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

Abstract

This work machine comprises a turning body, a work implement, an operation member, and a control unit. The turning body is turnable. The work implement is attached to the turning body. The operation member operates the work implement or the turning body. The control unit performs automatic turning control for controlling the turning body and the work implement. When a manual intervention operation is detected on the basis of the operation of the operation member during the execution of an automatic turning control, the control unit stops the automatic turning control and changes a control status according to the progress of the automatic turning control.

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] The above-mentioned Patent Document 1 discloses that the automatic turning control is stopped when manual operation is performed during the automatic turning control, but does not disclose the operability after the automatic turning control is ended.

[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 are capable of improving operability after automatic swing control is stopped.

[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 or the revolving body. The control unit performs automatic revolve control that controls the revolving body and the work implement. If the control unit detects a manual intervention operation based on operation of the operating member while the automatic revolve control is being executed, the control unit stops the automatic revolve control and changes the control status according to the progress of the automatic revolve control.

[0007] A second aspect of the present disclosure is a system for controlling a work machine. The system includes a rotating body, a work implement, an operating member, and a control unit. The rotating body is capable of rotating. The work implement is attached to the rotating body. The operating member operates the work implement or the rotating body. The control unit performs automatic rotation control that controls the rotating body and the work implement. If the control unit detects a manual intervention operation based on the operation of the operating member while the automatic rotation control is being executed, the control unit stops the automatic rotation control and changes the control status according to the progress of the automatic rotation control.

[0008] A third aspect of the present disclosure is a control method for a work machine. The work machine has a rotatable rotating body and a work implement attached to the rotating body. The control method includes starting automatic rotation control for controlling the rotating body and the work implement, detecting manual intervention based on operation of an operating member that operates the work implement or the rotating body, and, if manual intervention is detected, stopping the automatic rotation control and changing the control status according to the progress of the automatic rotation control. (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 that are capable of improving operability after automatic swing control is stopped.

[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 plan view showing an area permitted for the start of automatic swing control. FIG. 8 is a side view for explaining the tucked-in attitude of the bucket at the start of loading swing control. FIG. 9 is a side view for explaining the tucked-in attitude of the bucket at the start of return swing control. FIG. 10 is a block diagram showing the flow of signals in the control system. FIG. 11 is a diagram showing the transition of the acceptance state of a calculation signal from the secondary controller in the primary controller. FIG. 12 is a diagram showing a plurality of bar graphs representing thresholds set for operation of the control lever to determine control in loading swing control. FIG. 13 is a diagram showing a plurality of bar graphs representing thresholds set for operation of the control lever to determine control in return swing control. FIG. 14 is a flowchart showing the control operation of the work machine according to an embodiment of the present disclosure. FIG. 15 is a flowchart showing the control operation of the work machine according to an embodiment of the present disclosure.

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

[0012] 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 vehicle body 2 and a work implement 3. The work implement 3 is attached to the vehicle body 2. The vehicle body 2 includes a revolving unit 4 and a running unit 5. The revolving unit 4 is connected to the running unit 5 so that it can rotate. The revolving unit 4 can rotate around a rotation center C1. A cab 6 is disposed on the revolving unit 4. The work implement 3 is attached to the revolving unit 4. The running unit 5 includes tracks 7. Note that Figure 1 shows only one of the left and right tracks 7. The work machine 1 moves 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 configurations of the drive system 8 and control system 9 of the work machine 1. As shown in Figure 2, the drive system 8 of the work machine 1 includes a drive source 21 and a hydraulic pump 22. The control system 9 includes a controller 24. The controller 24 includes a primary controller 28 and a secondary controller 29 that communicate with each other.

[0017] The drive source 21 is controlled by a command signal from the primary controller 28. 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.

[0018] 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.

[0019] 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 a primary controller 28. The primary controller 28 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26.

[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 driven by hydraulic oil from the hydraulic pump 22. Alternatively, the travel motor 23 may be an electric motor. The travel motor 23 drives the tracks 7, causing the work machine 1 to travel.

[0021] The work machine 1 includes a control valve 27. The hydraulic pump 22 is connected to the cylinders 14-16, the swing motor 25, and the travel motor 23 via a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from a primary controller 28. 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 primary controller 28 controls the operation of the work machine 3 by controlling the control valve 27. The primary controller 28 controls the swing of the swing body 4 by controlling the control valve 27. The primary controller 28 controls the drive of the travel motor 23 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.

[0022] The primary controller 28 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.

[0023] The control system 9 includes an operating device 33, a work implement locking member 34, a swing locking member 35, and an input device 36. The operating device 33, the work implement locking member 34, and the swing locking member 35 are arranged inside the cab 6. The operating device 33 can be operated by an operator to control the travel of the work machine 1, the operation of the work implement 3, and the swing of the rotating bed 4.

[0024] The operation device 33 includes a travel operation member 41, a work machine / swing unit operation member 42, and an automatic control operation member 44. In response to operation of the travel operation member 41, the primary controller 28 controls the control valve 27 to drive the travel motor 23 so as to travel the work machine 1. In response to operation of the work machine / swing unit operation member 42, the primary controller 28 controls the control valve 27 so as to operate the work machine 3 or the swing unit 4. The automatic control operation member 44 will be described later.

[0025] The work implement / swing unit operating member 42 includes a right operating lever 42R (operating member) and a left operating lever 42L (operating member). The left operating lever 42L is located on the left side of the driver's seat. The right operating lever 42R is located on the right side of the driver's seat. Operation of the right operating lever 42R in the forward / backward direction corresponds to operation of the boom 11, and a raising / lowering operation of the boom 11 is performed in response to operation in the forward / backward direction. Operation of the right operating lever 42R in the left / right direction corresponds to operation of the bucket 13, and an excavation or soil discharge operation of the bucket 13 is performed in response to operation in the left / right direction. Operation of the left operating lever 42L in the left / right direction corresponds to operation of the swing unit 4, and a right swing operation or a left swing operation of the swing unit 4 is performed in response to operation in the left / right direction. Operation of the left operating lever 42L in the forward / backward direction corresponds to operation of the arm 12, and a push-out or retraction operation of the arm 12 is performed in response to operation in the forward / backward direction.

[0026] The work implement / swing unit operating member 42 includes a boom operation detection unit 51 and a bucket operation detection unit 52. The boom operation detection unit 51 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 51 accepts operation of the boom 11 by the operator in accordance with forward / backward operation of the right operating lever 42R. The boom operation detection unit 51 outputs a boom operation signal M1 to the primary controller 28 in accordance with forward / backward operation of the right operating lever 42R. The bucket operation detection unit 52 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 52 accepts operation of the bucket 13 by the operator in accordance with left / right operation of the right operating lever 42R. The bucket operation detection unit 52 outputs a bucket operation signal M2 to the primary controller 28 in accordance with left / right operation of the right operating lever 42R.

[0027] The work machine / swing unit operating member 42 also includes an arm operation detection unit 53 and a swing operation detection unit 54. The arm operation detection unit 53 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The arm operation detection unit 53 accepts operation of the arm 12 by the operator in accordance with forward / backward operation of the left operating lever 42L. The arm operation detection unit 53 outputs an arm operation signal M3 to the primary controller 28 in accordance with forward / backward operation of the left operating lever 42L. The swing operation detection unit 54 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The swing operation detection unit 54 accepts swing operation of the swing unit 4 by the operator in accordance with left / right operation of the left operating lever 42L. The swing operation detection unit 54 outputs a swing operation signal M4 to the primary controller 28 in accordance with left / right operation of the left operating lever 42L.

[0028] The work implement locking member 34 can be operated by an operator to lock the operation of the work implement 3. The work implement locking member 34 is, for example, a lever. The work implement locking member 34 may also be another member, such as a switch. The work implement locking member 34 outputs a work implement lock signal that indicates an operation on the work implement locking member 34. The primary controller 28 receives the work implement lock signal from the work implement locking member 34. When the operation of the work implement 3 is locked by the work implement locking member 34, operation of the work implement 3 by the above-mentioned operating device 33 is invalid. When the work implement 3 is unlocked by the work implement locking member 34, operation of the work implement 3 by the above-mentioned operating device 33 is valid.

[0029] The swing lock member 35 can be operated by an operator to lock the swing of the swing unit 4. The swing lock member 35 is, for example, a switch. The swing lock member 35 may also be another member, such as a lever. The swing lock member 35 outputs a swing lock signal indicating an operation on the swing lock member 35. The primary controller 28 receives the swing lock signal from the swing lock member 35. When the swing of the swing unit 4 is locked by the swing lock member 35, the swing operation of the swing unit 4 by the above-mentioned operating device 33 is invalidated. When the swing of the swing unit 4 is released by the swing lock member 35, the swing operation of the swing unit 4 by the above-mentioned operating device 33 is valid.

[0030] The input device 36 can be operated by an operator. The input device 36 is, for example, a touch screen. However, the input device 36 may also include a switch. The operator operates the input device 36 to input various settings related to the work machine 1. The input device 36 outputs an input signal in response to the operator's operation. The primary controller 28 receives the input signal from the input device 36.

[0031] For example, the operator can set the work mode using the input device 36. The work modes include, for example, a P mode and an E mode. The P mode and the E mode are modes suitable for excavation work and earth removal work using the bucket 13. The primary controller 28 controls the tractive force of the work machine 1 in accordance with the P mode and the E mode. In the E mode, the primary controller 28 reduces the maximum tractive force more than in the P mode. This improves fuel efficiency.

[0032] The work modes include a crane mode, which is a mode suitable for crane work in which a load is hoisted from the bucket 13. In the crane mode, the primary controller 28 monitors the load hoisted on the work implement 3, and issues a warning if the load exceeds a threshold value.

[0033] The work modes include various attachment modes. In place of the bucket 13, other attachments such as a breaker or a crusher can be attached to the work implement 3. The various attachment modes are modes suitable for the attached attachment. In the attachment mode, the primary controller 28 adjusts the flow rate of hydraulic oil in accordance with the specific attached attachment.

[0034] The control system 9 includes a position sensor 37, an attitude sensor 38, and an automatic control setting device 39. The position sensor 37 detects the position of the work machine 1. The position sensor 37 includes, for example, a sensor using a GNSS (Global Navigation Satellite System). The position sensor 37 also detects the orientation of the work machine 1. The orientation of the work machine 1 is indicated by an external coordinate system. The external coordinate system is a coordinate system based on the outside of the work machine 1. The external coordinate system is, for example, a site coordinate system within the work site where the work machine 1 is used. Alternatively, the external coordinate system may be a global coordinate system. The position sensor 37 outputs a position signal that indicates the position of the work machine 1. The secondary controller 29 receives the position signal from the position sensor 37.

[0035] The attitude sensor 38 detects the attitude of the work machine 1. The attitude sensor 38 includes, for example, an IMU (Inertial Measurement Unit). The attitude sensor 38 detects the attitude of the work machine 1. The attitude of the work machine 1 includes the tilt angle of the vehicle body 2 and the attitude of the work implement 3. The tilt angle of the vehicle body 2 includes the pitch angle and roll angle of the vehicle body 2. The attitude of the work implement 3 includes the respective angles of the boom 11, arm 12, and bucket 13. The attitude sensor 38 outputs an attitude signal that indicates the attitude of the work machine 1. The secondary controller 29 receives the attitude signal from the attitude sensor 38.

[0036] The secondary controller 29 detects the attitude of the bucket 13 relative to the site coordinate system from the position signal from the position sensor 37 and the attitude signal from the attitude sensor 38 .

[0037] The automatic control setting device 39 is operated by an operator to set control parameters for automatic control of the work machine 1. The automatic control setting device 39 is disposed, for example, in the cab 6. The control parameters will be described later. The automatic control setting device 39 outputs a control parameter signal indicative of the control parameters. The secondary controller 29 receives the control parameter signal from the automatic control setting device 39.

[0038] The secondary controller 29 includes a processor 45 such as a CPU, and a storage device 46. The processor 45 performs processing for automatic control of the work machine 1. The storage device 46 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 46 stores data and programs for automatic control of the work machine 1. The secondary controller 29 communicates with the primary controller 28.

[0039] The secondary controller 29 executes processing for automatic control of the work machine 1. The secondary controller 29 calculates command values ​​to be sent to the drive system 8 for automatic control. The primary controller 28 outputs command signals to the drive system 8 based on the command values ​​calculated by the secondary controller 29. Hereinafter, automatic swing control will be described as an example of automatic control of the work machine 1. In automatic swing control, the secondary controller 29 automatically controls the swing of the swing body 4 and the attitude of the work implement 3.

[0040] 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 secondary controller 29. In other words, the automatic swing control includes loading swing control and return swing control.

[0041] Fig. 4 is a top view showing the operation of the work machine 1 in automatic swing control. Fig. 5 is a side view showing the operation of the work machine 1 in loading swing control of the automatic swing control. Fig. 6 is a side view showing the operation of the work machine 1 in return swing control of the automatic swing control.

[0042] 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.

[0043] As shown in FIG. 7 , the secondary controller 29 calculates a target position to which the bucket 13 is to be moved based on a position set by teaching by the operator. The calculated target position is stored in the secondary controller 29. As shown in FIGS. 4 to 6 , the target positions include a return swing control position P1, an interference avoidance control position P2, and a loading swing control position P3. The return swing control position P1 is the end position of the return swing control. The loading swing control position P3 is the end position of the 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.

[0044] The return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 are determined from the return swing position P1', the interference avoidance position P2', and the loading swing position P3' obtained by teaching. Teaching can be performed, for example, by setting a teaching mode using the automatic control setting device 39, actually operating the left operating lever 33L and the right operating lever 33R to position the bucket pin 13a at the desired return swing control position P1, and then operating the automatic control setting device 39, thereby storing the return swing position P1' in the controller 24. The interference avoidance position P2' and the loading swing 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.

[0045] The return swing control position P1 is the same position as the return swing 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 secondary controller 29 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 loading swing control position P3 is calculated from the height of the interference avoidance control position P2 and the orientation of the loading swing position P3'. The loading swing control position P3 can be set, for example, to the same height as the interference avoidance control position P2 and in the same orientation as the loading swing position P3'.

[0046] The secondary controller 29 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 portion 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 east-west, north-south orientation coordinates. The secondary controller 29 calculates the attitude of the work implement 3 from the attitude data. The secondary controller 29 can calculate the position of the work implement 3 in the site coordinate system from the orientation and attitude of the work implement 3. The position of the work implement 3 is, for example, the position of the bucket pin 13a in the site coordinate system. The position of the work implement 3 may be the height of the bucket pin 13a. The position of the work implement 3 is the height of the working point from the ground. Alternatively, the height of the work implement 3 may be the height relative to a predetermined reference point on the work machine 1 , such as the bottom surface of the crawler 7 .

[0047] The secondary controller 29 executes loading swing control or return swing control based on the direction and attitude of the work machine 3 according to input from the operator via the automatic control setting device 39 .

[0048] For example, when the operator operates the work machine 3 to perform excavation and then operates the swing control start switch provided on the automatic control operating member 44, a swing control start signal is output to the controller 24. Upon receiving the swing control start signal, the secondary controller 29 starts loading swing control if it determines that the conditions for permitting loading swing control are met. The conditions for permitting loading swing control will be described later.

[0049] When the loading swing control is started, the secondary controller 29 controls the work machine 3 so that the bucket pin 13a moves from the current position to a start position P0 to a return swing control position P1, as shown in Fig. 5. The secondary controller 29 operates the work machine 3 so that the bucket pin 13a moves upward from the start position P0 to the return swing control position P1.

[0050] Next, as shown in Figures 4 and 5, the secondary controller 29 rotates the rotating body 4 and raises the work implement 3 so that the bucket pin 13a moves from the return rotation control position P1 to the interference avoidance control position P2.

[0051] Next, the secondary controller 29 operates the swing unit 4 so that the bucket pin 13a moves from the interference avoidance control position P2 to the loading swing control position P3.

[0052] The secondary controller 29 determines whether the work machine 3 has reached the loading swing control position P3. If the secondary controller 29 determines that the work machine 3 has reached the loading swing control position P3, it ends the loading swing control. That is, the secondary controller 29 stops the rotating body 4 and the work machine 3 at the loading swing control position P3. Thereafter, the operator operates the work machine 3 to unload the object from the work machine 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100.

[0053] The secondary controller 29 stores a swing mode selected in advance by the operator using the automatic control setting device 39. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the secondary controller 29 rotates the swing unit 4 counterclockwise to a loading swing control position P3 during loading swing control (see L1 in FIG. 4). In the right loading swing mode, the secondary controller 29 rotates the swing unit 4 clockwise to a loading swing control position P3 during loading swing control.

[0054] For example, when the operator operates the swing control start switch provided on the automatic control operating member 44 after discharging an object from the work machine 3, a swing control start signal is output to the controller 24. Upon receiving the swing control start signal, the secondary controller 29 starts return swing control if it determines that the conditions for permitting return swing control are met. The conditions for permitting return swing control will be described later.

[0055] When the return swing control is started, the secondary controller 29 controls the work machine 3 so that the bucket pin 13a moves to the loading swing control position P3, with the current position being the start position P10, as shown in Fig. 6. The secondary controller 29 operates the work machine 3 so that the bucket pin 13a moves upward from the start position P10 to the loading swing control position P3.

[0056] Next, the secondary controller 29 rotates the rotating unit 4 so as to move the bucket pin 13a from the loading rotation control position P3 to the interference avoidance control position P2. At this time, the controller 24 rotates the rotating unit 4 in the direction opposite to that of the loading rotation control. That is, when the rotating unit 4 rotates counterclockwise (see L1 in FIG. 4) in the loading rotation control, the secondary controller 29 rotates the rotating unit 4 clockwise (see L2 in FIG. 4). When the rotating unit 4 rotates clockwise in the loading rotation control, the secondary controller 29 rotates the rotating unit 4 counterclockwise.

[0057] Next, the secondary controller 29 rotates the rotating body 4 from the interference avoidance control position P2 to the return swing control position P1, and lowers the work implement 3. The secondary controller 29 determines whether the bucket pin 13a has reached the return swing control position P1. If the secondary controller 29 determines that the work implement 3 has reached the return swing control position P1, it ends the return swing control. In other words, the secondary controller 29 stops the rotating body 4 at the return swing control position P1. Thereafter, the operator operates the work implement 3 to excavate the object. As a result, the object is held by the work implement 3.

[0058] The conditions for permission of loading swing control and return swing control will be explained. The conditions for permission of loading swing control are that the work machine 3 is located within the second permission area A2 and the bucket 13 is in a hoarding position. The conditions for permission of return swing control are that the work machine 3 is located within the first permission area A1 and the bucket 13 is in a dumping position.

[0059] 7 is a plan view showing permitted areas for starting automatic swing control. The secondary controller 29 determines and stores a first permitted area A1, a second permitted area A2, and a prohibited area A3 based on the orientation of the loading swing control position P3 relative to the work machine 1 and the orientation of the interference avoidance control position P2 relative to the work machine 1.

[0060] The first allowed area A1 and the second allowed area A2 are areas where execution of automatic turning control is permitted. Specifically, the first allowed area A1 is an area where execution of return turning control is permitted. The second allowed area A2 is an area where execution of loading turning control is permitted. The prohibited area A3 is an area where execution of automatic turning control is prohibited. The first allowed area A1, the second allowed area A2, and the prohibited area A3 are areas shown as sectors centered on the turning center C1 in a plan view.

[0061] The secondary controller 29 determines the range between the orientation of the interference avoidance control position P2 and the orientation of the reverse interference avoidance control position P4 as a first allowed area A1. The reverse interference avoidance control position P4 is located on the opposite side of the interference avoidance control position P2 with respect to the loading swing control position P3, in the direction opposite to the return swing direction. For example, the first allowed area A1 can be set so that the rotation angle from the interference avoidance control position P2 to the loading swing control position P3 around the swing center C1 is the same as the rotation angle from the loading swing control position P3 to the reverse interference avoidance control position P4. The return swing direction is the direction of rotation of the swing unit 4 during return swing control, passing through the interference avoidance control position P2 and heading toward the return swing control position P1.

[0062] The prohibited area A3 is located in the opposite direction to the return swing direction relative to the first allowed area A1. The secondary controller 29 determines a range of a predetermined angle from the reverse interference avoidance control position P4 in the direction opposite to the return swing direction as the prohibited area A3. The predetermined angle may be a fixed value. The predetermined angle may also be manually set by the operator. The secondary controller 29 determines a range within the swing range of the swing unit 4, excluding the first allowed area A1 and the prohibited area A3, as the second allowed area A2.

[0063] Fig. 8A is a side view showing the hoarding position of the bucket 13. Fig. 8B is a side view showing the earth unloading position of the bucket 13. The hoarding position of the bucket 13 is a position in which excavated earth and sand is held within the bucket 13 in order to be loaded onto the loading platform 101. The earth unloading position of the bucket 13 is a position after the earth and sand has been unloaded onto the loading platform 101.

[0064] 8A and 8B show the Z-axis in the site coordinate system that passes through the bucket pin 13a, and the XY plane that includes the bucket pin 13a and is perpendicular to the Z-axis. Here, L1 is the line connecting the bucket pin 13a and the cutting edge 13b, and θ is the angle between the XY plane and the line L1. The angle θ is 0 degrees when the XY plane and the line L1 coincide. The angle θ is a positive value when the cutting edge 13b is rotated from a state where the angle θ is 0 degrees so that it is positioned below the XY plane (when a dumping operation is performed). The angle θ is a negative value when the cutting edge 13b is rotated from a state where the angle θ is 0 degrees so that it is positioned above the XY plane. The dumping operation of the bucket 13 is an operation in which the opening of the bucket 13 and the cutting edges 13b and claws 15c of the bucket 13 rotate away from the vehicle body 2 to remove soil held in the bucket 13.

[0065] When the angle θ is within a first predetermined range, the secondary controller 29 determines that the bucket 13 is in the hoarding posture (see FIG. 8A ). To assume the hoarding posture, the first predetermined range is preferably smaller than 90 degrees. For example, the first predetermined range can be set to -30 degrees≦θ≦+30 degrees. When the bucket 13 assumes this hoarding posture, it is assumed that excavation is complete and the bucket 13 is holding earth and sand, and therefore loading swing control is executed when the work implement 3 is located in the second allowed area A2.

[0066] When the angle θ is within the second predetermined range, the secondary controller 29 determines that the bucket 13 is in the earth-discharging posture (see FIG. 8B ). To assume the earth-discharging posture, the second predetermined range is preferably greater than 90 degrees, and for example, the second predetermined range can be set to 90 degrees < θ < 270 degrees. When the bucket 13 assumes this earth-discharging posture, it is assumed that earth discharging by the bucket 13 has been completed, and therefore, return swing control is executed when the work implement 3 is located in the first allowed area A1.

[0067] Figure 9 is a block diagram showing the flow of signals in the control system 9. As shown in Figure 9, the primary controller 28 receives an operation signal from the operation device 33. If the operation signal indicates manual operation using the travel operation member 41 or the work machine / swinging body operation member 42, the primary controller 28 outputs a command signal to the drive system 8 in response to the operation signal. This causes the work machine 1 to operate in response to the operation of the operation device 33. If the operation signal indicates an instruction to start automatic swing control using the automatic control operation member 44, the secondary controller 29 executes automatic swing control processing.

[0068] The secondary controller 29 receives the position signal and attitude signal described above. The secondary controller 29 also receives control parameters for automatic swing control from the automatic control setting device 39. The control parameters include, for example, the target positions P1-P3 described above and the selected swing mode. The secondary controller 29 outputs a control status to the primary controller 28 and the automatic control setting device 39. The control status indicates the status of the work machine 1 during automatic control. The control status includes the position of the work machine 1 and the attitude of the work implement 3. The control status may also include the orientation of the swing unit 4 and the position of the bucket 13. The secondary controller 29 receives trigger information from the primary controller 28. The trigger information includes an instruction to start automatic control by the automatic control operating member 44 described above.

[0069] In automatic swing control, the secondary controller 29 calculates command values ​​for operating the work machine 1 based on the control parameters, the position signal, and the attitude signal. The command values ​​include, for example, the speed and direction of operation of the work implement 3 and the speed and direction of swing of the swing unit 4. The secondary controller 29 outputs a calculation signal indicating the command value to the primary controller 28.

[0070] The primary controller 28 determines whether to accept the calculation signal from the secondary controller 29 based on the acceptance state of the calculation signal. If the primary controller 28 accepts the calculation signal from the secondary controller 29, it outputs a command signal indicating a command value to the drive system 8. For example, the primary controller 28 outputs a command signal to the control valve 27 for operating the work implement 3 and the rotating body 4 in accordance with the command value. This causes automatic swing control of the work machine 1 to be executed. If the primary controller 28 does not accept the calculation signal from the secondary controller 29, it does not output a command signal to the drive system 8. This causes automatic swing control of the work machine 1 to be not executed.

[0071] The primary controller 28 transitions the acceptance state (an example of a control status) of the calculation signal from the secondary controller 29 between "not permitted" (an example of a second status), "standby" (an example of a first status), and "approved" (an example of a third status) depending on the state of the work machine 1. The control status indicates the state of whether the controller receiving the signal (the primary controller 28 in this embodiment) is willing to accept an external signal. FIG. 10 is a diagram showing the transition of the acceptance state of the calculation signal in the primary controller 28. As shown in FIG. 10 , when the control system 9 is started up (condition A), the primary controller 28 sets the acceptance state to "not permitted." In other words, immediately after the control system 9 is started up, the primary controller 28 sets the acceptance state to "not permitted." If the acceptance state of the calculation signal is "not permitted," the primary controller 28 rejects the calculation signal. As a result, if the acceptance state is "not permitted," automatic swing control of the work machine 1 is not executed.

[0072] If the first permission condition B is satisfied when the acceptance state is not permitted, the primary controller 28 transitions the acceptance state from not permitted to standby. The first permission condition B includes the following conditions b1-b4. (b1) Automatic swing control is enabled. (b2) There is no abnormality in the equipment of the work machine 1. (b3) The work machine 1 is in a state suitable for automatic swing control. (b4) The calculation signal is valid.

[0073] The primary controller 28 determines that condition b1 is satisfied when automatic swing control is enabled by the automatic control setting device 39. The primary controller 28 determines that condition b2 is satisfied when no abnormality is detected in any of the devices of the work machine 1. For example, the primary controller 28 detects a disconnection between the primary controller 28 and the secondary controller 29 as an abnormality in the devices. The primary controller 28 detects a failure of the operation device 33 as an abnormality in the devices.

[0074] If no abnormality is detected in these devices, the primary controller 28 determines that condition b2 is satisfied. If an abnormality is detected in at least one of these devices, the primary controller 28 determines that condition b2 is not satisfied.

[0075] The primary controller 28 detects the state of the work machine 1 and determines whether condition b3 is satisfied based on the state of the work machine 1. For example, the primary controller 28 determines whether the tilt angle of the vehicle body 2 is within a predetermined angle.

[0076] The primary controller 28 determines whether an attachment suitable for automatic swing control is attached to the work machine 3. For example, in the automatic swing control described above, the primary controller 28 determines that an attachment suitable for automatic swing control is attached when a bucket 13 is attached to the work machine 3. In the automatic swing control, the primary controller 28 determines that an attachment suitable for automatic swing control is not attached when a breaker is attached to the work machine 3.

[0077] The primary controller 28 determines whether the work mode is appropriate for automatic swing control. For example, if the P mode or the E mode is selected for automatic swing control, the primary controller 28 determines that the work mode is appropriate for automatic swing control. If the crane mode is selected for automatic swing control, the primary controller 28 determines that the work mode is not appropriate for automatic swing control.

[0078] If these states of the work machine 1 are suitable for automatic swing control, the primary controller 28 determines that condition b3 is satisfied. If at least one of these states of the work machine 1 is not suitable for automatic swing control, the primary controller 28 determines that condition b3 is not satisfied.

[0079] The primary controller 28 determines that condition b4 is satisfied when the command value of the calculation signal is within a normal range. For example, a predetermined normal range is set for the operating speed of the work implement 3. Also, a predetermined normal range is set for the rotation speed of the revolving unit 4. When the operating speed of the work implement 3 and the rotation speed of the revolving unit 4 are both within their normal ranges, the primary controller 28 determines that the command value of the calculation signal is within the normal range.

[0080] If these command values ​​are within the normal range, primary controller 28 determines that condition b4 is satisfied. If at least one of these command values ​​is not within the normal range, primary controller 28 determines that condition b4 is not satisfied.

[0081] The primary controller 28 maintains the acceptance state as not permitted when at least one of the conditions b1-b4 is not satisfied. The primary controller 28 transitions the acceptance state from not permitted to standby when all of the above-mentioned conditions b1-b4 are satisfied. The primary controller 28 rejects the calculation signal when the acceptance state of the calculation signal is standby. As a result, when the acceptance state is standby, automatic swing control of the work machine 1 is not executed.

[0082] If the second permission condition C is satisfied when the acceptance state is standby, the primary controller 28 transitions the acceptance state from standby to approval. The second permission condition C includes the following conditions c1 to c4: (c1) There is an instruction to start automatic swing control. (c2) There is no request from the secondary controller 29 to transition to non-permission. (c3) The work machine 1 is in an operating state that intends to start automatic swing control. (c4) The calculation signal use flag is on.

[0083] The primary controller 28 determines whether condition c1 is satisfied based on an operation signal from the automatic control operating member 44. The primary controller 28 determines that condition c1 is satisfied when the operation signal from the automatic control operating member 44 indicates an instruction to start automatic swing control. For example, the automatic control operating member 44 may include two switches, and the primary controller 28 may determine that condition c1 is satisfied when the two switches are simultaneously turned on. Examples of the switches include a swing control start switch and an unlock switch. Operating the unlock switch enables automatic swing control to be executed. When conditions c2 to c4 (described below) are satisfied, for example, by simultaneously operating both the unlock switch and the swing control start switch, the primary controller 28 transitions the control status to approval and accepts a calculation signal from the secondary controller 29. As a result, if the conditions for permitting loading swing control are satisfied, loading swing control is executed. Furthermore, if the conditions for permitting return swing control are satisfied, return swing control is executed.

[0084] The primary controller 28 determines whether condition c2 is satisfied based on the request to transition to disallowance from the secondary controller 29. The secondary controller 29 outputs the request to transition to disallowance to the primary controller 28 when the control parameters are inappropriate. For example, when the positional relationship between target positions P1-P3 is inappropriate for automatic turning control, such as when target positions P1-P3 are too close to each other, the secondary controller 29 outputs the request to transition to disallowance to the primary controller 28. The primary controller 28 determines that condition c2 is satisfied when it has not received a request to transition to disallowance from the secondary controller 29.

[0085] The primary controller 28 determines whether condition c3 is satisfied based on the operating state of the work machine 1. For example, the primary controller 28 determines whether the swing lock member 35 has released the lock on the swing. The primary controller 28 determines whether the work machine 3 has released the lock on the work machine lock member 34. The primary controller 28 determines whether the work machine 1 is not traveling.

[0086] The primary controller 28 determines that condition c3 is satisfied when these operation states are states intended to start automatic turn control, and determines that condition c3 is not satisfied when at least one of these operation states is not a state intended to start automatic turn control.

[0087] The primary controller 28 determines whether condition c4 is satisfied based on the calculation signal use flag from the secondary controller 29. The secondary controller 29 outputs a calculation signal use flag to the primary controller 28, indicating that the secondary controller 29 is capable of executing automatic swing control. The secondary controller 29 sets the calculation signal use flag to on when it receives a signal from the primary controller 28 indicating that condition c1 is satisfied. For example, the secondary controller 29 sets the calculation signal use flag to on when it receives from the primary controller 28 an instruction to start automatic swing control using the automatic control operating member 44 as trigger information. The primary controller 28 determines that condition c4 is satisfied when the calculation signal use flag is on. Note that the secondary controller 29 may also set the calculation signal use flag to on when it receives from the primary controller a signal indicating that conditions c1 and c3 are satisfied.

[0088] If at least one of the conditions c1-c4 is not satisfied, the primary controller 28 maintains the acceptance state at standby. If all of the above-mentioned conditions c1-c4 are satisfied, the primary controller 28 transitions the acceptance state from standby to approval. If the acceptance state of the calculation signal is approval, the primary controller 28 accepts the calculation signal. As a result, if the acceptance state is approval, automatic swing control of the work machine 1 is executed.

[0089] On the other hand, when the acceptance state is approval, if a first non-permission condition D is satisfied, the primary controller 28 transitions the acceptance state from approval to standby. The first non-permission condition D includes the following conditions d1 and d2: (d1) The calculation signal use flag is off. (d2) A manual intervention operation is detected in the third section during automatic turning control.

[0090] When the automatic swing control has ended normally, the secondary controller 29 switches the calculation signal use flag from on to off. The primary controller 28 determines that condition d1 is satisfied when the calculation signal use flag is off. When condition d1 is not satisfied, the primary controller 28 maintains the acceptance state at approval. When condition d1 is satisfied, the primary controller 28 transitions the acceptance state from approval to standby. When the loading swing control or return swing control ends, the calculation signal use flag is turned off, and the acceptance state of the calculation signal becomes standby. To start the next automatic swing control, as described above, two switches, for example, the lock release switch and the swing control start switch, must be pressed. Condition d2 will be described later. The primary controller 28 determines that the first non-permission condition D is satisfied when at least one of conditions d1 and d2 is satisfied.

[0091] If the second non-permission condition E is satisfied when the acceptance state is standby, the primary controller 28 transitions the acceptance state from standby to non-permission. The second non-permission condition E includes the following conditions e1-e4: (e1) The opposite condition of the first permission condition B is satisfied. (e2) The reliability of the calculation signal is low. (e3) Timeout. (e4) The work implement 3 is in a locked state.

[0092] The primary controller 28 determines that the condition e1 is satisfied when at least one of the conditions b1-b4 is not satisfied. For example, the primary controller 28 determines that the condition e1 is satisfied when the calculation signal is invalid. Alternatively, the primary controller 28 determines that the condition e1 is satisfied when the tilt angle of the vehicle body 2 is greater than a predetermined angle.

[0093] A low reliability of the calculation signal for condition e2 indicates the possibility that data has been rewritten by a third party. When a control parameter has been changed, the primary controller 28 determines whether the change in control parameter was intentionally made by the operator of the work machine 1. When the change in control parameter was not intentionally made by the operator of the work machine 1, the primary controller 28 determines that the reliability of the calculation signal is low.

[0094] For example, when the operator changes a control parameter such as the target positions P1-P3 using the automatic control setting device 39, the secondary controller 29 transmits a change list of the changed control parameters to the primary controller 28. When the value of a control parameter not included in the change list has been changed, the primary controller 28 determines that the reliability of the calculation signal is low and determines that condition e2 is satisfied.

[0095] The primary controller 28 determines whether condition e3 is satisfied based on the time elapsed since the receiving state became standby. The primary controller 28 measures the time elapsed since the receiving state became standby. The primary controller 28 determines that condition e3 is satisfied when there is no instruction to start automatic swing control and the elapsed time is equal to or greater than a predetermined time. The primary controller 28 determines that condition e4 is satisfied when the operation of the work implement 3 is locked by the work implement locking member 34.

[0096] The primary controller 28 determines that the second non-permission condition E is met when at least one of the conditions e1-e4 is met. When the second non-permission condition E is not met, the primary controller 28 maintains the acceptance state at standby. When the second non-permission condition E is met, the primary controller 28 transitions the acceptance state from standby to non-permission.

[0097] If the third non-permission condition F is satisfied when the acceptance state is approval, the primary controller 28 transitions the acceptance state from approval to non-permission without waiting. The third non-permission condition F includes the following conditions f1-f5: (f1) The opposite condition of the first permission condition B1 is satisfied. (f2) The reliability of the calculation signal is low. (f3) A turning operation is performed by the operation device 33. (f4) An instruction to end automatic turning control is given. (f5) A manual intervention operation is detected in the first or second section of automatic turning control.

[0098] Conditions f1 and f2 are the same as conditions e1 and e2 described above. The primary controller 28 determines that condition f3 is satisfied when the operation signal from the operation device 33 indicates a swing operation by the work machine / swing body operation member 42. The primary controller 28 determines that condition f4 is satisfied when the operation signal from the operation device 33 indicates a termination instruction by the automatic control operation member 44. For example, if the automatic control operation member 44 includes two switches as described above, the primary controller 28 may determine that condition f4 is satisfied when at least one of the two switches is turned off. Condition f5 will be described later.

[0099] The primary controller 28 determines that the third non-permission condition F is met when at least one of the conditions f1-f5 is met. When the third non-permission condition F is not met, the primary controller 28 maintains the acceptance state as approved. When the third non-permission condition F is met, the primary controller 28 transitions the acceptance state from approved to non-permission without waiting.

[0100] The above-mentioned conditions d2 and f5 will be explained below. The primary controller 28 detects a manual intervention operation during automatic swing control, and stops the automatic swing control if it detects that a manual intervention operation has been performed. Furthermore, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to disapproval or standby based on the position of the work implement 3 when the manual intervention operation is detected. The position of the work implement 3 when the manual intervention operation is detected is included in the control signal from the secondary controller 29.

[0101] The secondary controller 29 monitors the progress of the automatic swing control by dividing it into multiple sections. In the loading swing control, the progress of the automatic swing control is divided into a first section R1, a second section R2, and a third section R3, as shown in FIG. 5 . The secondary controller 29 monitors, for example, whether the bucket pin 13a is positioned in the first section R1, the second section R2, or the third section R3 in the loading swing control. The first section R1 is set from the height of the start position P0 to the height of the return swing control position P1. The second section R2 is set from the orientation of the return swing control position P1 to the orientation of the interference avoidance position P2′. The third section R3 is set from the orientation of the interference avoidance position P2′ to the loading swing control position P3. The first section R1 and the second section R2 correspond to the sections closer to the start position of the automatic swing control, and the third section R3 corresponds to the section closer to the end position of the automatic swing control.

[0102] In the return swing control, the progress of the automatic swing control is divided into a first section T1, a second section T2, and a third section T3, as shown in FIG. 6 . The secondary controller 29 monitors, for example, whether the bucket pin 13a is positioned in the first section T1, the second section T2, or the third section T3 during the return swing control. The first section T1 is set from the height of the start position P10 to the height of the loading swing control position P3. The second section T2 is set from the orientation of the loading swing control position P3 to the orientation of the interference avoidance control position P2. The third section R3 is set from the orientation of the interference avoidance control position P2 to the return swing control position P1. The first section T1 and the second section T2 correspond to the sections on the start position side of the automatic swing control, and the third section T3 corresponds to the section on the end position side of the automatic swing control.

[0103] Fig. 11 is a diagram showing multiple bar graphs representing thresholds set for operation of the control levers to detect manual intervention during loading swing control. The vertical axis represents the lever stroke amount. The lever stroke amount is the tilt angle in the front-to-rear direction or the left-to-right direction of the control levers 33L, 33R. Graph G1 on the left side of Fig. 11 shows the thresholds set for operation of the control levers that operate the work machine 3 during loading swing control. Graph G2 on the right side of Fig. 11 shows the thresholds set for operation of the control levers that rotate the rotating body 4 during loading swing control.

[0104] 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.

[0105] As shown in graph G1, when the operator operates the control lever that operates the work machine 3 and acquires an operation signal M1, M2, or M3 during loading swing control, the primary controller 28 detects manual intervention and stops the loading swing control if it determines that the operation of the control lever has been operated beyond a% of the operable range (100%).

[0106] During loading swing control, if the operator's operation of the control lever for operating the work machine 3 is within a% of the operable range (100%), the primary controller 28 does not detect manual intervention and ignores the operation of the control lever by the operator, thereby allowing loading swing control to continue.

[0107] As shown in graph G2, when the operator operates the control lever that operates the rotating body 4 during loading rotation control and acquires an operation signal M4, the primary controller 28 detects manual intervention and stops the loading rotation control if it determines that the operation of the control lever has been operated beyond b% of the operable range (100%).

[0108] During loading swing control, if the operator's operation of the control lever for operating the swing unit 4 is within b% of the operable range (100%), the primary controller 28 does not detect manual intervention and ignores the operator's operation of the control lever. This allows loading swing control to continue. Note that in Figure 11, b% is set lower than a%, but this is not limited to this and may be the same as or greater than a%.

[0109] In loading swing control, if the position of the bucket pin 13a when a manual intervention operation is detected is in the first section R1 or the second section R2, condition f5 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to disapproval. Also, if the position of the bucket pin 13a when a manual intervention operation is detected based on the operation signals M1 to M4 is in the third section R3, condition d2 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to standby.

[0110] Fig. 12 is a diagram showing multiple bar graphs representing thresholds set for operation of the control levers to detect manual intervention during return swing control. The vertical axis represents the lever stroke amount. The lever stroke amount is the tilt angle in the forward / backward direction or the left / right direction of the control levers 33L, 33R. Graph G3 on the left side of Fig. 12 shows the thresholds set for operation of the control levers that operate the work implement 3 during return swing control. Graph G4 on the right side of Fig. 12 shows the thresholds set for operation of the control levers that rotate the rotating body 4 during return swing control.

[0111] As shown in graph G3, when the operator operates the operating lever that operates the work machine 3 during return swing control and acquires an operation signal M1, M2, or M3, the primary controller 28 detects manual intervention operation and stops the return swing control when it determines that the operation of the operating lever has been operated beyond c% of the operable range (100%).

[0112] During the return swing control, if the operator's operation of the control lever that operates the work implement 3 is within c% of the operable range (100%), the primary controller 28 does not detect the manual intervention operation and ignores the operation of the control lever by the operator, thereby continuing the return swing control.

[0113] As shown in graph G4, when the operator operates the operating lever that operates the rotating body 4 during return swing control and acquires an operation signal M4, if the secondary controller 29 determines that the operation of the operating lever has been operated beyond d% of the operable range (100%), it detects manual intervention operation and stops the return swing control.

[0114] During return swing control, if the operator's operation of the control lever for operating the swing unit 4 is within b% of the operable range (100%), the secondary controller 29 does not detect manual intervention and ignores the operator's operation of the control lever. This allows return swing control to continue. Note that in FIG. 12, d% is set lower than c%, but this is not limited to this and may be the same as or greater than c%. Furthermore, a%, b%, c%, and d% may be the same value, or may all or partly be different.

[0115] During return swing control, if the position of the bucket pin 13a when a manual intervention operation is detected based on the operation signals M1 to M4 is in the first section T1 or the second section T2, condition f5 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to non-approval. Also, if the position of the bucket pin 13a when a manual intervention operation is detected based on the operation signals M1 to M4 is in the third section T3, condition d2 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to standby.

[0116] Next, the control operation of the work machine 1 of this embodiment will be described. Figures 13A to 13C are flowcharts showing the operation of the work machine 1 during automatic swing control. Before automatic swing control begins, the primary controller 28 is in a standby state for accepting calculation signals from the secondary controller 29.

[0117] 13A, in step S101, the secondary controller 29 calculates a target position. The secondary controller 29 determines the return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 from the return swing position P1′, the interference avoidance control position P2′, and the loading swing position P3′ that have been acquired in advance by teaching by the operator.

[0118] Next, in step S102, the secondary controller 29 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 selected swing mode is acquired by the controller 24.

[0119] Next, when the swing control start switch and the lock release switch are operated, in step S103, the secondary controller 29 acquires a swing control start signal, the primary controller 28 enters an approval state, and control proceeds to step S104. For example, the operator operates the work implement 3 to perform excavation, and then operates the swing control start switch and the lock release switch of the automatic control operating member 44.

[0120] When the swing control start signal is acquired in step S103, the secondary controller 29 determines in step S104 whether the conditions for permission of the loading swing control are met based on the position signal and the attitude signal. As described above, the secondary controller 29 determines whether the work implement 3 is located within the second permission area A2 and the bucket 13 is in a hoarding attitude. If it is determined that the conditions for permission of the loading swing control are not met, control proceeds to step S119.

[0121] On the other hand, if it is determined that the conditions for permitting loading swing control are met, then in step S105, the secondary controller 29 calculates a command value for operating the work machine 1 based on the control parameters, the position signal, and the attitude signal. The command value includes, for example, the speed and direction of operation of the work implement 3 and the speed and direction of swing of the rotating unit 4. The secondary controller 29 outputs a calculation signal indicative of the command value to the primary controller 28. The primary controller 28 outputs a command signal to the control valve 27 for operating the work implement 3 and the rotating unit 4 in accordance with the command value. Thus, loading swing control of the work machine 1 is executed.

[0122] After starting the loading swing control, in step S106, the secondary controller 29 determines whether the position of the bucket pin 13a has reached the loading swing control position P3. If the secondary controller 29 determines that the bucket pin 13a has reached the loading swing control position P3, the secondary controller 29 ends the loading swing control in step S107. That is, the secondary controller 29 sends a calculation signal to the primary controller 28 to stop the bucket pin 13a at the loading swing control position P3, and based on the received calculation signal, the primary controller 28 controls the control valve 27 to stop the swing bed 4 and the work implement 3. Thereafter, the operator operates the work implement 3 to unload the object from the work implement 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100. When the loading swing control is ended in step S107, condition d1 is satisfied, and therefore, in step S108, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approved state to a standby state.

[0123] After step S108, as shown in Fig. 13B, in step S109, the primary controller 28 determines whether or not the second permission condition C is satisfied. If the second permission condition C is not satisfied, the control is terminated. On the other hand, if it is determined in step S109 that the second permission condition C is satisfied, in step S110, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 to approval, and control returns to step S104.

[0124] If it is determined in step S106 that the loading swing control position P3 has not been reached, the primary controller 28 determines in step S111 whether or not the operation signal M1, M2, M3, or M4 has been acquired.

[0125] If it is determined in step S111 that the operation signal M1, M2, M3, or M4 has been acquired, the primary controller 28 determines in step S112 whether the operation amount of the operation lever based on the operation signal M1, M2, M3, or M4 is an operation that exceeds a threshold. If the operation signal M1, M2, or M3 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the work implement 3 is an operation that exceeds a % of the operable amount of the operation lever. Furthermore, if the operation signal M4 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the revolving unit 4 is an operation that exceeds b % of the operable amount of the operation lever.

[0126] If it is determined that the amount of operation of the control lever by the operator exceeds the threshold, the primary controller 28 determines that manual intervention has been detected, and in step S113, controls the control valve 27 to stop the loading swing control.

[0127] Next, in step S114, the primary controller 28 determines, based on the control state signal from the secondary controller 29, whether the position of the bucket pin 13a when the manual intervention operation was detected is in the third section R3.

[0128] If it is determined in step S114 that the position of the bucket pin 13a is in the third section R3, in step S115, the primary controller 28 transitions the state of acceptance of the calculation signal from the secondary controller 29 from an approved state to a standby state, and control proceeds to step S109 (FIG. 13B).

[0129] On the other hand, if it is determined in step S114 that the position of the bucket pin 13a is not in the third section R3, the position of the bucket pin 13a is in the first section R1 or the second section R2, and therefore in step S116, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approved state to a disapproved state.

[0130] 13B, in step S117, the primary controller 28 determines whether or not the first permission condition B is satisfied. If the first permission condition B is not satisfied, the control is terminated. On the other hand, if it is determined in step S117 that the first permission condition B is satisfied, in step S118, the primary controller 28 transitions the state of acceptance of the calculation signal from the secondary controller 29 to standby, and control proceeds to step S109.

[0131] If it is determined in step S104 that the conditions for permitting loading swing control are not met, then in step S119 shown in Fig. 13C, the secondary controller 29 determines whether the conditions for permitting return swing control are met based on the position signal and the attitude signal. As described above, the secondary controller 29 determines whether the work implement 3 is located within the first permission area A1 and the bucket 13 is in the earth unloading attitude. If it is determined that the conditions for permitting loading swing control are not met, control returns to step S103.

[0132] On the other hand, if it is determined that the permission conditions are met, in step S120, the secondary controller 29 calculates a command value for operating the work machine 1 based on the control parameters, the position signal, and the attitude signal. The command value includes, for example, the speed and direction of operation of the work implement 3 and the speed and direction of rotation of the revolving unit 4. The secondary controller 29 outputs a calculation signal indicative of the command value to the primary controller 28. The primary controller 28 outputs a command signal to the control valve 27 for operating the work implement 3 and the revolving unit 4 in accordance with the command value. Thereby, return swing control of the work machine 1 is executed.

[0133] After starting the return swing control, in step S121, the secondary controller 29 determines whether the position of the bucket pin 13a has reached the return swing control position P1. If it is determined that the position of the bucket pin 13a has reached the return swing control position P1, the secondary controller 29 ends the return swing control in step S122. That is, the secondary controller 29 sends a calculation signal to the primary controller 28 to stop the bucket pin 13a at the return swing control position P1, and based on the received calculation signal, the primary controller 28 controls the control valve 27 to stop the swing bed 4 and the work implement 3. Thereafter, the operator operates the work implement 3 to unload the object from the work implement 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100. Because condition d1 is satisfied by the end of the return swing control in step S122, in step S123 the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approval state to a standby state, and control proceeds to step 109.

[0134] If it is determined in step S121 that the bucket pin 13a has not reached the return swing control position P1, the primary controller 28 determines in step S124 whether or not the operation signal M1, M2, M3, or M4 has been acquired.

[0135] If it is determined in step S124 that the operation signal M1, M2, M3, or M4 has been acquired, the primary controller 28 determines in step S125 whether the operation amount of the operation lever based on the operation signal M1, M2, M3, or M4 is an operation that exceeds a threshold. If the operation signal M1, M2, or M3 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the work implement 3 is an operation that exceeds c % of the operable amount of the operation lever. Furthermore, if the operation signal M4 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the revolving unit 4 is an operation that exceeds d % of the operable amount of the operation lever.

[0136] If it is determined that the amount of operation of the control lever by the operator exceeds the threshold, the primary controller 28 determines that manual intervention has been detected, and in step S126, controls the control valve 27 to stop the return swing control.

[0137] Next, in step S127, the primary controller 28 determines, based on the control state signal from the secondary controller 29, whether the position of the bucket pin 13a when the manual intervention operation was detected is in the third section T3.

[0138] If it is determined in step S127 that the position of the bucket pin 13a is in the third section T3, in step S128, the primary controller 28 transitions the state of acceptance of the calculation signal from the secondary controller 29 from an approved state to a standby state, and control proceeds to step S109 (FIG. 13B).

[0139] On the other hand, if it is determined in step S127 that the position of the bucket pin 13a is not in the third section T3, the position of the bucket pin 13a is in the first section T1 or the second section T2, so in step S129, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approved state to a disapproved state, and control proceeds to step S117.

[0140] In the work machine 1 according to the present embodiment described above, if the controller 24 detects a manual intervention operation based on the operation of the right operating lever 33R and the left operating lever 33L while automatic swing control is being executed, the controller 24 stops the automatic swing control and changes the acceptance state of the operator from the secondary controller 29 in the primary controller 28 in accordance with the progress of the automatic swing control. As a result, if a manual intervention operation is detected in the section on the side where the automatic swing control is to end, for example, the acceptance state is changed to a standby state which makes it easier to return to an approval state in which automatic swing control can be executed compared to other sections. Therefore, if the automatic swing control is stopped near the end of the automatic swing control, it becomes easier to perform the next automatic swing control, and operability after the automatic swing control is stopped can be improved.

[0141] Specifically, by setting the acceptance state when the loading swing control is stopped in the third section R3 where the loading swing control ends to a standby state, it becomes easier to return to the approved state than the disallowed state when the loading swing control is stopped in the first section R1 and the second section R2, making it easier to execute the next return swing control. Also, by setting the acceptance state when the return swing control is stopped in the third section T3 where the return swing control ends to a standby state, it becomes easier to return to the approved state than the disallowed state when the return swing control is stopped in the first section T1 and the second section T2, making it easier to execute the next loading swing control.

[0142] If the acceptance state is transitioned to a non-permitted state in the third section R3, T3, the state will go through a waiting state before entering an approved state, which makes the operations required to resume automatic turning control complicated. However, by transitioning to a waiting state, the operations required to resume automatic turning control become easier.

[0143] Furthermore, since the third section R3, T3 is a section after the interference avoidance control position P2, there is no possibility of interference with the loading platform 101, and it is considered acceptable to allow manual intervention, so when manual intervention is detected in the third section R3, T3, the vehicle can be placed in a standby state that makes it easier to resume automatic turning control.

[0144] 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.

[0145] In the above embodiment, the return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 are determined from the return swing position P1', the interference avoidance control position P2', and the loading swing position P3' obtained by teaching, but this is not limitative. For example, the return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 may be determined by direct teaching, or may be set on a map displayed on a display.

[0146] The work machine 1 may be remotely operable. It may be configured as a system including the work machine 1 and a remote control device that remotely operates the work machine 1. In this case, the externally located remote control device is provided with an operation device 33, an input device 36, and an automatic control setting device 39, and a controller provided in the remote control device outputs a signal to a controller 24 (see FIG. 2 ) of the work machine 1 to control the work machine 1. Furthermore, in addition to the operation device 33 and the input device 36, the controller 24 may also be provided in the remote control device. 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 storage device, similar to the controller 24. Furthermore, communication between the remote control device and the work machine 1 may be performed wirelessly or via a cable. Wireless communication may be performed via the Internet. Furthermore, in this embodiment, the primary controller 28 and the secondary controller 29 are arranged on the work machine 1, but the primary controller 28 may be arranged on the remote control device and the secondary controller 29 may be arranged on the work machine 1.

[0147] Other equipment including a loading platform may be used instead of the transport vehicle 100. For example, instead of the transport vehicle 100, a hopper for receiving the discharged earth and sand may be disposed.

[0148] The above embodiment also includes the following disclosure.

[0149] (1) A work machine comprising: a rotatable rotating body; a work implement attached to the rotating body; a direction sensor that detects the direction of the work implement; a posture sensor that detects the posture of the work implement; and a control unit that performs automatic rotation control that controls the rotatable body and the work implement, wherein the control unit determines whether or not to start the automatic rotation control based on the posture of the work implement.

[0150] (2) The work machine according to (1) above, wherein the work implement has a bucket, and the attitude sensor detects the attitude of the bucket.

[0151] (3) The work machine according to (2) above, wherein the automatic swing control includes loading swing control in which the work machine swings while carrying earth and sand, and the control unit determines whether to start the loading swing control based on whether the bucket is in a hoarding position.

[0152] (4) The work machine according to (2) above, wherein the automatic swing control includes return swing control for swinging in an opposite direction to loading swing control, and the control unit determines whether to start the return swing control based on whether the bucket is in an earth-discharging posture.

[0153] (5) A system for controlling a work machine, comprising: a rotatable rotating body; a work machine attached to the rotating body; a direction sensor that detects the direction of the work machine; an attitude sensor that detects the attitude of 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 determines whether to start the automatic rotation control based on the attitude of the work machine.

[0154] (6) A control method for a work machine having a rotatable rotating body and a work implement attached to the rotating body, the control method for a work machine including: detecting the attitude of the work implement; and determining whether or not to start the automatic rotation control based on the attitude of the work implement.

[0155] 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 that are capable of improving operability after automatic swing control is stopped.

[0156] 1: Work machine 3: Work equipment 4: Swing body 24: Controller 33L: Left operation lever 33R: Right operation lever

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 or the rotating body; and a control unit for performing automatic rotation control that controls the rotating body and the work implement, wherein when the control unit detects manual intervention based on operation of the operating member while the automatic rotation control is being executed, the control unit stops the automatic rotation control and changes the control status according to the progress of the automatic rotation control.

2. A work machine according to claim 1, wherein the control status includes a first status in which it is possible to return to the automatic swing control, and a second status in which it is more difficult to return to the automatic swing control than the first status.

3. A work machine as described in claim 2, wherein the progress of the automatic turning control is divided into a section on the side of the turning start position and a section on the side of the turning end position, and the control unit sets the control status to the second status if the work machine is located in the section on the side of the starting position when the manual intervention operation is detected, and sets the control status to the first status if the work machine is located in the section on the side of the end position when the manual intervention operation is detected.

4. A work machine according to claim 3, wherein the automatic turning control includes a loading turning control in which the work implement turns while carrying earth and sand, and the end position of the turning is the end position of the loading turning control.

5. A work machine according to claim 3, wherein the automatic swing control includes a return swing control for swinging in the opposite direction to the loading swing control, and the end position of the swing is the end position of the return swing control.

6. A work machine as described in claim 3, wherein the section on the start position side is a section before a position based on a preset interference avoidance position in order to avoid interference of the work machine with the object to be unloaded, in the rotation direction, and the section on the end position side is a section after a position based on the interference avoidance position in the rotation direction.

7. A work machine as described in claim 2, wherein the control status further has a third status capable of accepting a start signal for the automatic swing control, and the control status transitions from the second status to the first status when a first permission condition is satisfied, and the control status transitions from the first status to the third status when a second permission condition is satisfied.

8. A work machine according to claim 5, wherein the control status further includes a third status capable of accepting a start signal for the automatic swing control, and when the control status transitions to the third status after transitioning to the first status and then satisfying a second permission condition, the control unit executes the return swing control when it determines that the work implement is in an earth-discharging posture.

9. A work machine as described in claim 4, wherein the control status further includes a third status capable of accepting a start signal for the automatic swing control, and when the control status is set to the first status and then transitions to the third status by satisfying a second permission condition, the control unit executes the loading swing control when it determines that the work implement is in a hoisting posture.

10. 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 or the rotating body; and a control unit for performing automatic rotation control to control the rotating body and the work machine, wherein when the control unit detects manual intervention based on the operation of the operating member, the control unit stops the automatic rotation control and changes the control status according to the progress of the automatic rotation control.

11. A control method for a work machine having a rotatable rotating body and a work implement attached to the rotating body, comprising: starting automatic rotation control for controlling the rotating body and the work implement; detecting a manual intervention operation based on operation of an operating member for operating the work implement or the rotating body; and, when the manual intervention operation is detected, stopping the automatic rotation control and changing a control status according to the progress of the automatic rotation control.

12. A control method for a work machine according to claim 11, wherein the control status includes a first status in which it is possible to return to the automatic swing control, and a second status in which it is more difficult to return to the automatic swing control than the first status.

13. A control method for a work machine as described in claim 12, wherein the progress of the automatic turning control is divided into a section on the starting position side of the turning and a section on the ending position side of the turning, and changing the control status includes setting the control status to the second status if the work machine is located in the section on the starting position side when the manual intervention operation is detected, and setting the control status to the first status if the work machine is located in the section on the ending position side when the manual intervention operation is detected.

14. A control method for a work machine according to claim 13, wherein the automatic turning control includes loading turning control in which the work machine turns while carrying earth and sand, and the end position of the turning is the end position of the loading turning control.

15. A control method for a work machine according to claim 13, wherein the automatic swing control includes return swing control for swinging in the opposite direction to the loading swing control, and the end position of the swing is the end position of the return swing control.

16. A control method for a work machine as set forth in claim 13, wherein the section on the start position side is a section before a position based on a preset interference avoidance position in the rotation direction to avoid interference of the work machine with the object to be unloaded, and the section on the end position side is a section after a position based on the interference avoidance position in the rotation direction.

17. A control method for a work machine as set forth in claim 12, wherein the control status further has a third status capable of accepting a start signal for the automatic swing control, the control status transitions from the second status to the first status when a first permission condition is satisfied, and the control status transitions from the first status to the third status when a second permission condition is satisfied.

18. A control method for a work machine as set forth in claim 15, wherein the control status further includes a third status capable of accepting a start signal for the automatic swing control, and when the control status transitions to the third status after transitioning to the first status and a second permission condition is satisfied, the return swing control is executed when it is determined that the work machine is in an earth-discharging posture.

19. A control method for a work machine as set forth in claim 14, wherein the control status further includes a third status capable of accepting a start signal for the automatic swing control, and when the control status is set to the first status and then transits to the third status by satisfying a second permission condition, the loading swing control is executed when it is determined that the work machine is in a hoisting posture.

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