Work machine, control method for work machine, and system for controlling work machine

Abstract

This work machine (1) comprises a swing body (4), a work device (3), operation levers (33L, 33R), and a controller (24). The swing body (4) is able to swing. The work device (3) is attached to the swing body (4). The operation levers (33R, 33L) operate the work device (3). The controller (24) performs automatic swing control for automatically swinging the swing body (4) and the work device (3). The controller (24) controls the work device (3) on the basis of the larger among an operation command by the automatic swing control and an operation command by the operation levers (33R, 33L) from the start of the automatic swing control up to a prescribed timing.

Description

Work machine, work machine control method, and system for controlling a work machine

[0001] The present disclosure relates to a work machine, a method of controlling a work machine, and a system for controlling a work machine.

[0002] Some construction machines perform automatic swing control to automatically swing a swing body so that the work equipment moves to a target position. For example, in the excavator disclosed in Patent Document 1, the operator manually controls the work equipment to excavate earth and sand, which is the excavation target, and then the automatic swing control is started to move the bucket to the loading target.

[0003] JP 2022-178186 A

[0004] However, in the work machine of Patent Document 1, there are cases where the operation to start automatic swing control is performed before the excavation operation is completely completed, and in such cases, there is a possibility that operability may deteriorate.

[0005] An object of the present disclosure is to provide a work machine, a control method for a work machine, and a system for controlling a work machine that have improved operability in automatic swing control.

[0006] A first aspect of the present disclosure is a work machine. The work machine includes a revolving body, a work implement, an operating member, and a control unit. The revolving body is revolvable. The work implement is attached to the revolving body. The operating member operates the work implement. The control unit performs automatic revolve control that controls the revolving body and the work implement. During the period from the start of the automatic revolve control until a predetermined timing, the control unit controls the work implement based on a larger operation command of either the automatic revolve control or the operation command from the operating member.

[0007] A second aspect of the present disclosure is a method for controlling a work machine. The work machine has a rotating body and a work implement. The rotating body is capable of rotating. The work implement is attached to the rotating body. The method for controlling the work machine includes controlling the work implement based on a larger operation command between an operation command issued by the automatic swing control that controls the rotating body and the work implement and an operation command issued by an operating member that operates the work implement, during a period from the start of automatic swing control that controls the rotating body and the work implement until a predetermined timing.

[0008] A third aspect of the present disclosure is a system for controlling a work machine. In the system, the work machine includes a revolving body, a work implement, an operating member, and a control unit. The revolving body is revolvable. The work implement is attached to the revolving body. The operating member operates the work implement. The control unit performs automatic revolve control that controls the revolving body and the work implement. From the start of the automatic revolve control until a predetermined timing, the control unit controls the work implement based on the larger of the operation commands from the automatic revolve control and the operation command from the operating member. (Effects of the Invention)

[0009] According to the present disclosure, it is possible to provide a work machine, a control method for a work machine, and a system for controlling a work machine, which have improved operability in automatic swing control.

[0010] FIG. 1 is a side view of a work machine according to an embodiment of the present disclosure. FIG. 2 is a block diagram showing the configuration of the work machine and its control system. FIG. 3 is a diagram showing the flow of work performed by the work machine. FIG. 4 is a top view showing the operation of the work machine in automatic swing control. FIG. 5 is a side view showing the operation of the work machine in loading swing control. FIG. 6 is a flowchart showing the processing of return swing control. FIG. 7 is a block diagram showing the configuration of a controller. FIG. 8 is a diagram showing a plurality of bar graphs representing thresholds set for operation of the operating lever to determine control in loading swing control. FIG. 9 is a diagram showing a plurality of bar graphs representing thresholds set for operation of the operating lever to determine control in return swing control. FIG. 10 is a flowchart showing the control operation of the work machine according to an embodiment of the present disclosure. FIG. 11 is a flowchart showing the control operation of the work machine according to an embodiment of the present disclosure. FIG. 12 is a flowchart showing the control operation of a work machine according to a modified embodiment of the present disclosure.

[0011] Hereinafter, a working machine according to an embodiment will be described with reference to the drawings.

[0012] (Configuration) Fig. 1 is a side view of a work machine 1. In this embodiment, the work machine 1 is an excavator such as a hydraulic excavator or an electric excavator.

[0013] As shown in Figure 1, the work machine 1 includes a work implement 3, a rotating body 4, and a running body 5. The work implement 3 is attached to the rotating body 4. The rotating body 4 is connected to the running body 5 so that it can rotate. The rotating body 4 can rotate around a rotation center C1. A cab 6 is disposed on the rotating body 4. The running body 5 includes tracks 7. Note that Figure 1 shows only one of the left and right tracks 7. The work machine 1 travels when the tracks 7 are driven.

[0014] The work implement 3 is attached to the rotating unit 4 so as to be movable up and down. The work implement 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is rotatably attached to the rotating unit 4. The arm 12 is rotatably attached to the boom 11. The bucket 13 is rotatably attached to the arm 12 by a bucket pin 13a.

[0015] The work implement 3 includes a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16. The boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 operates the boom 11. The arm cylinder 15 operates the arm 12. The bucket cylinder 16 operates the bucket 13.

[0016] Figure 2 is a block diagram showing the configuration of the work machine 1 and its control system. As shown in Figure 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, and a controller 24 (control unit). The drive source 21 is controlled by a command signal from the controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0017] The work machine 1 includes a swing motor 25. The swing motor 25 is, for example, a hydraulic motor. The swing motor 25 is driven by hydraulic oil from the hydraulic pump 22. Alternatively, the swing motor 25 may be an electric motor. The swing motor 25 swings the swing body 4. Note that although one hydraulic pump is shown in FIG. 2, multiple hydraulic pumps may be provided.

[0018] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 controls the tilt angle of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve, and is controlled by a command signal from the controller 24. The controller 24 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26.

[0019] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14-16, and the swing motor 25 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from the controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16 and the swing motor 25. The controller 24 controls the operation of the work machine 3 by controlling the control valve 27. The controller 24 controls the swing of the swing body 4 by controlling the control valve 27. It should be noted that the cylinders 14-16 are not limited to hydraulic cylinders, and may be mechanical cylinders driven by an electric motor.

[0020] The work machine 1 includes a travel motor 23. The travel motor 23 is, for example, a hydraulic motor. The travel motor 23 is powered by hydraulic oil discharged from a hydraulic pump 22 and adjusted by a control valve 27. Operation of the travel motor 23 drives the crawler 7, causing the work machine 1 to travel.

[0021] The controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1.

[0022] The control system includes an operating device 33, an input device 34, and a display 35. The operating device 33, the input device 34, and the display 35 are arranged in the cab 6. The operating device 33 can be operated by an operator.

[0023] The operating device 33 includes levers, pedals, and switches. The operating device 33 includes, as levers, a left operating lever 33L (operating member) and a right operating lever 33R (operating member). The left operating lever 33L is located on the left side of the driver's seat. The right operating lever 33R is located on the right side of the driver's seat. Operation of the right operating lever 33R in the forward / backward direction corresponds to operation of the boom 11, and the boom 11 is lowered or raised in response to the forward / backward operation. Operation of the right operating lever 33R in the left / right direction corresponds to operation of the bucket 13, and the bucket 13 is operated to excavate or discharge soil in response to the forward / backward operation. Operation of the left operating lever 33L in the left / right direction corresponds to rotation of the rotating unit 4, and the rotating unit 4 is operated to the right or left in response to the forward / backward operation. Operation of the left operating lever 33L in the forward / backward direction corresponds to operation of the arm 12, and the arm 12 is extended or bent in response to the forward / backward operation.

[0024] The operation device 33 includes a boom operation detection unit 41 and a bucket operation detection unit 42. The boom operation detection unit 41 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, or the like. The boom operation detection unit 41 accepts operation of the boom 11 by the operator in accordance with forward / backward operation of the right operation lever 33R. The boom operation detection unit 41 outputs a boom operation signal M1 to the controller 24 in accordance with forward / backward operation of the right operation lever 33R. The bucket operation detection unit 42 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, or the like. The bucket operation detection unit 42 accepts operation of the bucket 13 by the operator in accordance with left / right operation of the right operation lever 33R. The bucket operation detection unit 42 outputs a bucket operation signal M2 to the controller 24 in accordance with left / right operation of the right operation lever 33R.

[0025] The operation device 33 also includes an arm operation detection unit 43 and a swing operation detection unit 44. The arm operation detection unit 43 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The arm operation detection unit 43 accepts operation of the arm 12 by the operator in accordance with forward / backward operation of the left operation lever 33L. The arm operation detection unit 43 outputs an arm operation signal M3 to the controller 24 in accordance with forward / backward operation of the left operation lever 33L. The swing operation detection unit 44 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The swing operation detection unit 44 accepts swing operation of the swing unit 4 by the operator in accordance with left / right operation of the left operation lever 33L. The swing operation detection unit 44 outputs a swing operation signal M4 to the controller 24 in accordance with left / right operation of the left operation lever 33L.

[0026] The input device 34 can be operated by an operator. The input device 34 is a touch screen. However, the input device 34 may also include hardware keys. The operator operates the input device 34 to input various settings related to the work machine 1. The input device 34 outputs an input signal in response to an operation by the operator. The display 35 is, for example, an LCD, an OELD, or another type of display. The display 35 displays a screen in response to a display signal from the controller 24.

[0027] The work machine 1 includes a direction sensor 36 and a height sensor 37. The direction sensor 36 detects the direction of the work machine 1. The direction sensor 36 includes, for example, a sensor using a Global Navigation Satellite System (GNSS). In detail, the direction sensor 36 detects the direction of the revolving unit 4. The direction sensor 36 outputs direction data indicating the direction of the revolving unit 4. The direction data is expressed in east-west, north-south direction coordinates.

[0028] The height sensor 37 detects the height of the work implement 3. For example, the height sensor 37 detects the attitude of the work implement 3. The attitude of the work implement 3 is indicated by the respective angles of the boom 11, the arm 12, and the bucket 13. The height sensor 37 includes, for example, an IMU (Inertial Measurement Unit). Alternatively, the height sensor 37 may be a sensor that directly detects the height of the work implement 3. The height sensor 37 outputs height data that indicates the height of the work implement 3.

[0029] The controller 24 executes automatic rotation control to automatically control the rotation of the work implement 3 and the rotating body 4 .

[0030] Figure 3 is a diagram showing the flow of work performed by the work machine 1. As shown in Figure 3, the work machine 1 sequentially performs excavation, loading swing, earth discharge, and return swing. After performing a return swing, the work machine 1 again sequentially performs excavation, loading swing, earth discharge, and return swing. By repeating these operations, the work machine 1 loads objects such as earth and sand onto a transport vehicle such as a dump truck. In automatic swing control, the loading swing and return swing are automatically performed by the controller 24. In other words, the automatic swing control includes loading swing control and return swing control.

[0031] Fig. 4 is a top view showing the operation of the work machine 1 under automatic swing control. Fig. 5 is a side view showing the operation of the work machine 1 under loading swing control in the automatic swing control. Fig. 6 is a side view showing the operation of the work machine 1 under return swing control in the automatic swing control. Fig. 7 is a block diagram showing the control configuration of the controller 24.

[0032] As shown in Figures 4 and 5, the loading swing control automatically swings the bucket 13, which has been loaded with soil and sand through excavation, to above the loading platform 101 of the transport vehicle 100. As shown in Figures 4 and 6, the return swing control automatically swings the bucket 13, which has finished unloading soil onto the loading platform 101 of the transport vehicle 100, to above the excavation position.

[0033] 7 , the controller 24 includes a target position calculation unit 51, an automatic turning instruction unit 52, a control determination unit 53, and a manual operation instruction unit 54. The target position calculation unit 51, the automatic turning instruction unit 52, the control determination unit 53, and the manual operation instruction unit 54 are realized by the processor 31.

[0034] The target position calculation unit 51 calculates a target position to which the bucket 13 is to move based on a position set by teaching by the operator. The calculated target position is stored in the controller 24. The set target position includes a direction and a height indicating the target position. As shown in FIGS. 4 to 6 , the target positions include an excavation control position P1, an interference avoidance control position P2, and an earth removal control position P3. The excavation control position P1 is the end point of return swing control. The earth removal control position P3 is the end point of loading swing control. The interference avoidance control position P2 is set to prevent the work implement 3 from interfering with the haulage vehicle 100. The interference avoidance control position P2 is set, for example, outside the side or rear surface of the loading platform 101 of the haulage vehicle 100 and above the side or rear surface of the loading platform 101. This prevents the work implement 3 from interfering with the side surface of the loading platform 101.

[0035] The excavation control position P1, the interference avoidance control position P2, and the soil discharge control position P3 are determined from the excavation position P1', the interference avoidance position P2', and the soil discharge position P3' obtained by teaching. Teaching can be performed, for example, by setting a teaching mode using the input device 34, and then actually operating the left operating lever 33L and the right operating lever 33R to position the bucket pin 13a at the desired excavation position P1' and operating the input device 34, thereby storing the excavation position P1' in the controller 24. The interference avoidance position P2' and the soil discharge position P3' can also be stored in the controller 24 in a similar manner. Note that the reference position of the bucket used in teaching the target position is not limited to the bucket pin 13a. For example, it may be the cutting edge of the bucket.

[0036] The excavation control position P1 is the same position as the excavation position P1' obtained by teaching. The interference avoidance control position P2 is determined from the interference avoidance position P2' obtained by teaching. As shown in FIGS. 4 to 6, the interference avoidance position P2' obtained by teaching is set on the upper side of the rear surface of the loading platform 101. The target position calculation unit 51 calculates the interference avoidance control position P2 by offsetting the interference avoidance position P2' away from the loading platform 101. The interference avoidance control position P2 is set, for example, above the interference avoidance position P2' and in an orientation away from the loading platform 101. The soil discharge control position P3 is calculated from the height of the interference avoidance control position P2 and the orientation of the soil discharge position P3'. The soil discharge control position P3 can be set, for example, at the same height as the interference avoidance control position P2 and in the same orientation as the soil discharge position P3'. The target position calculated by the target position calculation unit 51 is stored in the controller 24.

[0037] The automatic turning instruction unit 52 calculates the orientation of the work implement 3 from the orientation data. The orientation of the work implement 3 is the orientation of a predetermined working point of the work implement 3 relative to the center of rotation C1. Alternatively, the orientation of the work implement 3 may be the orientation of the working point relative to the traveling body 5. The working point may be, for example, the tip of the arm 12. Alternatively, the working point may be a predetermined part of the bucket 13. In this embodiment, the working point is set to the bucket pin 13a of the bucket 13. The orientation of the work implement 3 is indicated by north-south, east-west orientation coordinates. The automatic turning instruction unit 52 calculates the height of the work implement 3 from the height data. The height of the work implement 3 is the height of the working point of the work implement 3 from the ground. Alternatively, the height of the work implement 3 may be the height relative to a predetermined reference point of the work machine 1, such as the bottom of the crawler 7.

[0038] The automatic swing instruction unit 52 executes loading swing control or return swing control based on the direction and height of the work implement 3 according to input from the operator via the input device 34 .

[0039] For example, when the operator operates a loading swing control start switch (start switch) provided on the input device 34 after operating the work machine 3 to perform excavation, a loading swing control start signal (an example of a swing control start signal) is output to the controller 24. When the controller 24 receives the loading swing control start signal, the automatic swing instruction unit 52 executes loading swing control.

[0040] When the loading swing control is started, the automatic swing instruction unit 52 controls the work machine 3 so that the current position is set as a start position P0 and the bucket pin 13a moves to an excavation control position P1, as shown in Fig. 5. For example, as shown in Fig. 5, the bucket 13 is controlled to move upward.

[0041] Next, as shown in Figures 4 and 5, the automatic rotation instruction unit 52 rotates the rotating body 4 and raises the work implement 3 so that the bucket pin 13a moves from the excavation control position P1 through the interference avoidance control position P2 to the soil discharge control position P3.

[0042] The automatic swing instruction unit 52 determines whether the work machine 3 has reached the earth discharge control position P3. If the controller 24 determines that the work machine 3 has reached the earth discharge control position P3, it ends the loading swing control. That is, the automatic swing instruction unit 52 stops the swing body 4 at the earth discharge control position P3. Thereafter, the operator operates the work machine 3 to discharge the object from the work machine 3. As a result, the object is loaded onto the loading platform 101 of the transport vehicle 100.

[0043] The controller 24 stores a swing mode selected by the operator in advance. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the automatic swing instruction unit 52 swings the swing unit 4 counterclockwise to the soil discharge control position P3 during loading swing control (see L1 in FIG. 4). In the right loading swing mode, the controller 24 swings the swing unit 4 clockwise to the soil discharge control position P3 during loading swing control.

[0044] For example, when the operator instructs the start of return swing control via the input device 34 after unloading an object from the work machine 3, the automatic swing instruction unit 52 executes return swing control. When the operator operates a return swing control start switch (start switch) provided on the input device 34, a return swing control start signal (an example of a swing control start signal) is output to the controller 24. When the controller 24 receives the return control start signal, the automatic swing instruction unit 52 executes return swing control.

[0045] When the return swing control is started, the automatic swing instruction unit 52 controls the work implement 3 so that the bucket pin 13a moves to the soil discharge control position P3, with the current position being set as the start position P10, as shown in Fig. 6. For example, as shown in Fig. 6, the bucket 13 is controlled to move upward.

[0046] Next, the automatic swing instruction unit 52 swings the swing unit 4 and lowers the work unit 3 so that the bucket pin 13a passes through the interference avoidance control position P2 and moves to the excavation control position P1. At this time, the controller 24 swings the swing unit 4 in the direction opposite to that of the loading swing control. That is, when the swing unit 4 swings counterclockwise (see L1 in FIG. 4) in the loading swing control, the automatic swing instruction unit 52 swings the swing unit 4 clockwise (see L2 in FIG. 4) to move the work unit 3 to the excavation control position P1. When the swing unit 4 swings clockwise in the loading swing control, the automatic swing instruction unit 52 swings the swing unit 4 clockwise to move the work unit 3 to the excavation control position P1.

[0047] The automatic swing instruction unit 52 determines whether the bucket pin 13a has reached the excavation control position P1. If the automatic swing instruction unit 52 determines that the work unit 3 has reached the excavation control position P1, it ends the return swing control. In other words, the automatic swing instruction unit 52 stops the rotating body 4 at the excavation control position P1. Thereafter, the operator operates the work unit 3 to excavate the object. As a result, the object is held by the work unit 3.

[0048] The control decision unit 53 decides the control of the work machine after the loading swing control and the return swing control are started.

[0049] 8 is a diagram showing a plurality of bar graphs representing thresholds set for the operation of the control levers to determine the loading swing control. The vertical axis represents the lever stroke amount, which is the tilt angle of the control levers 33L, 33R in the forward / backward direction or the left / right direction.

[0050] Graph G1 on the far left of Fig. 8 shows thresholds set for operation of the control lever for operating the work unit 3 during a predetermined time (predetermined timing) after the start of loading swing control. Graph G2 in the middle of Fig. 8 shows thresholds set for operation of the control lever for operating the work unit 3 after the predetermined time has elapsed since the start of loading swing control. Graph G3 on the far right of Fig. 8 shows thresholds set for operation of the control lever for rotating the swing unit 4 during loading swing control.

[0051] The operation of the control levers for operating the work implement 3 includes operation of the right control lever 33R in the forward / backward direction, operation of the right control lever 33R in the left / right direction, and operation of the left control lever 33L in the forward / backward direction. The operation of the control levers for rotating the rotating body 4 includes operation of the left control lever 33L in the left / right direction.

[0052] As shown in graph G1, when the operator operates the control lever for operating the work implement 3 and receives an operation signal M1, M2, or M3 within a predetermined time period after the start of the loading swing control, the control decision unit 53 determines that the operation of the control lever has exceeded a% (a first predetermined range) of the operable range (100%). When the control decision unit 53 determines that the loading swing control should be stopped, the automatic swing instruction unit 52 stops the loading swing control. For example, if the operator operates the right control lever 33R beyond a% of the operable range of the right control lever 33R in the forward / rearward direction, the control decision unit 53 determines that the loading swing control should be stopped. The a% can be set to, for example, 90%, but is not limited to this. Stopping the loading swing control means stopping both the operation of the work implement 3 and the swing of the swing unit 4. Furthermore, after the loading swing control is stopped, the operator can operate the right operating lever 33R and the left operating lever 33L, which will be described later, and the manual operation instruction unit 54 will perform control to operate the work implement 3 and the swing unit 4. In other words, after the loading swing control is stopped, manual operation is possible.

[0053] If the operator's operation of the control lever that operates the work implement 3 is within a % of the operable range (100%) within a predetermined time after the start of loading swing control, the control decision unit 53 compares the operation amount of the control lever with the operation amount of the control lever corresponding to the loading swing control and decides to control the work implement 3. The control decision unit 53 compares the operation amount of the control lever with the operation amount of the control lever corresponding to the loading swing control and decides to control the work implement 3 with the larger operation amount.

[0054] For example, when moving from the start position P0 to the excavation control position P1 under loading control, if the amount of left-right operation of the right operating lever 33R by the operator is greater than the amount of left-right operation of the right operating lever 33R corresponding to the amount of movement of the bucket 13 under loading swing control, the control decision unit 53 decides to perform control by manual operation, and the manual operation instruction unit 54 operates the bucket 13 in accordance with the amount of left-right operation of the right operating lever 33R by the operator. On the other hand, for example, when moving from the start position P0 to the excavation control position P1 under loading swing control, if the amount of left-right operation of the right operating lever 33R corresponding to the amount of movement of the bucket 13 under loading swing control is greater than the amount of left-right operation of the right operating lever 33R by the operator, the control decision unit 53 decides to perform control by loading swing control, and the automatic swing instruction unit 52 operates the bucket 13 in accordance with the setting of the loading swing control.

[0055] As shown in graph G2, when a predetermined time has elapsed since the start of the automatic swing control, the control decision unit 53 determines that the operator has operated the control lever that operates the work machine 3 to obtain an operation signal M1, M2, or M3, and that the operation of the control lever has exceeded b% (a second predetermined range) of the operable range (100%), and then decides to stop the loading swing control. When it is determined that the loading swing control should be stopped, the automatic swing instruction unit 52 stops the loading swing control. Note that b% is preferably set to a value smaller than a%. Furthermore, b% can be set to, for example, 50%, but is not limited to this.

[0056] When a predetermined time has elapsed since the start of the automatic swing control and the operator's operation of the control lever that operates the work machine 3 is within b% of the operable range (100%), the control decision unit 53 ignores the operator's operation and decides to continue the automatic swing control. In accordance with the decision to continue the automatic swing control, the automatic swing instruction unit 52 continues the loading swing control.

[0057] As shown in graph G3, when the operator operates the control lever for operating the rotating body 4 during loading swing control and acquires an operation signal M4, the control decision unit 53 decides to stop the loading swing control if it determines that the operation of the control lever has been operated beyond c % of the operable range (100%). When it is decided to stop the loading swing control, the automatic swing instruction unit 52 stops the loading swing control.

[0058] During loading swing control, if the operator's operation of the control lever for operating the swing unit 4 is within c% of the operable range (100%), the control decision unit 53 ignores the operator's operation of the control lever and decides to continue the loading swing control. In accordance with the decision to continue the loading swing control, the automatic swing instruction unit 52 continues the loading swing control. Note that c% is preferably lower than a%. Also, although c% is set lower than b% in Figure 8, it is not limited to this and may be the same as or higher than b%.

[0059] 9 is a diagram showing a plurality of bar graphs representing thresholds set for the operation of the control lever to determine control in the return swing control, where the vertical axis represents the lever stroke amount.

[0060] Graph G4 on the left side of Fig. 9 is a diagram showing thresholds set for the amount of operation of the control lever that operates the work machine 3 during return swing control. Graph G5 on the right side of Fig. 9 is a diagram showing thresholds set for the amount of operation of the control lever that operates the revolving unit 4 during return swing control.

[0061] As shown in graph G4, when the operator operates the control lever for operating the work implement 3 during return swing control and receives an operation signal M1, M2, or M3, the control decision unit 53 determines that the operation of the control lever has exceeded d% of the operable range (100%). If the decision to stop the return swing control is made, the automatic swing instruction unit 52 stops the loading swing control. During return swing control, if the operator operates the control lever for operating the work implement 3 within d% of the operable range (100%), the control decision unit 53 ignores the operator's operation of the control lever and decides to continue the return swing control. Following the decision to continue the return swing control, the automatic swing instruction unit 52 continues the return swing control. It is preferable that d% be lower than a%.

[0062] As shown in graph G5, during return swing control, when the operator operates the control lever for operating the swing unit 4 and receives an operation signal M4, the control decision unit 53 determines that the operation of the control lever has exceeded e% of the operable range (100%). If the decision to stop the return swing control is made, the automatic swing instruction unit 52 stops the loading swing control. During return swing control, if the operator operates the control lever for operating the swing unit 4 within e% of the operable range (100%), the control decision unit 53 ignores the operator's operation of the control lever and determines to continue the return swing control. In accordance with the decision to continue the return swing control, the automatic swing instruction unit 52 continues the return swing control. Note that e% is preferably lower than a%. Although e% is set lower than d% in FIG. 9 , this is not limiting and the control decision unit 53 may be equal to or greater than d%. The e%, d%, b%, and c% may be all or partly the same, or may all be different, and may be set appropriately.

[0063] The manual operation instruction unit 54 issues control instructions to the work machine 3, the revolving body 4 and the traveling body 5 so that they are driven in response to the operation of the operating device 33 by the operator.

[0064] The manual operation instruction unit 54 acquires the boom operation signal M1, the bucket operation signal M2, and the arm operation signal M3, and controls the control valve 27 to operate the work machine 3 in accordance with the operation signals M1 to M3. The controller 24 acquires the swing operation signal M4, and controls the control valve 27 in accordance with the swing operation signal M4 to swing the rotating body 4. The manual operation instruction unit 54 controls the control valve 27 to drive the travel motor 23 in accordance with operation of the travel pedal by the operator, and drives the travel motor 23 to travel the work machine 1.

[0065] The controller 24 also receives an input signal from an input device 34. The controller 24 outputs a display signal to a display 35. The controller 24 receives orientation data from an orientation sensor 36. The controller 24 receives height data from a height sensor 37.

[0066] (Operation) Next, a description will be given of the control operation of the work machine 1 of this embodiment. Figures 10A to 10C are flowcharts showing the operation of the work machine 1 during automatic swing control.

[0067] 10A, in step S101, the target position calculation unit 51 calculates the target position. The controller 24 determines the excavation control position P1, the interference avoidance control position P2, and the soil discharge control position P3 from the excavation position P1', the interference avoidance control position P2', and the soil discharge position P3' acquired in advance by teaching by the operator.

[0068] Next, in step S102, the controller 24 acquires the swing mode selected by the operator. That is, the operator selects either the left loading swing mode or the right loading swing mode, and the controller 24 acquires the selected swing mode.

[0069] Next, in step S103, the controller 24 determines whether or not a loading swing control start signal has been acquired. For example, after the operator operates the work machine 3 to perform excavation, the operator operates the input device 34, and the loading swing control start signal is transmitted from the input device 34 to the controller 24.

[0070] If the loading swing control signal is acquired in step S103, the automatic swing instruction unit 52 starts loading swing control in step S104. Based on the acquired swing mode, the automatic swing instruction unit 52 controls the work implement 3 and the swing body 4 so that the bucket pin 13a moves to the excavation control position P1, passes through the interference avoidance control position P2, and then moves to the earth discharge control position P3. Note that if the loading swing control start signal is not acquired in step S103, the control proceeds to step S118 (see FIG. 10C ), where the controller 24 determines whether or not the return swing control start signal is acquired.

[0071] 10B , after starting the loading swing control, in step S105, the automatic swing command unit 52 determines whether the position of the bucket pin 13a has reached the earth discharge control position P3. If the automatic swing command unit 52 determines that the bucket pin 13a has reached the earth discharge control position P3, the automatic swing command unit 52 ends the loading swing control in step S106. That is, the automatic swing command unit 52 stops the swing unit 4 at the earth discharge control position P3. Thereafter, the operator operates the work unit 3 to unload the object from the work unit 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100. After ending the loading swing control in step S106, control proceeds to step S118.

[0072] If it is determined in step S105 that the unloading control position P3 has not been reached, the control decision unit 53 determines in step S107 whether a predetermined time has elapsed since the start of loading swing control. If it is determined that the predetermined time has not elapsed, the control proceeds to step S108, where the control decision unit 53 determines whether the operation signal M1, M2, or M3 has been acquired.

[0073] If it is determined in step S108 that the operation signal M1, M2, or M3 has been acquired, then in step S109 the control decision unit 53 determines whether the operation amount of the operation lever that operates the work implement 3 based on the operation signal M1, M2, or M3 exceeds a % of the operable amount of the operation lever. On the other hand, if it is determined in step S108 that the operation signal M1, M2, or M3 has not been acquired, the control proceeds to step S112, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0074] If it is determined in step S109 that the operation amount of the control lever for operating the work machine 3 does not exceed a%, then in step S111, the control decision unit 53 compares the operation amount of the control lever for operating the work machine 3 by the operator with the operation amount of the control lever corresponding to the loading swing control, and decides to perform control using the larger operation amount. If the operation amount of the control lever for operating the work machine 3 by the operator is larger than the operation amount of the control lever corresponding to the loading swing control, the control decision unit 53 decides to perform control according to the operation amount of the control lever by the operator, and the manual operation instruction unit 54 operates the work machine 3 according to the operation amount of the control lever by the operator. On the other hand, if the operation amount of the control lever corresponding to the loading swing control is larger than the operation amount of the control lever for operating the work machine 3 by the operator, the control decision unit 53 continues the loading swing control, and the automatic swing instruction unit 52 performs the loading swing control. Note that if the operation amounts are the same, the loading swing control may be continued.

[0075] On the other hand, if it is determined in step S109 that the operation amount of the operation lever that operates the work machine 3 exceeds a %, the control decision unit 53 decides to stop the loading swing control in step S110. When it is determined to stop the loading swing control, the automatic swing instruction unit 52 stops the loading swing control.

[0076] After step S111 or step S108, in step S112, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S112 that the operation signal M4 has been acquired, then in step S113, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the revolving unit 4 in response to the operation signal M4 exceeds c % of the operable amount of the operation lever. On the other hand, if it is determined in step S112 that the operation signal M4 has not been acquired, the control returns to step S105.

[0077] In step S113, if it is determined that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed c%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading rotation control, and control returns to step S105.

[0078] On the other hand, if it is determined in step S113 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds c%, the control decision unit 53 decides to stop the loading rotation control, and in step S110, the control decision unit 53 decides to stop the loading rotation control.

[0079] As described above, steps S108 to S113 are repeated until a predetermined time has elapsed since the start of loading swing control in step S107. Note that the predetermined time is set to, for example, several seconds, which is shorter than the time it takes for the bucket pin 13a to reach the unloading position. As a result, even if loading swing control is started before the excavation work is completed, the work implement 3 operates with the larger amount of operation, so loading swing control can be started smoothly. Furthermore, even after the start of loading start control, the loading swing control can be stopped by operating the operation lever to a large extent, even before the predetermined time has elapsed.

[0080] If it is determined in step S107 that the predetermined time has elapsed since the start of the loading swing control, the control decision unit 53 determines in step S114 whether or not the operation signal M1, M2, or M3 has been acquired.

[0081] If it is determined in step S114 that the operation signal M1, M2, or M3 has been acquired, then in step S115 the control decision unit 53 determines whether the amount of operation of the operation lever that operates the work implement 3 by the operation signal M1, M2, or M3 exceeds b % of the operable amount of the operation lever. On the other hand, if it is determined in step S114 that the operation signal M1, M2, or M3 has not been acquired, then the control proceeds to step S116, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0082] In step S115, if it is determined that the amount of operation of the operating lever that operates the work machine 3 does not exceed b%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading swing control, and control proceeds to step S116.

[0083] On the other hand, if it is determined in step S115 that the amount of operation of the operating lever that operates the work machine 3 exceeds b%, the control decision unit 53 decides to stop the loading swing control, and in step S110, the control decision unit 53 decides to stop the loading swing control.

[0084] After step S114 or step S115, in step S116, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S116 that the operation signal M4 has been acquired, then in step S117, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the rotating unit 4 by the operation signal M4 exceeds c % of the operable amount of the operation lever. On the other hand, if it is determined in step S116 that the operation signal M4 has not been acquired, the control returns to step S105.

[0085] In step S117, if it is determined that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed c%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading rotation control, and control returns to step S105.

[0086] On the other hand, if it is determined in step S117 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds c%, the control decision unit 53 decides to stop the loading rotation control, and in step S110, the control decision unit 53 decides to stop the loading rotation control.

[0087] As described above, after a predetermined time has elapsed since the loading swing control was started in step S105, steps S114 to S117 are repeated until it is determined that the bucket pin 13a has reached the soil discharge control position P3. This allows the operator to stop the loading swing control even during the loading swing control.

[0088] 10C , after step S103 or step S106, the automatic swing instruction unit 52 determines whether or not a return swing control start signal has been acquired in step S118. For example, after the operator unloads the object from the bucket 13, the operator operates the input device 34, and the return swing control start signal is transmitted from the input device 34 to the controller 24.

[0089] If it is determined in step S118 that the return swing control signal has been acquired, the automatic swing instruction unit 52 starts return swing control in step S119. The automatic swing instruction unit 52 controls the work machine 3 and the rotating body 4 so that the bucket pin 13a moves to the earth discharge control position P3, passes through the interference avoidance control position P2, and then moves to the excavation control position P1. Note that if the return swing control start signal has not been acquired in step S118, the control returns to step S103.

[0090] After starting the return swing control, in step S120, the automatic swing instruction unit 52 determines whether the position of the bucket pin 13a has reached the excavation control position P1. If the position has reached the excavation control position P1, the automatic swing instruction unit 52 ends the return swing control in step S121, and control returns to step S103. That is, the automatic swing instruction unit 52 stops the work machine 3 and the rotating body 4 at the excavation control position P1. On the other hand, if it is determined that the position of the bucket pin 13a has not reached the excavation control position P1, control proceeds to step S122.

[0091] In step S122, the control decision unit 53 determines whether or not the operation signal M1, M2, or M3 has been acquired.

[0092] If it is determined in step S122 that the operation signal M1, M2, or M3 has been acquired, the control decision unit 53 determines in step S123 whether the operation amount of the operation lever that operates the work implement 3 based on the operation signal M1, M2, or M3 exceeds d% of the operable amount of the operation lever. On the other hand, if it is determined in step S122 that the operation signal M1, M2, or M3 has not been acquired, the control proceeds to step S124, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0093] If it is determined in step S123 that the amount of operation of the operating lever that operates the work machine 3 does not exceed d%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading swing control, and control proceeds to step S124.

[0094] On the other hand, if it is determined in step S123 that the amount of operation of the operating lever that operates the work machine 3 exceeds d%, the control decision unit 53 decides to stop the return swing control, and in step S125, the automatic swing instruction unit 52 executes the stop of the return swing control.

[0095] After step S122 or step S123, in step S124, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S124 that the operation signal M4 has been acquired, then in step S126, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the rotating unit 4 based on the operation signal M4 exceeds e % of the operable amount of the operation lever. On the other hand, if it is determined in step S124 that the operation signal M4 has not been acquired, control returns to step S120.

[0096] In step S126, if it is determined that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed e%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the return rotation control, and control returns to step S120.

[0097] On the other hand, if it is determined in step S126 that the operation amount of the control lever for rotating the rotating body 4 exceeds e %, the control decision unit 53 decides to stop the loading swing control, and in step S120, the control decision unit 53 decides to stop the loading swing control. As described above, after the return swing control is started in step S118, the decisions in steps S122 to S126 are repeated until it is determined that the bucket pin 13a has reached the excavation control position P1. This allows the operator to stop the return swing control even during the return swing control.

[0098] (Features, etc.) The work machine 1 according to the present embodiment described above operates the work machine 3 with the greater amount of operation of the operator's control lever for operating the work machine 3 or the amount of operation of the control lever corresponding to the loading swing control, during a predetermined time period from the start of the loading swing control. If the amount of operation of the operator's control lever for operating the work machine 3 is greater than the amount of operation of the control lever corresponding to the loading swing control, the work machine 3 can be operated as the operator desires. During a predetermined time period from the start of the loading swing control, the operator is permitted to operate the work machine 3.

[0099] For example, to improve work efficiency, the operator may start the loading swing control before the excavation work is completed. For example, the operator may start the automatic swing control while the input of the operation lever is still remaining. Even in such a case, the operator can continue the excavation work, improving operability. Furthermore, the loading swing control can be started smoothly without the need to start the loading swing control or stop the loading swing control because an operation to operate the work implement 3 is being performed.

[0100] In the work machine 1 according to this embodiment, if the operating lever for operating the work implement 3 is operated more than a % within a predetermined time period after the start of the loading swing control, the loading swing control is stopped.

[0101] This allows the operator to automatically stop the loading swing control even if it is within a predetermined time from the start of the loading swing control.

[0102] (Other Embodiments) Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0103] (A) In the return swing control of the above embodiment, unlike the loading swing control, the operator's operation amount and the automatic swing control operation amount are not compared and the larger operation amount is not used for a predetermined time from the start. However, in the return swing control, as in the loading swing control, the operator's operation amount may be compared and the larger operation amount may be used for a predetermined time from the start.

[0104] FIG. 11 is a modified example of the flowchart of FIG. 10C. FIG. 11 shows a flowchart for the case where, during return swing control, the manipulated variable is compared for a predetermined time from the start, and control is performed using the larger manipulated variable. Unlike FIG. 10C, the flowchart shown in FIG. 11 includes step S131 between step S120 and step S122. In step S131, the control decision unit 53 determines whether a predetermined time has elapsed since the start of return swing control. The predetermined time for return swing control may be the same as or different from that for loading swing control. If the control decision unit 53 determines that the predetermined time has elapsed, control proceeds to step S122. The control of steps S122 to S126 is the same as the above implementation.

[0105] If the control decision unit 53 determines that the predetermined time has not elapsed, the control proceeds to step S131, where the control decision unit 53 determines whether or not the operation signal M1, M2, or M3 has been acquired.

[0106] If it is determined in step S131 that the operation signal M1, M2, or M3 has been acquired, the control decision unit 53 determines in step S132 whether the operation amount of the operation lever that operates the work implement 3 in response to the operation signal M1, M2, or M3 exceeds f% of the operable amount of the operation lever. This f% may be the same as or different from a%. It is preferable that f% be greater than d%. On the other hand, if it is determined in step S131 that the operation signal M1, M2, or M3 has not been acquired, control proceeds to step S134, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0107] If it is determined in step S132 that the operation amount of the control lever for operating the work implement 3 does not exceed f%, then in step S133, the control decision unit 53 compares the operation amount of the control lever for operating the work implement 3 with the operation amount of the control lever corresponding to the return swing control, and decides to perform control using the larger operation amount. If the operation amount of the control lever for operating the work implement 3 by the operator is larger than the operation amount of the control lever corresponding to the return swing control, the control decision unit 53 decides to control the work implement 3 according to the operation amount of the control lever by the operator, and the manual operation instruction unit 54 operates the work implement 3 according to the operation amount of the control lever by the operator. On the other hand, if the operation amount of the control lever corresponding to the return swing control is larger than the operation amount of the control lever by the operator, the control decision unit 53 continues the return swing control, and the automatic swing instruction unit 52 performs the return swing control. Note that if the operation amounts are the same, the return swing control may be continued.

[0108] On the other hand, if it is determined in step S132 that the operation amount of the control lever that operates the work machine 3 exceeds f %, the control decision unit 53 decides to stop the return swing control in step S125. When it is decided to stop the return swing control, the automatic swing instruction unit 52 stops the return swing control in step S125.

[0109] After step S131 or step S133, in step S134, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S134 that the operation signal M4 has been acquired, then in step S135, the control decision unit 53 determines whether or not the amount of operation of the operation lever that operates the revolving unit 4 by the operation signal M4 exceeds e % of the operable amount of the operation lever. On the other hand, if it is determined in step S134 that the operation signal M4 has not been acquired, control returns to step S120.

[0110] In step S135, if it is determined that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed e%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the return rotation control, and control returns to step S120.

[0111] On the other hand, if it is determined in step S135 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds e%, the control decision unit 53 decides to stop the return rotation control, and in step S125, the automatic rotation instruction unit 52 stops the return rotation control.

[0112] In this way, during a predetermined time period from the start of the return swing control, the amount of operation of the control lever for operating the work implement 3 by the operator is compared with the amount of operation of the control lever corresponding to the return swing control, and the work implement 3 is operated by the larger amount of operation. If the amount of operation of the control lever for operating the work implement 3 by the operator is larger than the amount of operation of the control lever corresponding to the return swing control, the work implement 3 can be operated as the operator desires. During a predetermined time period from the start of the return swing control, the operator is permitted to operate the work implement 3.

[0113] For example, in order to improve work efficiency, the operator may start the return swing control before the earth-discharging operation is completed. Even in such a case, the operator can continue the earth-discharging operation, improving operability. Furthermore, the situation where the return swing control cannot be started or the return swing control is stopped because an operation to operate the work implement 3 is being performed is suppressed, and the return swing control can be started smoothly.

[0114] (B) In the above embodiment, in the loading swing control, the threshold value of the operation amount of the control lever of the swing unit 4 is set to the same c% before the predetermined time has elapsed (step S113) and after the predetermined time has elapsed (step S117), but it may be different. Similarly, in the return swing control shown in Figure 11, the threshold value of the operation amount of the control lever of the swing unit 4 is set to the same e% before the predetermined time has elapsed (step S126) and after the predetermined time has elapsed (step S135), but it may be different.

[0115] (C) In the above embodiment, the excavation control position P1, the interference avoidance control position P2, and the earth-discharge control position P3 were determined from the excavation position P1', the interference avoidance control position P2', and the earth-discharge position P3' obtained by teaching, but this is not the only option. For example, the excavation control position P1, the interference avoidance control position P2, and the earth-discharge control position P3 may be determined by direct teaching, or a map may be displayed on the display 35 and the positions may be set on the display 35.

[0116] (D) In ​​the above embodiment, for a predetermined time from the start, control is performed only for the work machine 3 using the larger of the amount of operation of the control lever by the operator and the amount of operation of the control lever based on the automatic rotation control, but this control may also be applied to the rotating body 4.

[0117] (E) In the above embodiment, the amount of operation of the control lever by the operator and the amount of operation of the control lever based on the automatic swing control are compared for a predetermined time from the start of the automatic swing control, and control is performed using the larger amount of operation. However, this does not have to be limited to a predetermined time. For example, it may be the period from the start of the loading swing control until the bucket pin 13a reaches the excavation control position P1. Also, it may be the period from the start of the return swing control until the bucket pin 13a reaches the soil discharge control position P3. This allows the operator to perform manual operation during the period from the start of the automatic swing control until the predetermined timing, when there is a high probability that the operator will intervene manually, thereby improving operability.

[0118] (F) The work machine 1 may be operable remotely. It may be configured as a system including the work machine 1 and a remote control device that remotely controls the work machine 1. In this case, the externally located remote control device is provided with an operation device 33, an input device 34, and a display 35, and a signal is output from a controller provided in the remote control device to a controller 24 (see FIG. 7 ) of the work machine 1 to control the work machine 1. Furthermore, in addition to the operation device 33, input device 34, and display 35, the remote control device may also be provided with the controller 24. In this case, the work machine 1 is controlled by outputting a signal from the controller 24 to a controller provided in the work machine 1. Note that the controller provided in the remote control device and the controller provided in the work machine 1 described above include a processor such as a CPU and a memory device, just like the controller 24.

[0119] (G) In the above embodiment, during a predetermined time period from the start of automatic swing control, the work equipment 3 is operated based on the larger of the amount of operation of the control lever for operating the work equipment 3 by the operator and the amount of operation of the control lever corresponding to the automatic swing control. However, this is not limited to the magnitude of the operation amount. For example, the work equipment 3 may be controlled using the larger of the operation signal corresponding to the operation of the control lever and the operation signal corresponding to the automatic swing control. The operation signal may be an electrical signal. The electrical signal may be an electrical signal output to a pilot valve that adjusts the pilot pressure for operating the control valve 27. In short, during a predetermined time period from the start of automatic swing control, the work equipment may be controlled based on the larger of the operation command for operating the work equipment 3 by the operation lever and the operation command for operating the work equipment 3 by the automatic swing control. Note that the larger operation command is the operation command that operates the work equipment 3 by the larger amount. In other words, the larger operation command can be said to be the operation command that attempts to move the work equipment 3 by the larger amount.

[0120] (H) In the above embodiment, a loading swing control start switch and a return swing control start switch are provided, but a single swing control start switch may be provided. In this case, operation of the swing control start switch outputs a swing control start signal to the controller 24, and the controller 24 determines whether loading swing control or return swing control is to be performed based on the orientation of the work implement 3 and the attitude of the bucket 13, and starts the control.

[0121] (I) The target position may be acquired by manual input by the operator instead of using the direction sensor 36 and the height sensor 37. Alternatively, the target position may be acquired by a sensor provided outside the work machine 1. Other equipment including a loading platform may be used instead of the transport vehicle 100. For example, a hopper for receiving the discharged earth and sand may be provided instead of the transport vehicle 100.

[0122] According to the present disclosure, it is possible to provide a work machine and a control method for a work machine that are capable of improving operability in automatic turning control.

[0123] 1: Work machine 3: Work equipment 4: Swing body 24: Controller 33L: Left operation lever 33R: Right operation lever 100: Transport vehicle 101: Loading platform

Claims

1. A work machine comprising: a rotatable rotating body; a work implement attached to the rotating body; an operating member for operating the work implement; and a control unit for performing automatic rotation control that controls the rotating body and the work implement, wherein the control unit controls the work implement based on the larger of the operation commands from the automatic rotation control and the operation commands from the operating member during the period from the start of the automatic rotation control until a predetermined timing.

2. The work machine described in claim 1, wherein, during the period from the start of the automatic turning control to the predetermined timing, when the operating member is operated within a first predetermined range within the operable range of the operating member, the control unit controls the work machine based on the larger of the operation commands from the automatic turning control and the operation command from the operating member, and when the operating member is operated beyond the first predetermined range, the control unit stops the automatic turning control.

3. The work machine according to claim 2, wherein the control unit performs the automatic turning control when the operating member is operated within a second predetermined range of the operable range of the operating member after the predetermined timing has passed, and stops the automatic turning control when the operating member is operated beyond the second predetermined range.

4. A work machine as described in claim 1, wherein the control unit compares the operation command from the automatic turning control with the operation command from the operating member during the period from the start of the automatic turning control to the predetermined timing, and controls the work implement based on the larger operation command.

5. A work machine according to claim 1, wherein the control unit, upon receiving a swing control start signal, carries out the automatic swing control to a set earth-discharge control position for earth-discharge.

6. The work machine according to claim 1, wherein, upon receiving a swing control start signal, the control unit performs the automatic swing control to a preset excavation control position for excavating earth and sand.

7. The work machine according to claim 1, further comprising a start switch that starts the automatic swing control, and the automatic swing control is started by operating the start switch.

8. A work machine according to claim 1, wherein the period from the start of the automatic turning control to the predetermined timing is a predetermined time period from the start of the automatic turning control.

9. A control method for a work machine comprising a rotatable rotating body and a work implement attached to the rotating body, the control method comprising controlling the work implement based on the larger of an operation command from the automatic rotation control that controls the rotating body and the work implement and an operation command from an operating member that operates the work implement, during a period from the start of automatic rotation control that controls the rotating body and the work implement until a predetermined timing.

10. A control method for a work machine as described in claim 9, wherein controlling the work machine includes, during the period from the start of the automatic turning control to the predetermined timing, when the operating member is operated within a first predetermined range within the operable range of the operating member, controlling the work machine based on the larger of the operation command from the automatic turning control and the operation command from the operating member, and stopping the automatic turning control when the operating member is operated beyond the first predetermined range.

11. A control method for a work machine as described in claim 10, wherein controlling the work machine includes performing the automatic rotation control when the operating member is operated within a second predetermined range of the operable range of the operating member after the predetermined timing has passed, and stopping the automatic rotation control when the operating member is operated beyond the second predetermined range.

12. A control method for a work machine as described in claim 9, wherein controlling the work machine includes comparing an operation command from the automatic turning control with an operation command from the operating member during the period from the start of the automatic turning control to the predetermined timing, and controlling the work machine based on the larger operation command.

13. A control method for a work machine according to claim 9, wherein the automatic swing control is carried out up to a set earth-discharge control position for discharging earth when a swing control start signal is received.

14. A control method for a work machine according to claim 9, wherein the automatic swing control is performed up to a preset excavation control position for excavating earth and sand when a swing control start signal is received.

15. A control method for a work machine according to claim 9, wherein the period from the start of the automatic turning control to the predetermined timing is a predetermined time period from the start of the automatic turning control.

16. A system for controlling a work machine, comprising: a rotatable rotating body; a work machine attached to the rotating body; an operating member for operating the work machine; and a control unit that performs automatic rotation control to control the rotating body and the work machine, wherein the control unit controls the work machine based on the larger of the operation commands from the automatic rotation control and the operation commands from the operating member, from the start of the automatic rotation control until a predetermined timing.

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