement in a plane perpendicular to the rotation axis.

6. An automatic swing control system as described in claim 1, wherein the controller acquires an interference avoidance index and an interference avoidance height, which are the swing direction or swing angle of the swing body for avoiding interference with an obstacle, and controls the lower end of the implement to pass through a position higher than the interference avoidance height when the implement reaches the interference avoidance index during execution of automatic swing control.

7. An automatic turning control system as described in claim 1, wherein, when the turning radius is changed by manual operation of the operating unit while automatic turning control toward the turning end point is being executed, the controller acquires the changed turning radius, sets the turning end point as a new turning end point based on the changed turning radius, and performs automatic turning control toward the new turning end point.

8. An automatic turning control system as described in claim 7, wherein when the turning radius is changed by manual operation of the operating unit, the controller sets the position of the new turning end point on the arc of the changed turning radius.

9. An automatic turning control system as described in claim 7, wherein when the turning radius is changed by manual operation of the operating unit, the controller sets the position of the new turning end point based on the turning direction or turning angle of the turning end point and the changed turning radius.

10. An automatic turning control system as described in claim 7, wherein a plurality of control target points including the turning end point are set in advance, and the controller sets a control target point among the plurality of control target points that is in an unreached turning direction or an unreached turning angle at the time when the turning radius is changed by manual operation of the operating unit as a new control target point based on the changed turning radius.

11. The automatic swing control system according to claim 1, wherein the swing starting point of the automatic swing control is the position of the implement at the start of the automatic swing control.

12. An automatic rotation control system as described in claim 7, wherein the controller acquires an interference avoidance index, which is the rotation direction or rotation angle of the rotating body to avoid interference with an obstacle, and also acquires an interference avoidance height, and controls the lower end of the work implement to pass through a height equal to or higher than the interference avoidance height when the work implement reaches the interference avoidance index during execution of the automatic rotation control.

13. An automatic turning control system as described in claim 12, wherein the interference avoidance index is set in advance, and when the turning radius of the work implement changes due to manual operation of the operating unit, the controller sets the interference avoidance index to a new interference avoidance index based on the changed turning radius.

14. An automatic turning control system as described in claim 12, wherein the interference avoidance index is set in advance, and the controller acquires position information of the obstacle, and when the turning radius changes due to manual operation of the operating unit, sets the interference avoidance index to a new interference avoidance index based on the changed turning radius and the position information of the obstacle.

15. An automatic turning control system as described in claim 12, wherein the interference avoidance height is set in advance, the controller acquires position information of the obstacle, and when the turning radius changes due to manual operation of the operating unit, sets the interference avoidance height to a new interference avoidance height based on the changed turning radius and the position information of the obstacle.

16. An automatic turning control system as described in claim 12, wherein the interference avoidance index and the interference avoidance height are set in advance, and the controller acquires position information of the obstacle, and when the turning radius changes due to manual operation of the operation unit, sets the interference avoidance index to a new interference avoidance index based on the turning radius after the change and the position information of the obstacle, and sets the interference avoidance height to a new interference avoidance height based on the turning radius after the change, the position information of the obstacle, and the new interference avoidance index.

17. A method for automatic swing control of a work machine including a rotating body that swings around a swing axis, and a work machine that is attached to the rotating body and has a work implement, comprising the steps of: changing the swing radius, which is the distance between the work implement and the swing axis, by an operator manually operating the work implement during execution of automatic swing control that automatically controls the rotating body and the work implement so that the work implement moves toward a swing end point; and performing automatic swing control based on the changed swing radius.

18. A work machine comprising: a rotating body that rotates around a rotating axis; a work machine that is attached to the rotating body and has a work implement; an operation unit that accepts manual operation of the work implement by an operator; and a controller that performs automatic rotation control that automatically controls the rotating body and the work implement, wherein if the rotation radius, which is the distance between the work implement and the rotating axis, changes due to manual operation of the operation unit while the automatic rotation control is being performed, the controller performs automatic rotation control based on the changed rotation radius.

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