System and method for controlling work machine, and work machine

Abstract

A system according to one aspect of the present disclosure controls a work machine. The work machine includes a turning body and a work implement. The turning body is turnable. The work implement is operably attached to the turning body. The system includes an input device and a controller. The input device is operable by an operator to acquire teaching of the operation of automatic turning control of the work machine. The controller executes the automatic turning control in a normal mode that controls the operation of the work implement and the turning operation of the turning body so that the work implement moves on the basis of the teaching. The controller executes the automatic turning control in a preliminary practice mode that controls the operation of the work implement and the turning operation of the turning body so that the work implement moves on the basis of the teaching at a speed different from the speed of the normal mode.

Description

System and method for controlling a work machine, and work machine

[0001] The present disclosure relates to a system, method, and work machine for controlling a work machine that includes a swivellable bed and a work implement operably attached to the bed.

[0002] Some work machines perform automatic swing control, which automatically operates a swing body and a work implement so that the work implement operates according to instructions from an operator. For example, in the excavator disclosed in Patent Document 1, an operator sets an excavation end position and an earth unloading start position. In particular, when the operator presses a record switch with the bucket positioned at the excavation end position, the posture of the excavator at that time is stored in memory. When the operator presses the record switch with the bucket positioned at the earth unloading start position, the posture of the excavator at that time is stored in memory. A controller of the work machine calculates a target trajectory of the bucket in the automatic swing control based on the stored posture. When a start condition for the automatic swing control is satisfied, the controller swings the excavator and moves the bucket up and down so that the bucket moves along the target trajectory.

[0003] International Publication No. WO2019-181872

[0004] When performing the above-described automatic swing control, an operator may want to check how the work implement and the rotating body will operate before actually starting work. An object of the present disclosure is to enable an operator to easily check the operation of the work implement and the rotating body in automatic swing control of a work machine.

[0005] A system according to a first aspect of the present disclosure is a system for controlling a work machine. The work machine includes a rotating bed and a work implement. The rotating bed is capable of rotating. The work implement is operably attached to the rotating bed. The system according to this aspect includes an input device and a controller. The input device is operable by an operator to obtain teachings for operation of the automatic swing control of the work machine. The controller executes the automatic swing control in a normal mode, in which the operation of the work implement and the swing operation of the rotating bed are controlled so that the work implement moves based on the teachings. The controller executes the automatic swing control in a dry run mode, in which the operation of the work implement and the swing operation of the rotating bed are controlled so that the work implement moves based on the teachings at a speed different from that in the normal mode.

[0006] A method according to a second aspect of the present disclosure is a method for controlling a work machine. The work machine includes a rotating bed and a work implement. The rotating bed is capable of rotating. The work implement is operably attached to the rotating bed. The method according to this aspect includes acquiring operation teachings for automatic swing control of the work machine input by an operator, executing the automatic swing control in a normal mode in which the operation of the work implement and the swing operation of the rotating bed are controlled so that the work implement moves based on the teachings, and executing the automatic swing control in a dry run mode in which the operation of the work implement and the swing operation of the rotating bed are controlled so that the work implement moves based on the teachings at a speed different from that in the normal mode.

[0007] A work machine according to a third aspect of the present disclosure includes a rotating bed, a work implement, an input device, and a controller. The rotating bed is capable of rotating. The work implement is operably attached to the rotating bed. The input device is operable by an operator to obtain instructions for operation of the automatic swing control of the work machine. The controller executes the automatic swing control in a normal mode, in which the operation of the work implement and the swing operation of the rotating bed are controlled so that the work implement moves based on the instructions. The controller executes the automatic swing control in a dry run mode, in which the operation of the work implement and the swing operation of the rotating bed are controlled so that the work implement moves based on the instructions at a speed different from that in the normal mode.

[0008] In the present disclosure, in the rehearsal mode, the operation of the work machine and the rotation operation of the rotating body are controlled so that the work machine moves at a speed different from that in the normal mode, thereby allowing the operator to easily check the operation of the work machine and the rotating body under automatic rotation control.

[0009] FIG. 1 is a side view of a work machine according to an embodiment. 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 under automatic swing control. FIG. 5 is a side view showing the operation of the work machine under automatic swing control. FIG. 6 is a flowchart showing the processing of automatic swing control. FIG. 7 is a diagram showing a guide screen for automatic swing control. FIG. 8 is a flowchart showing the processing of a rehearsal mode. FIG. 9 is a diagram showing a setting screen for automatic swing control. FIG. 10 is a diagram showing the display pattern of the rehearsal mode.

[0010] A work machine according to an embodiment will now be described with reference to the drawings. Figure 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.

[0011] As shown in Figure 1, the work machine 1 includes a work implement 3, a rotating body 4, and a running body 5. The work implement 3 is attached to the rotating body 4. The rotating body 4 is connected to the running body 5 so that it can rotate. The rotating body 4 can rotate around a rotation center C1. A cab 6 is disposed on the rotating body 4. The running body 5 includes tracks 7. Note that Figure 1 shows only one of the left and right tracks 7. The work machine 1 travels when the tracks 7 are driven.

[0012] 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.

[0013] 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.

[0014] Figure 2 is a block diagram showing the configuration of the work machine 1 and its control system. As shown in Figure 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, and a controller 24. The drive source 21 is controlled by a command signal from the controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0015] 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 causes the swing body 4 to swing. The work machine 1 includes a travel motor 23. The travel motor 23 is, for example, a hydraulic motor. The travel motor 23 is powered by hydraulic oil discharged from the hydraulic pump 22. Operation of the travel motor 23 drives the tracks 7, causing the work machine 1 to travel.

[0016] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 controls the tilt angle of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve, and is controlled by a command signal from the controller 24. The controller 24 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26. Note that although one hydraulic pump is illustrated in FIG. 2, multiple hydraulic pumps may be provided.

[0017] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14-16, the swing motor 25, and the traveling motor 23 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from the controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16, the swing motor 25, and the traveling motor 23. The controller 24 controls the operation of the work implement 3 by controlling the control valve 27. The controller 24 controls the swing of the swing unit 4 by controlling the control valve 27. The controller 24 controls the traveling of the traveling unit 5 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.

[0018] The controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1.

[0019] The control system includes an operation device 33, an input device 34, and a display 35. The operation device 33 and the input device 34 are arranged in the cab 6. The operation device 33 can be operated by an operator. The operation device 33 includes, for example, a lever, a pedal, or a switch. The operation device 33 outputs an operation signal to the controller 24 in response to an operation by the operator of the operation device 33. The controller 24 controls the control valve 27 in response to the operation of the operation device 33 by the operator so as to operate the work implement 3. The controller 24 controls the control valve 27 in response to the operation of the operation device 33 by the operator so as to rotate the rotating body 4.

[0020] The input device 34 can be operated by an operator. The input device 34 is a touch screen. However, the input device 34 may also include hardware keys. The operator operates the input device 34 to input various settings related to the work machine 1. The input device 34 outputs an input signal in response to the operator's operation. The display 35 displays a screen in response to an image signal from the controller 24.

[0021] The control system includes a direction sensor 36 and an attitude sensor 37. The direction sensor 36 detects the direction of the work machine 1. The direction sensor 36 includes, for example, a sensor using a Global Navigation Satellite System (GNSS). In detail, the direction sensor 36 detects the direction of the rotating unit 4. The direction sensor 36 outputs direction data indicating the direction of the rotating unit 4. The direction data is expressed in east-west, north-south direction coordinates.

[0022] The attitude sensor 37 detects the attitude of the work implement 3. The attitude of the work implement 3 is indicated by the angle of the boom 11 (hereinafter referred to as the boom angle), the angle of the arm 12 (hereinafter referred to as the arm angle), and the angle of the bucket 13 (hereinafter referred to as the bucket angle). The attitude sensor 37 includes, for example, an IMU (Inertial Measurement Unit). Alternatively, the attitude sensor 37 may be a sensor that directly detects each of the boom angle, arm angle, and bucket angle. The attitude sensor 37 outputs attitude data that indicates the attitude of the work implement 3.

[0023] The controller 24 receives an operation signal from an operation device 33. The controller 24 receives an input signal from an input device 34. The controller 24 receives orientation data from an orientation sensor 36. The controller 24 receives attitude data from an attitude sensor 37.

[0024] The controller 24 executes automatic swing control that automatically controls the swing of the swing unit 4 and the operation of the work unit 3 based on the orientation of the swing unit 4 and the attitude of the work unit 3 described above. 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 executes excavation, loading swing, earth discharge, and return swing. After performing a return swing, the work machine 1 again sequentially executes 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. The automatic swing control of the work machine 1 will be described below.

[0025] Fig. 4 is a top view showing the operation of the work machine 1 under automatic turning control. Fig. 5 is a side view showing the operation of the work machine 1 under automatic turning control. Fig. 6 is a flowchart showing the processing of automatic turning control.

[0026] As shown in Fig. 6 , in step S101, the controller 24 determines a target position. The target position is indicated by a target orientation of the rotating unit indicating the target position and a target attitude of the work implement 3 at the target position. As shown in Figs. 4 and 5 , the target position includes an excavation position P1, an interference avoidance position P2, and an earth-discharging position P3. As shown in Fig. 4 , the controller 24 acquires the target orientation of the rotating unit at each of the target positions of the excavation position P1, the interference avoidance position P2, and the earth-discharging position P3. The controller 24 acquires the target attitude of the work implement 3 at each of the target positions of the excavation position P1, the interference avoidance position P2, and the earth-discharging position P3.

[0027] The digging position P1 is the end point of the return swing. The unloading position P3 is the end point of the loading swing. The unloading position P3 is set above the bed 101 of the transport vehicle 100. The interference avoidance position P2 is a waypoint located between the digging position P1 and the unloading position P3 on the trajectory of the swing of the work implement 3. The interference avoidance position P2 is set to prevent the work implement 3 from interfering with the transport vehicle 100. The interference avoidance position P2 is set, for example, outside the side surface of the bed 101 of the transport vehicle 100 and above the side surface of the bed 101. This prevents the work implement 3 from interfering with the side surface of the bed 101.

[0028] The target position is set in advance by the operator operating the input device 34 to teach the operation of the automatic swing control of the work machine 1. For example, the controller 24 determines the target position based on the position of the work implement 3 when the operator operates the input device 34 to set the target position (hereinafter referred to as the taught position). The controller 24 may set the taught position itself as the target position. Alternatively, the controller 24 may set a position obtained by offsetting the taught position as the target position. For example, the interference avoidance position P2 may be a position offset by a margin from the taught position set by the operator as the interference avoidance position.

[0029] In step S102, a swing mode is acquired. The controller 24 stores a swing mode selected in advance by the operator. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the controller 24 swings the swing unit 4 counterclockwise to the unloading position P3 under automatic swing control. In the right loading swing mode, the controller 24 swings the swing unit 4 clockwise to the unloading position P3 under automatic swing control.

[0030] In step S103, the controller 24 determines whether to start automatic swing control. For example, after the operator operates the work implement 3 to perform excavation, the operator issues a command to start automatic swing control via the input device 34. The controller 24 determines to start loading swing control if predetermined control conditions are met. For example, the predetermined control conditions include completion of teaching of the target positions P1-P3. The predetermined control conditions include the work implement 3 being located within an area permitted for automatic swing control, which will be described later. If the controller 24 determines to start loading swing control, the controller 24 executes automatic swing control in step S104.

[0031] 4 and 5, in the automatic swing control, the controller 24 swings the swing unit 4 so that the work unit 3 passes through the interference avoidance position P2 and moves to the earth unloading position P3, and also raises the work unit 3. At this time, if the left loading swing mode is selected, the controller 24 swings the swing unit 4 counterclockwise, as shown in Fig. 4. If the right loading swing mode is selected, the controller 24 swings the swing unit 4 clockwise.

[0032] In the automatic swing control, the controller 24 determines the operating speed of the work unit 3 and the swing speed of the swing body 4 based on the target positions P1-P3. For example, when moving the work unit 3 from the excavation position P1 to the interference avoidance position P2, the controller 24 calculates the difference between the current attitude of the work unit 3 and the target attitude at the interference avoidance position P2 as the attitude difference. The attitude difference includes the boom angle difference, arm angle difference, and bucket angle difference described above. The controller 24 stores target speed data for the work unit 3 that defines the relationship between the attitude difference of the work unit 3 and the target speed. The target speed data for the work unit 3 defines a relationship such that, for example, the larger the attitude difference of the work unit 3, the higher the target speed. The controller 24 references the target speed data for the work unit 3 and determines the target speed of the work unit 3 based on the attitude difference of the work unit 3.

[0033] Furthermore, the controller 24 calculates the difference between the current orientation of the revolving unit 4 and the target orientation at the interference avoidance position P2 as the required swing angle. The controller 24 calculates the remaining time for controlling the work unit 3 based on the difference between the target attitude and the current attitude of the work unit 3. The controller 24 calculates the target swing speed of the revolving unit 4 based on the required swing angle and the remaining time for controlling the work unit 3. The controller 24 determines the swing speed required for the revolving unit 4 to swing by the required swing angle in the remaining time for controlling the work unit 3 as the target swing speed.

[0034] In step S105, the controller 24 determines whether the work machine 3 has reached the unloading position P3. If the controller 24 determines that the work machine 3 has reached the unloading position P3, the controller 24 ends the automatic swing control in step S106. That is, the controller 24 stops the swing unit 4 at the unloading 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.

[0035] In step S107, the controller 24 determines whether to start return swing control. For example, after the operator unloads an object from the work implement 3, the operator issues a command to start automatic swing control via the input device 34. The controller 24 determines to start return swing control if predetermined control conditions are met. For example, the predetermined control conditions include that teaching of the target positions P1-P3 has been completed. The predetermined control conditions include that the work implement 3 is located within an allowable area for automatic swing control, which will be described later. If the controller 24 determines to start return swing control, it executes return swing control in step S108.

[0036] 4 and 5 , in the return swing control, the controller 24 swings the swing unit 4 and lowers the work unit 3 so that the work unit 3 passes through the interference avoidance position P2 and moves to the excavation position P1. At this time, the controller 24 swings the swing unit 4 in the direction opposite to that in the loading swing control. That is, when the left loading swing mode is selected, the controller 24 swings the swing unit 4 clockwise to move the work unit 3 to the excavation position P1. When the right loading swing mode is selected, the controller 24 swings the swing unit 4 counterclockwise to move the work unit 3 to the excavation position P1.

[0037] In step S109, the controller 24 determines whether the work unit 3 has reached the excavation position P1. If the controller 24 determines that the work unit 3 has reached the excavation position P1, the controller 24 ends the return swing control in step S110. That is, the controller 24 stops the revolving body 4 at the excavation position P1. Thereafter, the operator operates the work unit 3 to excavate the object. As a result, the object is held by the work unit 3. Then, the processing returns to step S103, and the above-described operations are repeated.

[0038] Note that when the operator manually operates the work machine 3 or the revolving unit 4 using the operation device 33, the controller 24 may operate the work machine 3 or the revolving unit 4 in accordance with the operator's operation of the operation device 33. For example, after the work machine 3 reaches the soil-discharging position P3 by the loading swing control, the operator can manually move the work machine 3 to any position to discharge soil. Also, after the work machine 3 reaches the excavation position P1 by the return swing control, the operator can manually move the work machine 3 to any position to excavate soil.

[0039] The controller 24 displays a guide screen for automatic swing control on the display 35. Fig. 7 is a diagram showing a guide screen 40 for automatic swing control. The guide screen 40 includes an icon 41 of the work machine 1, a direction display 42, a height display 43, and a status display 44. The direction display 42 shows the direction of the rotating unit 4 and the target positions P1-P3. The direction display 42 includes a direction gauge 45, a display 46 of the current direction of the rotating unit 4, a display 47 of the direction of the excavation position P1, a display 48 of the direction of the interference avoidance position P2, and a display 49 of the direction of the earth removal position P3.

[0040] The height display 43 shows the heights of the revolving unit 4 and the target positions P1-P3. The height display 43 includes a height gauge 51, a display 52 of the current height of the work machine 3, a display 53 of the height of the excavation position P1, and a display 54 of the height of the earth removal position P3.

[0041] The status display 44 indicates the control mode of the automatic turning control. The status display 44 includes a turning mode display 55. The turning mode display 55 indicates the selected turning mode from the above-described left loading turning mode and right loading turning mode. The status display 44 also indicates whether the automatic turning control is being executed. For example, the controller 24 indicates whether the automatic turning control is being executed by changing the color of the status display 44.

[0042] The guide screen 40 includes a display 56 of the rotation direction of the automatic rotation control and a display 57 of the rotation range. The display 56 of the rotation direction indicates the direction in which the rotating unit 4 rotates under the automatic rotation control. The display 57 of the rotation range indicates the range in which the rotating unit 4 rotates under the automatic rotation control.

[0043] The guide screen 40 includes a first allowed area A1, a second allowed area A2, and a prohibited area A3. The first allowed area A1 and the second allowed area A2 are areas where execution of automatic turning control is permitted. In detail, 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.

[0044] The controller 24 determines a first allowed area A1, a second allowed area A2, and a prohibited area A3 based on the orientation of the unloading position P3 relative to the work machine 1 and the orientation of the interference avoidance position P2 relative to the work machine 1. For example, the first allowed area A1 is the range between the interference avoidance position P2 and a position opposite the interference avoidance position P2 with respect to the unloading position P3. The second allowed area A2 is a range of a predetermined angle from the interference avoidance position P2 in the direction of the return swing. The prohibited area A3 is a range of a predetermined angle from the first allowed area A1 in the direction of the loading swing.

[0045] Next, the dry run mode will be described. In the dry run mode, the controller 24 controls the operation of the work unit 3 and the rotation of the rotating body 4 so that the work unit 3 moves to the target positions P1-P3 at a speed different from the operating speed (hereinafter referred to as the "basic speed") of the automatic swing control (hereinafter referred to as the normal mode) described above. Figure 8 is a flowchart showing the processing in the dry run mode.

[0046] In step S201, the controller 24 determines whether to start automatic swing control. The controller 24 determines whether to start loading swing control or return swing control, similar to the automatic swing control process shown in Fig. 6. If the controller 24 determines to start automatic swing control, the process proceeds to step S202.

[0047] In step S202, the controller 24 determines whether the dry run mode is enabled. The controller 24 switches between enabling and disabling the dry run mode in response to an operator's operation of the input device 34. FIG. 9 is a diagram showing a setting screen 60 for automatic turning control. The controller 24 displays the setting screen 60 for automatic turning control on the display 35. The setting screen 60 includes a mode setting field 61 for the dry run mode. The operator sets whether the dry run mode is enabled or disabled in the mode setting field 61. If the dry run mode is enabled, the process proceeds to step S203.

[0048] In step S203, the controller 24 determines whether the execution of the automatic swing control is the first time since the target positions P1-P3 were set. The controller 24 determines whether the execution of the automatic swing control is the first time since the target positions P1-P3 were set, for each of the loading swing control and the return swing control. That is, if the execution of the automatic swing control is the first time since the target positions P1-P3 were set, the controller 24 determines that the execution of the automatic swing control is the first time since the target positions P1-P3 were set. Furthermore, if the execution of the automatic swing control is the first time since the target positions P1-P3 were set, the controller 24 determines that the execution of the automatic swing control is the first time since the target positions P1-P3 were set.

[0049] If the automatic swing control is being executed for the first time since the target positions P1-P3 were set, the controller 24 executes the automatic swing control in a dry run mode in step S204. In the dry run mode, the controller 24 controls the operation of the work unit 3 and the swing of the swing unit 4 so that the work unit 3 moves in accordance with the target positions P1-P3 at a slower speed than in the normal mode.

[0050] The controller 24 changes the operating speed of the work implement 3 and the rotation speed of the rotating body 4 in the dry run mode in response to an operation of the input device 34 by the operator. As shown in Fig. 9 , the setting screen 60 includes a speed setting field 62 for the dry run mode. The speed setting field 62 is a field for setting the operating speed in the dry run mode. The speed setting field 62 indicates the rate of change of the operating speed in the dry run mode relative to the basic speed in the normal mode.

[0051] The operator sets the rate of change of the operation speed in the dry run mode in the speed setting field 62. In the dry run mode, the controller 24 controls the operation of the work unit 3 and the rotation of the revolving body 4 so that the work unit 3 moves to the target positions P1-P3 at a speed slower than in the normal mode. Therefore, in the speed setting field 62, the rate of change can be changed within a range smaller than 100%.

[0052] The controller 24 determines the operating speed in the dry run mode by multiplying the basic speed in the normal mode described above by a coefficient corresponding to the rate of change. For example, if the rate of change is 20%, the controller 24 calculates the operating speed of the work unit 3 in the dry run mode by multiplying the basic speed of operation of the work unit 3 in the normal mode by a coefficient of 0.2. The controller 24 also calculates the swing speed of the swing unit 4 in the dry run mode by multiplying the basic speed of swing of the swing unit 4 in the normal mode by a coefficient of 0.2.

[0053] In the dry run mode, as in the normal mode, in the loading swing control, as shown by arrow L1 in Figures 4 and 5 , the controller 24 rotates the rotating body 4 so that the work unit 3 passes through the interference avoidance position P2 and moves to the unloading position P3, and also raises the work unit 3. In the dry run mode, as in the normal mode, in the return swing control, as shown by arrow L2 in Figures 4 and 5 , the controller 24 rotates the rotating body 4 so that the work unit 3 passes through the interference avoidance position P2 and moves to the excavation position P1, and also lowers the work unit 3. However, in the dry run mode, the controller 24 operates the work unit 3 and the rotating body 4 more slowly than in the normal mode.

[0054] If the operator operates the operation device 33 while the rehearsal mode is being executed, the controller 24 interrupts the rehearsal mode. The controller 24 operates the work implement 3 and the revolving body 4 in response to the operator's operation of the operation device 33. This makes it possible to prevent the work implement 3 from coming into contact with the transport vehicle 100 or the like, even if the target positions P1-P3 are not set appropriately.

[0055] 8, if the rehearsal mode is disabled in step S202, or if the execution of the automatic swing control is not the first time in step S203, the controller 24 executes the automatic swing control in the normal mode in step S205. In the normal mode, the controller 24 operates the work implement 3 and the swing unit 4 at the basic speed of the normal mode described above.

[0056] As shown in FIG. 9 , the setting screen 60 includes a speed adjustment field 63 for normal mode. The speed adjustment field 63 is a field for adjusting the operating speed in normal mode. The speed adjustment field 63 indicates the rate of change relative to the basic speed in the normal mode described above. The operator can set the rate of change of the operating speed in normal mode using the speed adjustment field 63. In the speed adjustment field 63, the rate of change can be changed within a range smaller than 100%.

[0057] The controller 24 changes the operating speed in the normal mode by multiplying the basic speed in the normal mode by a coefficient corresponding to the rate of change. For example, if the rate of change is 75%, the controller 24 changes the operating speed of the work unit 3 in the normal mode by multiplying the basic speed of operation of the work unit 3 in the normal mode by a coefficient of 0.75. The controller 24 also changes the swing speed of the swing unit 4 in the normal mode by multiplying the basic speed of swing of the swing unit 4 in the normal mode by a coefficient of 0.75.

[0058] As shown in Fig. 7, the status display 44 includes a dry run mode display 64. The controller 24 displays the dry run mode display 64 in different display patterns depending on whether the dry run mode is enabled. Fig. 10 is a diagram showing display patterns 65-68 of the dry run mode display 64. When the dry run mode is enabled (ON), the controller 24 displays the display patterns 65-68 on the display 35 depending on the control state of the automatic turning control.

[0059] The display patterns include first to fourth display patterns 65-68. The first display pattern 65 indicates a state in which the dry run mode is enabled (ON) but the control conditions are not satisfied. In other words, the first display pattern 65 indicates a state in which the dry run mode is enabled (ON) but automatic turning control is not executed. When the dry run mode is enabled (ON) but the control conditions are not satisfied, the controller 24 displays the first display pattern 65 on the display 35.

[0060] The second display pattern 66 indicates a state in which the dry run mode is enabled (ON) and the control conditions are satisfied. The second display pattern 66 indicates that the control conditions are satisfied and the next automatic turning control will be executed in the dry run mode. When the dry run mode is enabled (ON) and the control conditions are satisfied, the controller 24 displays the second display pattern 66 on the display 35.

[0061] The third display pattern 67 indicates that automatic turning control is being executed in the dry run mode. The controller 24 displays the third display pattern 67 on the display 35 while automatic turning control is being executed in the dry run mode.

[0062] The fourth display pattern 68 indicates that the dry run mode will not be executed. In other words, the fourth display pattern 68 indicates that the dry run mode is enabled, but the next automatic turn control will not be the first, and therefore automatic turn control will be executed in the normal mode. When automatic turn control is executed in the normal mode, the controller 24 displays the fourth display pattern 68 on the display 35. Therefore, even when the dry run mode is disabled (OFF), the controller 24 displays the fourth display pattern 68 on the display 35.

[0063] In the work machine 1 according to the present embodiment described above, in the dry run mode, the operation of the work machine 3 and the rotation of the rotating unit 4 are controlled so that the work machine 3 moves in accordance with the target positions P1-P3 at a speed different from that in the normal mode. This allows the operator to easily check the operation of the work machine 3 and the rotating unit 4 under automatic rotation control.

[0064] 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.

[0065] The configuration of the work machine 1 is not limited to that of the above embodiment and may be modified. For example, the work machine 1 may be operable remotely. In that case, the operation device 33, input device 34, etc. may be located outside the work machine 1. The processing by the controller 24 described above may be executed in a distributed manner by multiple controllers. Some of the multiple controllers may be located outside the work machine 1.

[0066] The processing of the automatic turning control is not limited to that of the above embodiment and may be modified. For example, the operator may instruct the operation of the automatic turning control by the trajectory of the work implement 3. The controller 24 may determine the target positions P1-P3 based on the instructed trajectory of the work implement 3.

[0067] The method of calculating the operating speed of the work unit 3 and the rotation speed of the revolving unit 4 in the normal mode is not limited to that in the above embodiment and may be changed. For example, the operating speed of the work unit 3 may be constant. The rotation speed of the revolving unit 4 may be constant.

[0068] In the dry run mode, the controller 24 may operate the work implement 3 and the rotating body 4 at a higher speed than in the normal mode. A change rate of 100% or more may be set in the speed setting field 62 for the dry run mode. A change rate of 100% or more may be set in the speed adjustment field 63 for the normal mode.

[0069] The guide screen 40 or the setting screen 60 displayed on the display 35 is not limited to that of the above embodiment and may be modified. For example, the speed setting field 62 in the rehearsal mode is not limited to a gauge as shown in FIG. 9 . For example, the speed setting field 62 in the rehearsal mode may include a field for inputting a numerical value. Similarly, the speed adjustment field 63 in the normal mode is not limited to a gauge and may include other displays, such as a field for inputting a numerical value.

[0070] According to the present disclosure, an operator can easily check the operation of the work machine and the rotating body during automatic rotation control.

[0071] 1: Work machine, 3: Work equipment, 4: Swing body, 24: Controller, 33: Operation device, 34: Input device, 35: Display

Claims

1. A system for controlling a work machine including a rotatable rotating bed and a work implement operably attached to the rotating bed, comprising: an input device operable by an operator to receive instructions for the operation of the automatic swing control of the work machine; and a controller that executes the automatic swing control in a normal mode that controls the operation of the work implement and the swing operation of the rotating bed so that the work implement moves based on the instructions, and that executes the automatic swing control in a dry run mode that controls the operation of the work implement and the swing operation of the rotating bed so that the work implement moves based on the instructions at a speed different from that in the normal mode.

2. The system according to claim 1, wherein the controller executes the automatic turning control in the dry run mode when the automatic turning control is executed for the first time after acquiring the teaching.

3. The system according to claim 1, wherein the controller controls the operation of the work machine and the rotation operation of the rotating body so that the work machine moves at a slower speed in the dry run mode than in the normal mode.

4. The system according to claim 1, wherein the controller changes the operating speed of the work machine and the rotation speed of the rotating body in the dry run mode in response to an operation of the input device by an operator.

5. The system described in claim 1, wherein the controller obtains a predetermined coefficient and determines the operating speed of the work implement and the rotation speed of the rotating body in the dry run mode by multiplying the basic speed of operation of the work implement and the basic speed of rotation of the rotating body in the normal mode by the predetermined coefficient.

6. The system according to claim 1, wherein the controller switches between enabling and disabling the dry run mode in response to an operation of the input device by an operator.

7. The system according to claim 1, further comprising a display, wherein the controller causes the display to display a first indication indicating that the automatic turning control will be executed in the dry run mode the next time the automatic turning control is executed.

8. The system according to claim 1, further comprising a display, wherein the controller causes the display to display a second indication indicating that the automatic turn control is being executed in the dry run mode.

9. The system according to claim 1, further comprising an operating device operable by an operator to operate at least one of the work machine and the rotating body, wherein the controller interrupts the rehearsal mode if the operating device is operated while the rehearsal mode is being executed.

10. A method for controlling a work machine including a rotatable rotating body and a work implement operably attached to the rotating body, comprising: acquiring instructions for the operation of the automatic swing control input by an operator; executing the automatic swing control in a normal mode in which the operation of the work implement and the swing operation of the rotating body are controlled so that the work implement moves based on the instructions; and executing the automatic swing control in a dry run mode in which the operation of the work implement and the swing operation of the rotating body are controlled so that the work implement moves based on the instructions at a speed different from that in the normal mode.

11. The method according to claim 10, further comprising executing the automatic turning control in the dry run mode when the automatic turning control is executed for the first time after the teaching is acquired.

12. The method according to claim 10, further comprising controlling the operation of the work machine and the rotation operation of the rotating body so that the work machine moves at a slower speed in the dry run mode than in the normal mode.

13. The method according to claim 10, further comprising changing the operating speed of the work machine and the rotation speed of the rotating body in the dry run mode in response to an operation of the input device by an operator.

14. The method according to claim 10, comprising: obtaining a predetermined coefficient; and determining the operating speed of the work implement and the rotation speed of the rotating body in the dry run mode by multiplying the operating speed of the work implement and the rotation speed of the rotating body in the normal mode by the predetermined coefficient.

15. The method according to claim 10, further comprising switching the dry run mode between enabled and disabled in response to an operator's operation of the input device.

16. The method according to claim 10, further comprising displaying on a display a first indication indicating that the automatic turning control will be executed in the dry run mode the next time the automatic turning control is executed.

17. The method according to claim 10, further comprising causing the display to display a second indication indicating that the automatic turn control is being executed in the dry run mode.

18. The method according to claim 10, further comprising suspending the rehearsal mode when an operating device operable by an operator to operate at least one of the work machine and the rotating bed is operated during execution of the rehearsal mode.

19. A work machine comprising: a rotatable rotating body; a work implement operably attached to the rotating body; an input device operable by an operator to obtain instructions for the operation of the automatic swing control of the work machine; and a controller that executes the automatic swing control in a normal mode that controls the operation of the work implement and the swing operation of the rotating body so that the work implement moves based on the instructions, and that executes the automatic swing control in a dry run mode that controls the operation of the work implement and the swing operation of the rotating body so that the work implement moves based on the instructions at a speed different from that in the normal mode.

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