Abnormal stop response system

Abstract

A controller (70) acquires information including content of an abnormality when a work machine (10) operating under automatic control comes to an abnormal stop. The controller (70) switches, according to the content of the abnormality, a response operation mode that can be selected from among a plurality of response operation modes (M) prepared in advance as operation modes of the work machine (10) after the abnormal stop. The response operation modes (M) include an end mode (M30) and a restart mode (M20). The restart mode (M20) is a mode for causing the work machine (10) to restart automatic control without stopping the operation of an automatic control system when a specific condition set in the controller (70) is satisfied.

Description

Abnormal Stop Response System

[0008]

[0001] The present invention relates to an abnormal stop response system.

[0002] For example, in Patent Document 1, when an abnormality is detected during automatic control (automatic operation in this document) of a working machine (an automatic excavator in this document), an abnormal signal is output and the automatic control of the working machine stops (see Claims 1 and 2 of this document).

[0003] However, there is no description about the restart of the automatic control after the automatic control stops due to the abnormal signal. When the working machine that was moving by automatic control stops abnormally, the working machine cannot perform work. Therefore, it is desirable to suppress the decrease in productivity of the working machine when the working machine that was moving by automatic control stops abnormally.

[0004] Japanese Patent Application Laid-Open No. 2001-98586

[0005] Therefore, an object of the present invention is to provide an abnormal stop response system that can suppress a decrease in productivity of a working machine when the working machine that was moving by automatic control stops abnormally.

[0006] The abnormal stop response system includes a controller that outputs a command to a working machine operable by automatic control of an automatic control system. When the working machine that was moving by the automatic control stops abnormally, the controller acquires information including the content of the abnormality. The controller switches a corresponding operation mode that can be selected from a plurality of corresponding operation modes prepared in advance as the operation mode of the working machine after the abnormal stop according to the content of the abnormality. The corresponding operation mode includes an end mode and a restart mode. The end mode is a mode for stopping the operation of the automatic control system. The restart mode is a mode for restarting the automatic control of the working machine without stopping the operation of the automatic control system when a specific condition set in the controller is satisfied.

[0007] With the above abnormal stop response system, it is possible to suppress a decrease in productivity of a working machine when the working machine that was moving by automatic control stops abnormally.

[0008] This is a side view of the work machine 10 of the abnormal stop response system 1. This is a block diagram of the abnormal stop response system 1 shown in Figure 1. This is a flowchart of the processing of the controller 70 shown in Figure 2. This is a diagram showing the corresponding operation mode selection unit G15 etc. displayed on the output unit 80 when an abnormal stop (S40) occurs as shown in Figure 3. This is a diagram showing the operation selection screen G50 for selecting the operation method when the specific posture restart mode M23 shown in Figure 3 is selected. This is a diagram showing the external device operation unit 92 of the external device 90 shown in Figure 1. This is a diagram showing the abnormal content notification unit G72 etc. of the abnormal notification screen G70 displayed on the output unit 80 when an abnormal stop (S40) occurs as shown in Figure 3. This is a diagram showing the surrounding situation notification unit G73 etc. of the abnormal notification screen G70 displayed on the output unit 80 when an abnormal stop (S40) occurs as shown in Figure 3. This is a diagram showing the work notification screen G90 displayed on the output unit 80 as shown in Figure 3.

[0009] The abnormal shutdown response system 1 will be described with reference to Figures 1 to 9.

[0010] The abnormal stop response system 1 is a system for appropriately responding after the automatic control of the work machine 10 shown in Figure 1 has stopped abnormally. The abnormal stop response system 1 includes an automatic control system that operates the work machine 10 by automatic control. The abnormal stop response system 1 comprises a detection unit 50 shown in Figure 2, an input unit 60, a controller 70, an output unit 80, and an external device 90 shown in Figure 1.

[0011] The work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a material handling machine that performs material handling work. The work machine 10 may be, for example, a shovel or a crane. The work machine 10 (for example, an automatically controlled shovel) is configured to be operable by automatic control. In the following, we will mainly describe the case where the work machine 10 is a shovel. The work machine 10 comprises a machine body 10a, an attachment 15, a specific part 16, an actuator 17, and a drive control unit 19 (see Figure 2).

[0012] The machine body 10a is the main body portion of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0013] The lower body 11 supports the upper rotating body 13 so that it can rotate. The lower body 11 may also be a lower traveling body that can travel on a traveling surface (such as the ground). If the lower body 11 is capable of traveling, it may be equipped with crawlers or wheels.

[0014] The upper slewing body 13 is rotatably supported by the lower body 11. The upper slewing body 13 includes an operator's cab 13c. The operator's cab 13c is a room in which an operator who operates the work machine 10 sits. When the work machine 10 operates in response to the operator's operation, the work machine 10 may be operated (operated while inside) by the operator in the operator's cab 13c, or it may be remotely operated from outside the work machine 10.

[0015] Attachment 15 is the part that performs the work. Attachment 15 performs work on the workpiece. Attachment 15 is attached to the machine body 10a (more specifically, the upper slewing body 13). For example, attachment 15 comprises a boom 15e, an arm 15f, and a tip attachment 15g. The boom 15e is rotatably attached to the upper slewing body 13 (rotatable in the front-rear and up-down directions). The arm 15f is rotatably attached to the boom 15e (rotatable in the front-rear and up-down directions).

[0016] The tip attachment 15g is provided at the tip of the attachment 15. The tip attachment 15g is rotatably attached to the arm 15f (rotatable in the front-to-back and up-and-down directions). The tip attachment 15g may be a bucket capable of scooping and excavating work objects. The tip attachment 15g may be equipped with a device for gripping work objects (grapple, nibbler, rotating fork, etc.), a device for crushing work objects (breaker, etc.), or a magnet for attracting metal work objects. The work object is the object that the work machine 10 operates on. The work object may be soil and sand, rocks, magnetic materials (metal, etc.), resins, waste materials, wood (logs, etc.), or structures (blocks, etc.).

[0017] The specific part 16 is a reference part when moving the work machine 10 to a target position by automatic control. For example, in automatic control, the work machine 10 is controlled so that the specific part 16 moves toward the target position. The specific part 16 may be set on a specific part of the attachment 15. The specific part 16 may be set on, for example, the tip of the tip attachment 15g, or on the base end of the tip attachment 15g (the tip of the arm 15f). The specific part 16 may be set on a specific part of the machine body 10a. The specific part 16 may be set on, for example, the pivot center of the upper slewing body 13 relative to the lower body 11.

[0018] The actuator 17 is a device that moves the work machine 10. The actuator 17 may be a hydraulic actuator that operates using hydraulic pressure, or an electric actuator that operates using electricity. The actuator 17 may be a motor that generates rotational motion, or a linear actuator (for example, an extendable cylinder) that generates linear motion. The actuator 17 comprises a travel motor 17a, a slewing motor 17c, a boom cylinder 17e, an arm cylinder 17f, and a tip attachment cylinder 17g.

[0019] The travel motor 17a moves the lower body 11. The travel motor 17a may be a hydraulic motor or an electric motor (the same applies to the slewing motor 17c). The slewing motor 17c slewing the upper slewing body 13 relative to the lower body 11. The boom cylinder 17e rotates (raises and lowers) the boom 15e in the vertical direction relative to the upper slewing body 13. The boom cylinder 17e is, for example, a hydraulic cylinder (the same applies to the arm cylinder 17f and the tip attachment cylinder 17g). The arm cylinder 17f rotates the arm 15f relative to the boom 15e. The tip attachment cylinder 17g rotates the tip attachment 15g relative to the arm 15f. If the tip attachment 15g itself is drivable, for example, as a device for gripping objects, an actuator 17 for driving the tip attachment 15g may be provided.

[0020] The drive control unit 19 (see Figure 2) controls the actuator 17. The drive control unit 19 may include a hydraulic circuit for controlling the hydraulic actuator. The drive control unit 19 may also include an electrical circuit for controlling the electric actuator.

[0021] The detection unit 50 (see Figure 2) detects various states. Part or all of the detection unit 50 may be mounted on the work machine 10 or located outside the work machine 10. The same applies to the input unit 60, controller 70, output unit 80, and external device 90, which will be described later, in that they may be mounted on the work machine 10 or located outside the work machine 10. The detection unit 50 may detect the state of the work machine 10 or the state of the work machine 10 outside of it (for example, the surrounding conditions). For example, the detection unit 50 includes an imaging device 53 and a posture detection unit 55.

[0022] The imaging device 53 images the object to be imaged. The imaging device 53 may image part or all of the work machine 10, or it may image objects around the work machine 10. The imaging device 53 may detect two-dimensional information (two-dimensional image) or three-dimensional information (three-dimensional image, distance image) that includes depth information. The imaging device 53 may be passive or active. Specifically, the imaging device 53 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 53 may be equipped with a stereo camera that detects three-dimensional information. The imaging device 53 may detect three-dimensional information of the object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 53 may be equipped with a TOF (Time Of Flight) sensor that detects distance based on the time from wave irradiation to the return of the reflected wave, or it may be equipped with a sensor that detects distance based on the frequency of the reflected wave. The imaging device 53 may include a device for detecting three-dimensional information using light (e.g., laser light), and may include, for example, LiDAR (Light Detection and Ranging). The imaging device 53 may also include a device for detecting three-dimensional information using radio waves (e.g., millimeter-wave radar). The imaging device 53 may be provided as a single unit or as a group. If multiple imaging devices 53 are provided, the types of imaging devices 53 (type of imaging method, whether two-dimensional or three-dimensional, etc.) may be the same or different. The imaging device 53 may detect information about the object to be imaged (e.g., three-dimensional information) by combining multiple types of information (e.g., two-dimensional information and three-dimensional information).

[0023] The posture detection unit 55 detects the posture of the work machine 10. The posture detection unit 55 may be mounted on the work machine 10 or placed outside the work machine 10 (for example, at the work site). The posture detection unit 55 may be equipped with one or more types of detection devices. The posture detection unit 55 may be equipped with a detection device (for example, a rotary encoder) that detects information about the angle of one element of the work machine 10 relative to another element. The posture detection unit 55 may be equipped with a stroke sensor that detects the stroke of the cylinder that moves the attachment 15. The posture detection unit 55 may be equipped with a tilt sensor that detects the angle (tilt) with respect to the horizontal direction. The posture detection unit 55 may be equipped with a sensor (for example, a gyro sensor) that detects the angular velocity relative to the work site, and may be equipped with a sensor that detects the acceleration relative to the work site. The posture detection unit 55 may be equipped with an inertial measuring device or the like. The posture detection unit 55 may be equipped with a position detection unit that detects the position of a specific part (one or more parts) of the work machine 10 at the work site. In this case, the posture detection unit 55 may detect the posture of a specific part (one or more parts) of the work machine 10 based on the position information detected by the position detection unit. The posture detection unit 55 may include a direction detection unit for detecting the direction of a specific part of the work machine 10. The posture detection unit 55 may include the imaging device 53 described above. The posture detection unit 55 may detect the posture of the work machine 10 based on image recognition of a two-dimensional image. The posture detection unit 55 may detect the posture of the work machine 10 based on a three-dimensional image (distance image). The posture detection unit 55 may detect the posture of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image.

[0024] The attitude detection unit 55 includes a reference position detection unit 55a, a tilt detection unit 55b, a rotation detection unit 55c, a boom detection unit 55e, an arm detection unit 55f, and a tip attachment detection unit 55g.

[0025] The reference position detection unit 55a detects the position and direction (orientation, posture) of the reference position (reference position) of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position on the upper slewing body 13 or the lower body 11. The reference position of the work machine 10 may be the attachment point (boom foot) of the boom 15e to the upper slewing body 13, or a specific position on the pivot axis of the upper slewing body 13 relative to the lower body 11. The reference position detection unit 55a may be equipped with a device that detects position using electromagnetic waves (light, radio waves, etc.). The reference position detection unit 55a may be equipped with a device that uses a satellite positioning system, for example, a device that uses GNSS (Global Navigation Satellite System). The reference position detection unit 55a may be equipped with a device that detects position without using satellites, a device that detects position using a ground transmitter and receiver, or a device that detects position using the reflection of light (e.g., laser light) (e.g., a total station). The reference position detection unit 55a may calculate reference position information based on position information detected by multiple types of devices. The reference position detection unit 55a may include a device that uses the Earth's magnetic field to detect the direction of the reference position. The reference position detection unit 55a may detect the direction (orientation, posture) of the reference position based on the positions of multiple parts of the work machine 10 including the reference position (e.g., the upper rotating body 13) relative to the work site. The reference position detection unit 55a may detect reference position information based on a two-dimensional or three-dimensional captured image including the work machine 10. In Figure 1, the reference numeral for the reference position detection unit 55a is used to indicate the position of the GNSS antenna when the reference position detection unit 55a performs detection using a GNSS positioning system.

[0026] The tilt detection unit 55b detects the tilt of the work machine 10 with respect to the horizontal. The tilt detection unit 55b may also detect the tilt of the work machine 10 with respect to the ground. The tilt detection unit 55b may also detect the tilt of the work machine 10 based on information detected by a device that detects tilt in the horizontal direction (such as a gyro sensor, acceleration sensor, or inertial measurement device). For example, the tilt detection unit 55b may also detect the tilt of the work machine 10 with respect to the horizontal based on an image captured by the imaging device 53, which includes the work machine 10.

[0027] The rotation detection unit 55c (for example, a main body rotation angle sensor) detects rotation information (angle, angular velocity, angular acceleration, etc.) of the upper rotating body 13 relative to the lower main body 11. The rotation detection unit 55c may detect the rotation angle (rotation angle) of the upper rotating body 13 relative to the lower main body 11, or it may detect the angular velocity (rotation angular velocity), or it may detect the angular acceleration (rotation angular acceleration). The rotation detection unit 55c may also detect rotation information based on information detected by an angle sensor attached to the rotation axis or rotation support part (rotation bearing, etc.) of the upper rotating body 13 relative to the lower main body 11.

[0028] The boom detection unit 55e (for example, a boom angle sensor) detects the posture of the boom 15e. The boom detection unit 55e may also detect the angle (tilt, rotation angle) of the boom 15e with respect to the horizontal direction or the upper slewing body 13, or it may detect the rotational angular velocity or rotational angular acceleration. The arm detection unit 55f and the tip attachment detection unit 55g may also detect angles with respect to the horizontal direction or the components of the work machine 10.

[0029] The arm detection unit 55f (for example, an arm angle sensor) detects the posture of the arm 15f. The tip attachment detection unit 55g (for example, a bucket angle sensor) detects the posture of the tip attachment 15g. Specific examples of the arm detection unit 55f and the tip attachment detection unit 55g are the same as the specific examples of the boom detection unit 55e. In Figure 2, the tip attachment detection unit 55g is referred to as the "tip ATT detection unit".

[0030] The input unit 60 is an input device for inputting information. The input unit 60 shown in Figure 1 is configured to accept information used for the automatic control of the work machine 10. The input unit 60 is configured to be operable by an operator and outputs signals corresponding to the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be equipped with a touch panel, a mouse, a keyboard, or switches. The input unit 60 may be equipped with a device for voice input (specifically, a microphone). The input unit 60 may be installed on a tablet, a smartphone, or a personal computer. Part or all of the input unit 60 may be mounted on the work machine 10 or installed outside the work machine 10 (specifically, an external device 90). The input unit 60 may be installed on the work machine 10, for example, in the operator's cab 13c. The input unit 60 may be installed on a remote control device for remotely operating the work machine 10. The input unit 60 may be located in the driver's cab 13c or in an operating unit 62 (see Figure 2) (for example, an operating lever) located in the remote control device, or it may be located in the operating unit 62, or it may be located in a display unit (for example, a cluster gauge, etc.).

[0031] The control unit 62 (see Figure 2) is configured to be operated by an operator who operates the work machine 10. The control unit 62 receives input for operations to move the work machine 10. The control unit 62 may be located in the operator's cab 13c, on a remote control device for remotely operating the work machine 10, or on an external device 90 (see description of external device control unit 92 (Figure 6)). The control unit 62 may be equipped with a lever or a pedal. The control unit 62 may be equipped with a dial. When the work machine 10 is moved (operated) by the automatic control of the controller 70, the controller 70 (in detail, the automatic control unit 73 (see Figure 2)) may be included in the control unit 62. The control unit 62 outputs a command corresponding to the operation input to the control unit 62. The control unit 62 may output a command corresponding to the amount of operation input to the control unit 62. The control unit 62 may receive input for operations to move the lower body 11 (travel operation). The control unit 62 may receive input for an operation to rotate the upper slewing body 13 relative to the lower body 11 (slewing operation). The control unit 62 may receive input for an operation to move the attachment 15 (attachment operation). The control unit 62 may receive input for an operation to rotate the boom 15e relative to the upper slewing body 13 (boom operation). The control unit 62 may receive input for an operation to rotate the arm 15f relative to the boom 15e (arm operation). The control unit 62 may receive input for an operation to rotate the tip attachment 15g relative to the arm 15f (tip attachment operation). The control unit 62 may receive input for an operation to adjust the rotation speed of the pump that supplies oil to the hydraulic actuator (pump rotation speed operation).

[0032] The controller 70 is a computer that performs signal input / output, calculations (processing), and information storage. The functions of the controller 70 shown in Figure 2 are realized by the execution of a program stored in the storage unit 70b of the controller 70 by the calculation unit 70a. The controller 70 and other devices may be connected by wireless communication or by wired communication. The controller 70 may be a distributed system including multiple computers that are distributed in a manner. The components of the controller 70 (for example, the machine-side controller 70c and the external device-side controller 70d, which will be described later) may be connected by wireless communication or by wired communication. For example, communication may be performed by means of communication such as a mobile phone line, optical line, wireless LAN (Local Area Network), or wired LAN. For example, information is input to the controller 70 from the detection unit 50. Specifically, for example, information is input to the controller 70 from the posture detection unit 55 (the controller 70 has a posture information acquisition function). For example, the controller 70 performs processing related to the automatic control of the work machine 10. For example, the controller 70 outputs commands (signals) to the drive control unit 19 to operate the work machine 10. For example, the controller 70 issues commands to the work machine 10. For example, the controller 70 outputs information to the output unit 80. The controller 70 may be mounted on the work machine 10 or located outside the work machine 10.

[0033] This controller 70 comprises a calculation unit 70a and a storage unit 70b. Focusing on the position (arrangement) of the controller 70, the controller 70 comprises a machine-side controller 70c and an external device-side controller 70d. Focusing on the functions of the controller 70, the controller 70 comprises a work plan setting unit 71 and an automatic control unit 73.

[0034] The arithmetic unit 70a performs calculations (processing) on ​​information. The storage unit 70b stores the information. For example, the storage unit 70b stores the results of calculations performed by the arithmetic unit 70a (it has a calculation result recording function).

[0035] The machine-side controller 70c is installed on the work machine 10. For example, the machine-side controller 70c outputs commands to the drive control unit 19 to operate the work machine 10.

[0036] The external device controller 70d is installed on the external device 90 (see Figure 1). The external device controller 70d and the machine controller 70c communicate with each other (for example, via wireless communication).

[0037] The work plan setting unit 71 sets the work plan for the work machine 10. The work plan is information regarding the objectives of the work performed by the work machine 10. The work plan may include information about the target route for the work machine 10's movement, as shown in Figure 1. The work plan may also include information about the target range in which the attachment 15 will perform its work (e.g., target acquisition range, target release range). The work plan may also include information about the target path of a specific part 16. The work plan may also include information about the target trajectory of a specific part 16. The target trajectory is information in which time information is added to the target path information. Specific examples of how to set the work plan will be described later (see the explanation regarding step S21 shown in Figure 3).

[0038] The automatic control unit 73 (see Figure 2) is a so-called automatic driving controller that automatically controls the work machine 10 so that it moves according to the work plan. The automatic control unit 73 outputs commands to the drive control unit 19 (see Figure 2) so that the work machine 10 moves according to the work plan. The automatic control unit 73 controls the movement of the work machine 10 based on the posture detected by the posture detection unit 55.

[0039] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on a signal output from the controller 70. The output unit 80 may output light (display), sound (such as voice), or vibration. The output unit 80 may be provided in a tablet, a smartphone, or a personal computer. The output unit 80 may be provided in the operator's cab 13c. The output unit 80 may be provided in a remote control device for remotely operating the work machine 10. If the output unit 80 outputs light, the output unit 80 may be equipped with a display device (monitor). If the output unit 80 outputs sound, the output unit 80 may be equipped with a sound output device (speaker, buzzer, etc.).

[0040] The external device 90 (for example, an information terminal) is a device for processing information. The external device 90 can be located outside the work machine 10. The external device 90 may be a tablet, a smartphone, or a personal computer. The external device 90 includes an external device side controller 70d (see Figure 2). The external device 90 also has an input function for inputting information and an output function for outputting information, and constitutes part of the input unit 60 and the output unit 80. The external device 90 is a device for outputting commands related to the automatic control of the work machine 10 from the outside.

[0041] The external device 90 has an external device operation unit 92 (see Figure 6). The external device operation unit 92 (see Figure 6) is a functional unit that receives remote control requests for the work machine 10 from the operator, and constitutes part of the operation unit 62 (see Figure 2).

[0042] The abnormal shutdown response system 1 shown in Figure 1 is configured to operate as follows.

[0043] The work machine 10 may be operated (ridden and operated) by an operator in the cab 13c, or may be remotely operated by the operator from outside the work machine 10 (remote operation device). The remote operation device may be a device (remote cockpit) that mimics the operation unit 62 (see FIG. 2) (such as a lever) in the cab 13c of the actual machine, or may be an external device operation unit 92 (see FIG. 6). The work machine 10 may be operated (moved) by automatic control. The automatic control may be semi-automatic operation by a machine control system (MC), or may be automatic operation. The work machine 10 may move as follows by semi-automatic operation. For example, a work plan is set in the controller 70. Then, the operator operates only some elements of the attachment 15 (for example, only the arm 15f). At this time, the controller 70 automatically moves the elements that are not being operated by the operator (for example, the boom 15e and the tip attachment 15g) so that the work machine 10 moves according to the work plan. At this time, the controller 70 controls the movement of the work machine 10 based on the information detected by the attitude detection unit 55 (the same applies to the case of automatic operation). As a result, the work machine 10 moves according to the work plan. Also, for example, the work machine 10 may be operated (moved) by automatic operation. In this case, the controller 70 controls the movement of the work machine 10 so that the work machine 10 automatically moves according to the work plan. Hereinafter, as automatic control, mainly the case where automatic operation is performed will be described, but semi-automatic operation may be performed as automatic control.

[0044] (Automatic Control) Referring to the flowchart (automatic control state transition diagram) shown in FIG. 3, the outline of the processing of the controller 70 (mainly the automatic control unit 73) and the like will be described. Hereinafter, the description will be made in the order of the processing. The order of the processing may be changed. For the controller 70, mainly refer to FIG. 2, and for each step (S10 to S50) shown in FIG. 3, the description will be made referring to FIG. 3.

[0045] In step S10, the controller 70 turns on the automatic control system (operating state). The automatic control system is a system that automatically controls the work machine 10 shown in Figure 1, and includes at least an automatic control unit 73 (see Figure 2). The automatic control system may include equipment necessary for automatic control but not essential for manual operation of the work machine 10 (for example, an imaging device 53). For example, the external device side controller 70d outputs a command to the machine side controller 70c to turn on the automatic control system, causing the machine side controller 70c to turn on the automatic control system.

[0046] In step S21, the controller 70 (specifically, the work plan setting unit 71 (see Figure 2)) performs settings related to automatic control. Specifically, the controller 70 acquires a work plan (parameters, etc.) to be used for automatic control. The work plan may include information on the target path of a specific part 16 (for example, the tip attachment 15g), and may also include information on the target speed of the specific part 16. The work plan may also include information on the target range in which the work machine 10 will work, for example, information on the target range for capturing the work object (e.g., excavation), and information on the target range for releasing the work object (e.g., soil removal). The work plan may be set automatically by the work plan setting unit 71 (see Figure 2). The work plan may also be set by the operator operating the input unit 60 (see Figure 2) (manual operation). For example, the work plan may be set by teaching the work machine 10 to move the operator, or by a method other than teaching (e.g., numerical input).

[0047] For example, teaching is performed as follows. An operator boards the work machine 10 and operates the work machine 10, or the operator remotely operates the work machine 10. For example, by operating the work machine 10, the operator arranges the specific part 16 at a position (path, range, etc.) that the operator wants to set as information of the work plan. The position where the specific part 16 is arranged is calculated based on the posture of the work machine 10 detected by the posture detection unit 55. Then, the work plan setting unit 71 (see FIG. 2) sets a work plan based on the position where the specific part 16 is arranged. Also, for example, by operating the work machine 10, the operator arranges the specific part 16 at a specific position (for example, a position that is a corner of the target capture range) in a range that the operator wants to set as a target range (target capture range or target release range). Then, the work plan setting unit 71 (see FIG. 2) sets a target range based on the position where the specific part 16 is arranged. Also, for example, by operating the work machine 10, the operator moves the specific part 16 along a path that the operator wants to set as a target path. The operator may move the specific part 16 along a path that the operator wants to set as a target trajectory at a speed that the operator wants to set as a target trajectory by operating the work machine 10. Then, the work plan setting unit 71 sets the path (or trajectory) along which the specific part 16 has moved as a target path (or trajectory).

[0048] In step S23, the controller 70 determines whether the work machine 10 is in a specific posture. The specific posture is a posture suitable for the work machine 10 to start automatic control. The specific posture is, for example, a posture that enables the work machine 10 to be arranged in a stable state. The specific posture is, for example, an initial posture which is the posture when automatic control is started. Information on what the specific posture is like is set in advance in the controller 70 (before the determination in step S23). For example, the work machine 10 becomes in the specific posture when the operator manually operates the work machine 10 or when the controller 70 automatically moves the work machine 10.

[0049] In step S25, when the work machine 10 is in a specific posture (for example, the initial posture), the controller 70 starts automatic control. The controller 70 moves the work machine 10 according to the work plan.

[0050] The controller 70 performs abnormality detection during automatic control. Abnormality detection includes determining whether an abnormality exists and determining the nature of the abnormality (details will be described later). The controller 70 may perform abnormality detection before moving the work machine 10 by automatic control, that is, before operation starts (step S25a). The controller 70 may also perform abnormality detection while moving the work machine 10 by automatic control, that is, during operation (step S25b).

[0051] In step S30, the controller 70 turns OFF (inactive) the automatic control system, including the automatic control unit 73 (see Figure 2). The controller 70 turns OFF the automatic control system, for example, when a task set as a work plan is completed. For example, the external device side controller 70d outputs a command to the machine side controller 70c to turn OFF the automatic control system, and the machine side controller 70c turns OFF the automatic control system.

[0052] In step S40, the work machine 10, which was being automatically controlled (step S25), makes an abnormal stop. An abnormal stop means that the work machine 10 stops (emergency stop) due to the occurrence of an abnormality. Details of the abnormal stop are as follows: While the work machine 10 is being automatically controlled (step S25), the detection unit 50 continuously detects various states. At this time, the detection unit 50 may detect an abnormality. If an abnormality is detected, the controller 70 (for example, the machine-side controller 70c) stops the automatic control of the work machine 10. For example, if the controller 70 detects an abnormality while the work machine 10 is operating under automatic control (step S25b), it stops the movement of the work machine 10 under automatic control. If the controller 70 detects an abnormality before the start of operation of the work machine 10 under automatic control (step S25a), it does not start the movement of the work machine 10 under automatic control.

[0053] This abnormal shutdown (step S40) is different from turning off the automatic control system (step S30). Specifically, when the automatic control system is turned off, the power to the automatic control equipment, including the automatic control unit 73 (see Figure 2), is turned off. On the other hand, in the case of an abnormal shutdown, the power to the automatic control equipment remains on. In the case of an abnormal shutdown, the automatic control equipment maintains a state where it can immediately start operating in response to commands from the controller 70.

[0054] (Abnormal Information) When the work machine 10 stops abnormally, the controller 70 acquires information including the details of the abnormality (referred to as abnormal information). For example, the machine-side controller 70c acquires the abnormal information detected by the detection unit 50. Specifically, for example, the machine-side controller 70c (more specifically, the communication means and transmission means) transmits the abnormal information to the external device-side controller 70d. The external device-side controller 70d (more specifically, the communication means and receiving means) acquires (receives) the abnormal information.

[0055] Anomaly information includes at least information about the nature of the anomaly (type of anomaly). Anomaly information may also include information about the condition of the work machine 10 when the anomaly occurred, and may also include information about the conditions surrounding the work machine 10 (as described later). Anomaly information may also include information about the condition of the work machine 10 before the anomaly occurred, and / or after the anomaly occurred, and may also include information about the conditions surrounding the work machine 10 (as described later).

[0056] (Corresponding Operation Mode M) The controller 70 is set to a corresponding operation mode M (see Figure 3), which is the operating mode of the work machine 10 after an abnormal stop. There are several types of corresponding operation modes M (specific examples will be described later). As will be described later, in step S50, one corresponding operation mode M to be executed by the work machine 10 is selected from one or more selectable corresponding operation modes M. The controller 70 switches the selectable corresponding operation modes M according to the nature of the abnormality that has been acquired. Specifically, the controller 70 switches which of the multiple corresponding operation modes M are selectable according to the nature of the abnormality. Specific examples of the relationship between the nature of the abnormality and the selectable corresponding operation modes M will be described later. In the following, the corresponding operation modes M will be explained with reference to Figure 3.

[0057] The controller 70 that switches between selectable operation modes M may be either the machine-side controller 70c shown in Figure 1 or the external device-side controller 70d. [Example A1] The machine-side controller 70c may switch between selectable operation modes M depending on the nature of the abnormality. The machine-side controller 70c may then transmit information about the selectable operation modes M (for example, a recovery availability signal (see Figure 4) described later) along with the abnormality information to the external device-side controller 70d. [Example A2] The machine-side controller 70c may transmit abnormality information to the external device-side controller 70d without switching between selectable operation modes M. The external device-side controller 70d may then switch between selectable operation modes M depending on the nature of the abnormality it has acquired.

[0058] In step S50, the controller 70 selects one corresponding operation mode M from one or more selectable corresponding operation modes M determined by the controller 70 to be executed by the work machine 10.

[0059] The corresponding operation mode M to be executed by the work machine 10 may be selected by the operator through the operation of the input unit 60 (manual operation). In this case, it becomes possible to ensure that the operator confirms the corresponding operation mode M to be executed by the work machine 10 before the corresponding operation mode M is executed, thereby suppressing malfunctions of the automatic control. Specifically, the controller 70 outputs information to the output unit 80 for the operator to confirm the selectable corresponding operation mode M. The output of this output unit 80 may be a display (see Figure 4, described later), or it may be an audio output. The controller 70 sets (determines) the corresponding operation mode M selected by the input unit 60 as the corresponding operation mode M to be executed by the work machine 10.

[0060] Specifically, for example, the controller 70 (for example, the external device side controller 70d) outputs (displays) the corresponding operation mode selection screen G10 shown in Figure 4 to the output unit 80. The output unit 80 may also be the output unit 80 of the external device 90. The corresponding operation mode selection screen G10 is a screen for allowing the operator to select a corresponding operation mode M. When the corresponding operation mode selection screen G10 is displayed on the output unit 80 of the external device 90, the external device side controller 70d accepts the operator's selection operation through the corresponding operation mode selection screen G10. The corresponding operation mode selection screen G10 is a GUI (Graphical User Interface). In the example shown in Figure 4, the corresponding operation mode selection screen G10 includes an abnormality notification unit G71 (see the description of the abnormality notification screen G70 (see Figure 7) described later) and a corresponding operation mode selection unit G15.

[0061] The corresponding operation mode selection unit G15 is the part that allows the operator to select a corresponding operation mode M to be executed by the work machine 10 from among the selectable corresponding operation modes M. The corresponding operation mode selection unit G15 includes, for example, a button-shaped image (corresponding operation mode selection button). The controller 70 switches the output of the corresponding operation mode selection unit G15 depending on which of the multiple corresponding operation modes M are selectable. The controller 70 outputs the corresponding operation mode selection unit G15 so that the operator can distinguish whether a corresponding operation mode M is selectable or not. Specifically, the controller 70 may display information (for example, a button) of an unselectable corresponding operation mode M in grayed out on the output unit 80. The controller 70 does not have to display information (for example, a button) of an unselectable corresponding operation mode M on the output unit 80. In the example shown in Figure 4, the corresponding operation mode selection unit G15 includes a restart mode selection unit G21 after setting, a specific posture restart mode selection unit G23, a stop position restart mode selection unit G25, and an end mode selection unit G30.

[0062] The restart mode selection unit G21 allows the operator to select a restart mode M21 (see Figure 3) (the contents of each corresponding operation mode M are described later). Specifically, when the restart mode selection unit G21 is selected by the operator (for example, by tapping or clicking), the restart mode M21 is selected as the corresponding operation mode M to be executed by the work machine 10. The specific posture restart mode selection unit G23 allows the operator to select a specific posture restart mode M23 (see Figure 3). The stop position restart mode selection unit G25 allows the operator to select a stop position restart mode M25 (see Figure 3). The termination mode selection unit G30 allows the operator to select a termination mode M30 (see Figure 3). In this way, the corresponding operation mode selection screen G10 displayed on the output unit 80 has the function of accepting selection operations from the operator. In other words, in the example shown in Figure 4, the output unit 80 (for example, the output unit 80 of the external device 90) also serves as the input unit 60 that receives operations from the operator.

[0063] The controller 70 may automatically select a corresponding operation mode M to be executed by the work machine 10 from among one or more selectable corresponding operation modes M. In this case, the effort required for the operator to select the corresponding operation mode M is eliminated. For example, if there is only one selectable corresponding operation mode M, the controller 70 may automatically select (determine) this selectable corresponding operation mode M as the corresponding operation mode M to be executed by the work machine 10. Alternatively, for example, the controller 70 may automatically select a corresponding operation mode M to be executed by the work machine 10 based on various information necessary for automatic control (for example, information detected by the detection unit 50, automatic control settings, etc.).

[0064] The controller 70 (specifically, the machine-side controller 70c) causes the work machine 10 to execute the selected corresponding operation mode M. For example, the external device-side controller 70d transmits information to the machine-side controller 70c indicating which corresponding operation mode M is selected manually or automatically. The machine-side controller 70c then causes the work machine 10 to execute the selected corresponding operation mode M received from the external device-side controller 70d.

[0065] The corresponding operation mode M is the operation mode of the work machine 10 after an abnormal stop (step S40) in which the automatic control of the work machine 10 stops due to an abnormality, as described above. The corresponding operation mode M includes a restart mode M20 (see Figure 3) and an end mode M30 (see Figure 3). Each mode will be explained below with reference to Figure 3.

[0066] Termination mode M30 is a mode in which the controller 70 turns off (inoperational) the automatic control system (step S30). In other words, in termination mode M30, the automatic control of the work machine 10 is terminated by turning off the power to the automatic control equipment, including the automatic control unit 73.

[0067] The restart mode M20 is a mode in which the controller 70 restarts (restores) automatic control of the work machine 10 shown in Figure 1 when certain conditions set in the controller 70 are met. In restart mode M20, the controller 70 does not perform the process of turning off the automatic control system in step S30, and keeps the power to the automatic control equipment, including the automatic control unit 73 (see Figure 2), on. If the automatic control system were to be turned off once and then turned on again to restart automatic control, it would take time for the automatic control equipment, including the automatic control unit 73, to become usable (start up). On the other hand, in restart mode M20, the controller 70 keeps the automatic control system on. Therefore, even if the automatic control of the work machine 10 malfunctions and stops, the decrease in productivity due to the automatic control of the work machine 10 is suppressed.

[0068] The restart mode M20 includes a restart mode after setting M21, a specific posture restart mode M23, and a stop position restart mode M25.

[0069] The restart after setting mode M21 (see Figure 3) is a mode in which the automatic control is restarted on the work machine 10 after the automatic control has been newly set or its settings have been changed (step S21). In other words, in the restart after setting mode M21, the condition (specific condition) for restarting the automatic control is that the automatic control has been newly set or its settings have been changed. For example, it is conceivable that an abnormal stop may occur due to improper settings of the automatic control. In this case, if the automatic control is appropriately changed or newly set (step S21), it is possible to appropriately restart the automatic control on the work machine 10. Therefore, it is preferable that the conditions under which the controller 70 can select the restart after setting mode M21 include a situation in which the work machine 10 has a chance of appropriately (without abnormality) restarting the automatic control if the automatic control settings are performed appropriately. Specific examples of the conditions under which the controller 70 can select the restart after setting mode M21 will be described later.

[0070] The automatic control settings (step S21) performed in the restart mode M21 after setting (see Figure 3) may be performed manually by the operator using the input unit 60. For example, the automatic control settings performed in the restart mode M21 after setting may also be teaching (operation instruction). In other words, the restart mode M21 after setting may also be a restart mode after operation instruction. The automatic control settings (step S21) performed in the restart mode M21 after setting may also be performed by the controller 70. For example, the controller 70 may calculate settings suitable for automatic control after restart. The controller 70 may use the calculated settings as the settings for automatic control after restart. The controller 70 may use the calculated settings as the settings for automatic control after having the operator confirm them. In this case, the controller 70 outputs the calculated settings to the output unit 80. Then, if the operator selects to use the calculated settings as the settings for automatic control, the controller 70 may use the calculated settings as the settings for automatic control.

[0071] The specific posture restart mode M23 (see Figure 3) is a mode in which automatic control is restarted on the work machine 10 after the work machine 10 has been set to a specific posture (see step S30) suitable for starting automatic control. In other words, in the specific posture restart mode M23, the condition for restarting automatic control (specific condition) is that the work machine 10 has been set to a specific posture suitable for starting automatic control. The specific posture is, for example, the posture at the start of automatic control, i.e., the initial posture. In this case, the specific posture restart mode M23 is a mode in which automatic control is restarted from the initial posture. The specific posture restart mode M23 is a mode in which automatic control is restarted on the work machine 10 without performing automatic control settings (step S21), for example. In this case, the time from abnormal stop to restart of automatic control is shortened compared to the case in which automatic control settings (step S21) are performed, the work machine 10 is set to a specific posture (step S23), and then automatic control is restarted on the work machine 10. Therefore, even if the automatic control of the work machine 10 malfunctions and stops, the decrease in productivity of the work performed by the automatic control of the work machine 10 is suppressed.

[0072] The conditions under which the controller 70 can select the specific posture restart mode M23 preferably include a situation in which, after the work machine 10 has been placed in a specific posture, there is a possibility that the work machine 10 can appropriately (without abnormality) restart automatic control. Specific examples of the conditions under which the controller 70 can select the specific posture restart mode M23 will be described later.

[0073] The stop position restart mode M25 (see Figure 3) is a mode that restarts automatic control of the work machine 10 from the position where the work machine 10 was at the time of the abnormal stop. The stop position restart mode M25 is a mode that restarts automatic control (step S25) without, for example, setting the automatic control (step S21) or changing to a specific posture (step S23). In this case, the time from abnormal stop to restart of automatic control is shortened compared to when one or both of the automatic control setting (step S21) and changing to a specific posture (step S23) are performed. Therefore, even if the automatic control of the work machine 10 abnormally stops, the decrease in productivity of the work performed by the automatic control of the work machine 10 is suppressed.

[0074] The conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control from the position where it abnormally stopped. Specific examples of the conditions under which the controller 70 can select the stop position restart mode M25 will be described later.

[0075] (Selection of operation method) When the specific posture restart mode M23 (see Figure 3) is selected, the work machine 10 is moved to change from the posture of the work machine 10 at the time of the abnormal stop (posture at the time of abnormal stop) to a specific posture. At this time, the controller 70 selects an operation method to move the work machine 10 according to the conditions set in the controller 70. For example, the controller 70 may select (confirm) the operation method manually selected in the input unit 60 as the operation to change the work machine 10 to a specific posture (see the operation selection screen G50 shown in Figure 5). The controller 70 may also automatically select (confirm) the operation to change the work machine 10 to a specific posture according to predetermined conditions (information on the situation, etc.).

[0076] The controller 70 (for example, the external device controller 70d (see Figure 2)) outputs (displays) the operation selection screen G50 to the output unit 80, as shown in Figure 5. The operation selection screen G50 is a screen that allows the operator to select the operation method of the work machine 10 when the specific posture restart mode M23 (see Figure 3) is selected. The operation selection screen G50 is a GUI. In the example shown in Figure 5, the operation selection screen G50 includes a boarding operation selection unit G51, an external device remote operation selection unit G52, and an automatic operation selection unit G53.

[0077] The boarding operation selection unit G51 is a part (e.g., a button) that allows the operator to select boarding operation. The external device remote control selection unit G52 is a part that allows the operator to select remote control from the external device operation unit 92. The automatic operation selection unit G53 is a part that allows the operator to select automatic operation. By tapping or otherwise selecting any of the boarding operation selection unit G51, the external device remote control selection unit G52, or the automatic operation selection unit G53, one of boarding operation, remote control, or automatic operation is selected as the method of operating the work machine 10. In the example shown in Figure 5, "heavy machinery" refers to the work machine 10, and "initial posture" is an example of a specific posture. The operation selection screen G50 may also include a part (remote cockpit operation selection unit) that allows the operator to select remote control from a remote cockpit (not shown).

[0078] The following describes the operation method (hereinafter simply referred to as "operation method") for changing the work machine 10 to a specific posture when the specific posture restart mode M23 (see Figure 3) is selected.

[0079] (Boarding Operation) When the boarding operation selection unit G51 is selected, the method of changing the working machine 10 to a specific position is boarding operation. Boarding operation is performed by an operator who is boarded in the working machine 10 (more specifically, the operator's cab 13c). The device for performing boarding operation is the operation unit 62 (see Figure 2) located inside the operator's cab 13c.

[0080] (Remote Operation) When the external device remote operation selection unit G52 is selected, the method for changing the work machine 10 to a specific posture is remote operation. Remote operation is performed by an operator from outside the work machine 10. If remote operation is performed in the specific posture restart mode M23 (see Figure 3) after the work machine 10 has stopped abnormally, the operator can change the work machine 10 to a specific posture without having to approach the abnormally stopped work machine 10. Therefore, the operator can change the work machine 10 to a specific posture more efficiently than when the operator is on board (the decrease in productivity can be suppressed).

[0081] The device for remote control (remote control device) may be a remote cockpit, which is a device that mimics the operating section 62 (e.g., levers, pedals, etc.) inside the driver's cab 13c of the actual machine, and is different from the external device 90 that outputs commands for the automatic control of the work machine 10 from the outside.

[0082] Furthermore, the device for remote operation may be the external device operation unit 92 shown in Figure 6. The external device operation unit 92 is an operation unit 62 provided on the external device 90 for outputting commands related to the automatic control of the work machine 10. That is, the external device 90 is capable of outputting commands related to the automatic control of the work machine 10 (for example, start, end, and setting of automatic control), and further includes an external device operation unit 92 (operation interface) for manual remote operation. Remote operation using the external device operation unit 92 is also called "external device remote operation". The external device operation unit 92 is the GUI of the external device 90. Specifically, the external device operation unit 92 functions as an operation unit 62 for operating the work machine 10 by being operated (for example, by tapping) on ​​an image displayed on the output unit 80 of the external device 90 by the input unit 60 of the external device 90.

[0083] In the example shown in Figure 6, the external device operating unit 92 includes a travel operating unit 92c, a right operating unit 92r, and a left operating unit 92l. The travel operating unit 92c is the part into which operations to move the lower body 11 (see Figure 1) (travel operations) are input. For example, the travel operating unit 92c is the part for operating the forward, reverse, and in-place turns of the lower body 11. The left operating units 92l and 92l correspond to the left and right operating levers provided in the driver's cab 13c (see Figure 1). The left operating units 92l and 92l are the parts into which operations to rotate the upper slewing body 13 (see Figure 1) relative to the lower body 11 (turning operations), and operations to move the attachment 15 (attachment operations) are input. The external device controller 70d (see Figure 2) may also output a remote operation termination section G92e (shown as "Heavy Machinery Operation Termination" in Figure 6) to the output section 80 of the external device 90, which allows the operator to select to terminate remote operation using the external device operation section 92.

[0084] (Automatic Operation) When the automatic operation selection unit G53 is selected, the operation method for changing the work machine 10 to a specific posture becomes automatic operation. Automatic operation is the operation of the work machine 10 that is performed automatically by the controller 70 (in detail, the automatic control unit 73 (see Figure 2)). The controller 70 may also automatically change the posture of the work machine 10 so that it changes from the posture of the work machine 10 when it stopped abnormally to the specific posture. In this case, the operation method of the work machine 10 when the specific posture restart mode M23 is selected can reduce the effort required from the operator compared to when it is operated manually (it can suppress the decrease in productivity).

[0085] (Difference between abnormal stop position and restart position) It is conceivable that there may be a difference between the position of the work machine 10 when it abnormally stops and the position of the work machine 10 when the corresponding operation mode M is selected (currently). This difference is called a "position difference". This position difference may occur, for example, in the following cases. For example, if the work machine 10 moves after it has abnormally stopped due to manual operation by an operator, a position difference may occur. In addition, even if the work machine 10 itself does not move after it abnormally stops, the controller 70 may determine that a position difference has occurred if the detection unit 50 (for example, the posture detection unit 55) that detects the position of the work machine 10 is misaligned.

[0086] If the difference in position is large, the position of the work machine 10 when the corresponding operation mode M is selected (currently) may not be an appropriate position for starting automatic control. For example, the work machine 10 may be in a position where it may come into contact with surrounding objects, or the work machine 10 may be in an unstable position.

[0087] Therefore, the controller 70 stores information about the position of the work machine 10 when it stopped abnormally. The controller 70 compares the stored position information with the position of the work machine 10 when the corresponding operation mode M is selected (currently). If the difference in position exceeds the allowable range, the controller 70 makes it impossible to select the stop position restart mode M25 (see Figure 3). Conversely, if the difference in position is within the allowable range, the controller 70 makes the stop position restart mode M25 selectable. In other words, in the case of stop position restart mode M25, the condition for automatic control to be restarted (a specific condition) is that the difference between the position of the work machine 10 when it stopped abnormally and the position of the work machine 10 when the corresponding operation mode M is selected is within the allowable range. In this case, the difference in position may be a difference in the position of the entire work machine 10, or a difference in the position of a specific part of the work machine 10. The difference in position may also include a difference in posture. The allowable range of the difference in position is set in advance in the controller 70 (before determining the difference in position). The position difference determined by the controller 70 may include the difference in the distance traveled by the work machine 10 from the time the work machine 10 abnormally stopped until the time the corresponding operation mode M is selected (present), or it may include the difference in the angle of movement. Specifically, the position difference determined by the controller 70 may include the difference in either the distance traveled or the angle of movement of each part of the attachment 15, or both. The position difference determined by the controller 70 may include the difference in the distance traveled by the work machine 10 (the lower body 11), or it may include the difference in the slewing angle of the upper slewing body 13 relative to the lower body 11.

[0088] (Relationship between the nature of the abnormality and the corresponding operation mode M) As described above, after the work machine 10 stops abnormally, the controller 70 switches to one of the selectable corresponding operation modes M according to the nature of the abnormality. The relationship between the nature of the abnormality and the selectable corresponding operation mode M can be set in various ways.

[0089] If multiple types of abnormalities occur simultaneously (i.e., there are multiple types of abnormalities), the controller 70 processes them as follows: If there is even one type of abnormality that makes a particular corresponding operation mode M unselectable, the controller 70 makes that corresponding operation mode M unselectable. For example, if there is even one abnormality that makes the restart mode M20 (see Figure 3) unselectable (an abnormality that only allows the selection of the termination mode M30), the controller 70 makes only the termination mode M30 selectable.

[0090] The conditions under which the controller 70 can select restart mode M20 (see Figure 3) include the possibility that automatic control can be appropriately resumed if the circumstances surrounding the abnormal stop of the work machine 10 change. For example, the conditions under which the controller 70 can select restart mode M20 include the determination that there is an abnormality in one or more of the following: the external conditions of the work machine 10, the posture of the work machine 10, and the settings of the automatic control. The conditions under which the controller 70 can select restart mode M20 may further include the fact that there is no abnormality in the automatic control system.

[0091] The conditions under which the controller 70 can select the restart mode M21 (see Figure 3) preferably include a situation in which, if the automatic control settings are performed appropriately, the work machine 10 is likely to be able to restart the automatic control appropriately (without any abnormalities). A specific example of this situation is as follows.

[0092] [Example B1] It is conceivable that the work machine 10 may stop abnormally if a specific part 16 of the work machine 10 deviates from the target path or deviates from the target range (work range, etc.). In such cases, if the automatic control settings, such as the target path and target range, are set appropriately, it may be possible to restart the automatic control appropriately. Therefore, the conditions for selecting the restart mode M21 after setting (see Figure 3) may include cases where the specific part 16 deviates from the target path (an example of the nature of the abnormality), or cases where the specific part 16 deviates from the target range (an example of the nature of the abnormality).

[0093] The conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control after being placed in a specific posture. A specific example of this situation is as follows.

[0094] [Example B2] It is conceivable that the work machine 10 may stop abnormally if the actual position or speed of part or all of the work machine 10 exceeds the restricted range. In this case, by positioning the work machine 10 in an appropriate position (specific posture), the actual position or actual speed may fall within the restricted range, and the work machine 10 may be able to restart automatic control appropriately (without abnormality). Therefore, the conditions under which the controller 70 can select the specific posture restart mode M23 may include the fact that the actual position or speed of part or all of the work machine 10 exceeds the restricted range (an example of the nature of the abnormality). The above-mentioned "restricted range" is set in advance in the controller 70 (before the abnormal stop is determined).

[0095] [Example B3] It is conceivable that the work machine 10 may stop abnormally if its tilt relative to the horizontal exceeds a predetermined allowable value. In this case, if the posture of the work machine 10 is set to a specific posture and the tilt of the work machine 10 is below a predetermined value, the work machine 10 may be able to resume automatic control appropriately (without abnormality). Therefore, the conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) may include the fact that the tilt of the work machine 10 relative to the horizontal exceeds a predetermined allowable value (an example of the nature of the abnormality). The allowable value for the tilt of the work machine 10 relative to the horizontal is set in advance in the controller 70 (before the abnormal stop is determined).

[0096] [Example B4] It is conceivable that the work machine 10 may stop abnormally if an abnormality is detected in the output of the detection unit 50 (e.g., imaging device 53) that detects the surroundings of the work machine 10. For example, it is conceivable that communication between the detection unit 50 that detects the surroundings of the work machine 10 and the controller 70 is performed appropriately, but there is an abnormality in the output (content) detected by the detection unit 50. It is also conceivable that the work machine 10 may stop abnormally if an abnormality is detected in the output of a detection unit 50 (external sensor) (e.g., curtain sensor) provided outside the work machine 10. In these cases, if the external conditions of the work machine 10 change, it is possible that the work machine 10 can appropriately (without abnormality) resume automatic control. Therefore, the conditions for the controller 70 to select the specific posture restart mode M23 (see Figure 3) may include the detection of an abnormality in the output of the detection unit 50 that detects the surroundings of the work machine 10 (an example of the content of the abnormality).

[0097] The conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) may include the abnormality described in Example B1 above, or may include the abnormality described in Example B5 below (including Examples B5a and B5b).

[0098] The conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control from the position in which it abnormally stopped. A specific example of this situation is as follows.

[0099] [Example B5] It is assumed that the work machine 10 may stop abnormally due to a malfunction in a device operated by an operator that stops automatic control (referred to as an "emergency stop switch"). The emergency stop switch is a device that can stop the automatic control remotely from outside the work machine 10, or from inside the work machine 10 (inside the operator's cab 13c).

[0100] [Example B5a] For example, it is conceivable that the work machine 10 may stop abnormally when a command to abnormally stop the automatic control is transmitted from the emergency stop switch to the controller 70 (for example, the machine-side controller 70c). In this case, it is assumed that there is no abnormality in the work machine 10 or the automatic control, and that the work machine 10 stopped abnormally because the operator instructed it to stop abnormally. Therefore, it is possible that the work machine 10 can appropriately (without abnormality) restart the automatic control from the position where it stopped abnormally. Thus, the conditions for the controller 70 to select the stop position restart mode M25 (see Figure 3) may include the fact that an instruction to stop the work machine 10 has been issued by the emergency stop switch (an example of the nature of the abnormality).

[0101] [Example B5b] Depending on the communication environment, such as the relative positions of the emergency stop switch and the work machine 10, communication between the emergency stop switch and the controller 70 may be temporarily interrupted. In this case, once communication is restored, there is a possibility that the work machine 10 can resume automatic control appropriately (without any problems) from the position where it stopped abnormally. Therefore, the conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) may include the fact that communication between the emergency stop switch and the controller 70 has been temporarily interrupted (for less than a predetermined time).

[0102] The conditions under which the controller 70 makes only the termination mode M30 (see Figure 3) selectable (making the restart mode M20 unselectable) include an abnormality that directly affects the automatic control of the work machine 10. For example, an abnormality that directly affects the automatic control of the work machine 10 may include an abnormality in the equipment necessary for the automatic control of the work machine 10. This "equipment necessary for the automatic control of the work machine 10" may include, for example, the actuator 17, a valve that controls the actuator 17 (such as a proportional valve), and the detection unit 50. The "equipment necessary for the automatic control of the work machine 10" may also include, for example, the attitude detection unit 55 and a sensor that detects the hydraulic pressure of the actuator 17 (an example of the detection unit 50). An abnormality in the "equipment necessary for the automatic control of the work machine 10" includes, for example, a power supply abnormality (disconnection, short circuit, etc.) and a communication abnormality. If the "equipment necessary for the automatic control of the work machine 10" is the detection unit 50, the equipment abnormality includes a drift abnormality, etc.

[0103] The above relationship between the nature of the anomaly and the selectable corresponding operation mode M is merely an example. This relationship can be configured in various ways.

[0104] In the example shown in Figure 4, the abnormalities can be divided into three types. Specifically, the controller 70 is configured with a relationship between the abnormality and the "recovery possible" information (signal, value). Recovery possible can be "0", "1", or "2". In the case of an abnormality where recovery possible is set to "0", only the termination mode M30 (see Figure 3) can be selected. In the case of an abnormality where recovery possible is set to "1", the corresponding operation mode M can be selected from the restart mode after setting M21 (see Figure 3), the specific posture restart mode M23 (see Figure 3), and the termination mode M30. In the case of an abnormality where recovery possible is set to "2", the corresponding operation mode M can be selected from the restart mode after setting M21, the specific posture restart mode M23, the stop position restart mode M25 (see Figure 3), and the termination mode M30.

[0105] (Notification of abnormal stoppage) When the work machine 10 has stopped abnormally, the controller 70 outputs abnormal information to the output unit 80. For example, the controller 70 outputs the abnormal notification screen G70 shown in Figure 7 to the output unit 80. For example, there may be cases where there is no worker at the work site where the work machine 10 is working, such as when an operator is giving automatic control commands from outside (remotely) the work machine 10. Even in this case, if the output unit 80 of the external device 90 outputs abnormal information, it is possible to make the worker aware of the abnormal information. As a result, when the operator selects a corresponding operation mode M (manual selection), it is possible to assist the operator in selecting an appropriate corresponding operation mode M. Even when there is a worker at the work site where the work machine 10 is working, the output unit 80 outputs abnormal information so that the worker can be aware of the abnormal information.

[0106] The abnormality notification screen G70 includes an abnormality occurrence notification unit G71, an abnormality content notification unit G72, and, as shown in Figure 8, an ambient conditions notification unit G73 and a machine conditions notification unit G74. Notifications from these units do not necessarily have to be displayed, but may be made by means of voice, for example, as long as it is possible to notify the operator. The abnormality notification screen G70 also includes a playback state selection unit G75.

[0107] The abnormality notification unit G71 notifies that the work machine 10 has stopped abnormally (indicated as "emergency stop" in Figure 8). The abnormality notification unit G71 may notify that the work machine 10 has stopped abnormally in text, by using graphics, or by using the color of the display screen of the output unit 80.

[0108] As shown in Figure 7, the abnormality notification unit G72 notifies the details of the abnormality. For example, the abnormality notification unit G72 may notify the cause of the abnormality or the type of abnormality. The abnormality notification unit G72 may also notify identification information (for example, an error number) corresponding to the details of the abnormality. In the example shown in Figure 7, the abnormality notification unit G72 notifies that the work machine 10 has stopped abnormally because the emergency stop switch has transmitted a command to the controller 70 to stop the automatic control abnormally (the message being "Wireless emergency stop has been pressed").

[0109] As shown in Figure 8, the surrounding conditions notification unit G73 notifies the surrounding conditions of the work machine 10. The surrounding conditions notification unit G73 notifies the surrounding conditions of the work machine 10 at one or more of the following times: when the work machine 10 has stopped abnormally, before the abnormal stop, and after the abnormal stop.

[0110] The machine status notification unit G74 notifies the status of the work machine 10. The status of the work machine 10 notified by the machine status notification unit G74 may be, for example, the position of the work machine 10, or for example, the posture of the work machine 10. The machine status notification unit G74 notifies the status of the work machine 10 at one or more of the following times: when the work machine 10 has stopped abnormally, before the abnormal stop, and after the abnormal stop.

[0111] Each of the surrounding conditions notification unit G73 and the machine condition notification unit G74 may display a status (an example of output). Each of the surrounding conditions notification unit G73 and the machine condition notification unit G74 may display two-dimensional information or three-dimensional information. Each of the surrounding conditions notification unit G73 and the machine condition notification unit G74 may display video (actual footage) captured by a camera or an image generated by the controller 70. Each of the surrounding conditions notification unit G73 and the machine condition notification unit G74 may display information (video) about the movement of the work machine 10 or its surroundings.

[0112] The playback state selection unit G75 is the part of the surrounding conditions notification unit G73 and / or the machine conditions notification unit G74 that allows the operator to select the playback state of the video. The playback state selection unit G75 may include, for example, a part that allows the operator to select the start and stop of video playback (e.g., play button, stop button), and a part that allows the operator to select the playback position of the video (fast forward button, rewind button). The abnormality notification screen G70 may also display a part that allows the operator to select the end of the display of the abnormality notification screen G70 (end selection unit) (e.g., OK button).

[0113] (Notification of work progress) The controller 70 outputs information on the work progress to the output unit 80 (see the current work information notification unit G91 in Figure 9). Preferably, the controller 70 outputs information on the work progress to the output unit 80 after the work machine 10 has stopped abnormally. In this case, the "progress information" is information indicating the progress of the work from when the work machine 10 started working under automatic control until the work machine 10 stopped abnormally. The controller 70 may also output information on the progress to the output unit 80 during automatic control.

[0114] The progress information may include, for example, information on the amount of work, or information on the work location. For example, the work machine 10 may perform the task of loading the work object into a container (for example, the bed of a dump truck). In this case, the progress information may include information on the number of loadings, or information on the amount loaded (for example, mass, volume, etc.). Also, for example, if the work machine 10 performs the task of capturing the work object (for example, excavation), the progress information may include information on the number of captures, or information on the amount captured (for example, mass, volume, etc.). If the work machine 10 captures the work object within a certain range (work range), the progress information may include information on the location where the work object was captured (location where the work was completed), or information on locations where the work object was not captured (location where the work was not completed). Notification of progress information may be made by display, by voice, etc., if it is possible to notify the worker.

[0115] When the work machine 10 is remotely operated, it is assumed that the operator will be operating it remotely from a location away from the work site. Therefore, it may be difficult for the operator to grasp the progress of the work. On the other hand, even when the work machine 10 is remotely operated, if progress information is output to the output unit 80, the operator can be made aware of the progress of the work.

[0116] For example, as shown in Figure 9, the controller 70 causes the output unit 80 to output a work notification screen G90. The work notification screen G90 includes a current work information notification unit G91 (other parts will be described later).

[0117] The current work information notification unit G91 notifies information about the progress of the work. If the current work information notification unit G91 is output after the work machine 10 has stopped abnormally, the current work information notification unit G91 notifies information indicating the progress of the work performed by the work machine 10 under automatic control up to the time the work machine 10 stopped abnormally. In the example shown in Figure 9, the current work information notification unit G91 notifies the amount of work performed up to the time of the abnormal stop, specifically the number of loadings and the amount of soil loaded. The current work information notification unit G91 may also notify information about the progress of the work position.

[0118] (Work after restart) When automatic control is restarted in restart mode M20 (see Figure 3), it is preferable to have the work machine 10 continue working under automatic control from where it left off before the work machine 10 abnormally stopped, as shown in Figure 1. Specifically, the controller 70 stores information on the progress of the work machine 10 that it performed under automatic control up to the time the work machine 10 abnormally stopped. When restart mode M20 (see Figure 3) is selected, the controller 70 restarts the work machine 10 under automatic control from where it left off when the work machine 10 abnormally stopped, based on the progress information. In this case, even if the work machine 10 abnormally stops, the decrease in productivity of the work machine 10 under automatic control is suppressed.

[0119] Furthermore, if restart mode M20 is selected, the work machine 10 may be automatically controlled to start work from the first task in the work plan, rather than continuing from where it left off when the work machine 10 stopped abnormally (see the new task selection unit G95 described later (see Figure 9)).

[0120] When the controller 70 restarts the work machine 10 from where it left off when the machine stopped abnormally, it is preferable to output (for example, display) the restarted work information (information indicating remaining work and planned operations) to the output unit 80 (see Figure 9). In this case, the operator can be made to confirm the restarted work information. The "work information" that the controller 70 outputs to the output unit 80 may include information on the amount of work, similar to the "progress information" described above, and may also include information on the work location (for example, excavation location). For example, as shown in Figure 9, the controller 70 outputs a work notification screen G90 to the output unit 80. In the example shown in Figure 9, the work notification screen G90 includes the current work information notification unit G91 and the remaining work information notification unit G92. Notifications from the remaining work information notification unit G92 do not have to be made by display, but may be made by voice, for example, as long as it is possible to notify the operator. Furthermore, the work notification screen G90 includes a work information adjustment unit G93, a continuation work selection unit G94, and a new work selection unit G95.

[0121] The remaining work information notification unit G92 notifies the difference between the work status (progress) performed up to the abnormal stop and the target work information. In the example shown in Figure 9, the remaining work information notification unit G92 notifies the difference between the number of loadings up to the abnormal stop and the target number of loadings, and the difference between the amount of soil loaded up to the abnormal stop and the target amount of soil loaded. The work notification screen G90 may also notify information about the target work information (for example, the target number of loadings, the target amount of soil loaded, etc.).

[0122] The controller 70 may be able to adjust the work information after restarting. The controller 70 may be able to adjust the work information after restarting in response to the operator's operation of the input unit 60 (manual operation). The reason for this is as follows: Depending on the timing of the abnormal stop of the work machine 10, there may be a difference between the progress of the work recognized by the controller 70 (in detail, the automatic control unit 73 (see Figure 2)) (for example, the number of loadings) and the actual progress. For example, suppose the work machine 10 is abnormally stopped while it is capturing (excavating) the work object and moving the work object (for example, while lifting and rotating). After this abnormal stop, it is assumed that the operator will operate the operation unit 62 (see Figure 2) (manual operation) so that the work machine 10 loads the work object into a container. In this case, the work performed by manual operation is an operation that the controller 70 (in detail, the automatic control unit 73) does not recognize. Thus, when automatic control is resumed, there may be a discrepancy between the work progress recognized by the controller 70 and the actual progress. Therefore, the controller 70 is made capable of adjusting the work information after the restart. For example, the controller 70 outputs the work information adjustment unit G93 to the output unit 80.

[0123] The work information adjustment unit G93 is the part that allows the worker to adjust the work information after the restart. The work information adjustment unit G93 is a GUI. For example, the work information adjustment unit G93 may be configured to increase or decrease information on the amount of work after the restart (e.g., number of loadings, mass, volume, etc.). The work information adjustment unit G93 may be configured to adjust (change, move) the work position after the restart (e.g., excavation position, etc.).

[0124] The continuation work selection unit G94 allows the operator to choose whether to resume the work machine 10 from where it left off when the machine stopped abnormally, using automatic control. If the work information adjustment unit G93 adjusts the work information after the restart, and the continuation work selection unit G94 is selected, the controller 70 will resume the work machine 10 using automatic control based on the adjusted work information.

[0125] The new task selection unit G95 allows the operator to choose whether to start the work machine 10 using automatic control from the first task in the work plan, rather than continuing from where the work machine 10 stopped abnormally.

[0126] (Manual operation after abnormal stop) After the work machine 10 shown in Figure 1 has stopped abnormally (step S40 in Figure 4), the work machine 10 may be operated manually (either by boarding or remotely). For example, after the work machine 10 has stopped abnormally, the work machine 10 may be operated manually after the termination mode M30 (see Figure 4) has been selected. Also, for example, after the work machine 10 has stopped abnormally, the work machine 10 may be operated manually even if the restart mode M20 (see Figure 4) is selectable. For example, after the work machine 10 has stopped abnormally, manual operation may be performed if predetermined conditions are met. Specifically, for example, after the work machine 10 has stopped abnormally, the work machine 10 may be operated manually if the operator chooses to operate the work machine 10 manually. If the controller 70 determines that automatic control should not be restarted, it may switch the operation method of the work machine 10 from automatic operation to manual operation.

[0127] As described above, it is preferable that progress information (for example, the current work information notification unit G91 shown in Figure 9) is output (notified) to the output unit 80 after the work machine 10 has stopped abnormally. In this case, the worker who receives the progress information can manually operate the work machine 10 after the work machine 10 has stopped abnormally, referring to the progress information. For example, even if the work machine 10 is remotely operated, the worker who receives the progress information can remotely operate the work machine 10, referring to the progress information.

[0128] (Summary) The characteristic configuration and effects of the abnormal stop response system 1 described above can be summarized as follows: [Configuration 1] The abnormal stop response system 1 includes a controller 70 that outputs commands to a work machine 10 that can be operated by the automatic control system. When the work machine 10 that was operating by automatic control has stopped abnormally, the controller 70 acquires information including the details of the abnormality. The controller 70 switches to a selectable response operation mode from a plurality of response operation modes M that are prepared in advance as the operating mode of the work machine 10 after the abnormal stop, according to the details of the abnormality (see Figures 3 and 4). As shown in Figure 3, the response operation mode M includes an end mode M30 and a restart mode M20. The end mode M30 is a mode that stops the operation of the automatic control system. The restart mode M20 is a mode that restarts automatic control of the work machine 10 without stopping the operation of the automatic control system when a specific condition set in the controller 70 is met.

[0129] In the above configuration 1, the controller 70 can select a restart mode M20 (see Figure 3) depending on the nature of the abnormality when the work machine 10 stops abnormally. When restart mode M20 is selected, the controller 70 can restart automatic control of the work machine 10 without stopping the operation of the automatic control system when certain conditions set in the controller 70 are met. Therefore, compared to the case where it is necessary to stop the operation of the automatic control system when the work machine 10 stops abnormally, the work machine 10 that has stopped abnormally can be restarted quickly, and the decrease in productivity can be suppressed.

[0130] [Configuration 2] In Configuration 1 above, the abnormal stop response system 1 includes an external device 90. The external device 90 can be placed outside the work machine 10 and outputs commands related to automatic control. The external device 90 accepts an operation to select a corresponding operation mode M (see Figure 3) to be executed by the work machine 10.

[0131] With the above configuration 2, the selection of the selectable corresponding operating mode M (see Figure 3) can be performed outside of the work machine 10.

[0132] [Configuration 3] In Configuration 1 or 2 above, the abnormal stop response system 1 comprises an output unit 80 and an input unit 60. The output unit 80 outputs information. The input unit 60 accepts operator input. The controller 70 causes the output unit 80 to output information for the operator to confirm a selectable response operation mode M (see Figure 3) according to the nature of the abnormality (see Figure 4). The controller 70 causes the work machine 10 to execute the response operation mode M selected by the operator via the input unit 60.

[0133] With the above configuration 3, the operator can be made to confirm the selectable corresponding operation mode M (see Figure 3), so the operator can easily select the corresponding operation mode M (see Figure 4).

[0134] [Configuration 4] In any one of the above configurations 1 to 3, the restart mode M20 includes one or more of the following modes: restart mode after setting M21, specific posture restart mode M23, and stop position restart mode M25 (see Figure 3). The restart mode after setting M21 is a mode that restarts automatic control to the work machine 10 after automatic control has been newly set or the settings have been changed. The specific posture restart mode M23 is a mode that restarts automatic control to the work machine 10 after the posture of the work machine 10 has been set to a specific posture suitable for starting automatic control. The stop position restart mode M25 is a mode that restarts automatic control to the work machine 10 from the position of the work machine 10 when it stopped abnormally.

[0135] The above configuration 4 provides the following effects: When the restart mode M21 is selected, automatic control can be restarted with settings suitable for automatic control of the work machine 10. When the specific posture restart mode M23 is selected, automatic control of the work machine 10 can be restarted from a specific posture suitable for automatic control. When the stop position restart mode M25 is selected, automatic control of the work machine 10 can be restarted directly from the position where the work machine 10 abnormally stopped. Therefore, even if the work machine 10 abnormally stops, automatic control of the work machine 10 can be appropriately restarted.

[0136] [Configuration 5] In Configuration 4 above, when the specific posture restart mode M23 is selected, the controller 70 selects an operation method to move the work machine 10 according to the conditions set in the controller 70. This operation method includes onboard operation by an operator on the work machine 10, remote operation by an operator from outside the work machine 10, and automatic operation by the controller 70.

[0137] The above configuration 5 provides the following effects: When onboard operation or remote operation is selected as the operating method, the operator can arbitrarily operate the work machine 10 to bring it to a specific position. When remote operation or automatic operation is selected as the operating method, the work machine 10 can be brought to a specific position without the operator having to board the abnormally stopped work machine 10. When automatic operation is selected as the operating method, the work machine 10 can be brought to a specific position without the operator having to operate the work machine 10.

[0138] [Configuration 6] In configuration 4 or 5 above, the abnormal stop response system 1 includes an external device 90. The external device 90 can be located outside the work machine 10 and outputs commands related to automatic control. The external device 90 includes an external device operation unit 92 (see Figure 6). When the specific posture restart mode M23 (see Figure 3) is selected, the external device operation unit 92 accepts remote operation from an operator outside the work machine 10.

[0139] In the above configuration 6, when the specific posture restart mode M23 (see Figure 3) is selected, the operation to return the work machine 10 to a specific posture can be easily performed using the external device 90 without using a remote control device (remote control device).

[0140] [Configuration 7] In any one of the above configurations 4 to 6, the controller 70 stores information about the position of the work machine 10 when the work machine 10 has stopped abnormally. If the difference between the information about the position of the work machine 10 stored by the controller 70 and the information about the position of the work machine 10 when the corresponding operation mode M (see Figure 3) is selected exceeds an acceptable range, the controller 70 makes it impossible to select the stop position restart mode M25 (see Figure 3).

[0141] The above configuration 7 provides the following effect. Assume that the position (including orientation) of the work machine 10 when it stopped abnormally was a suitable position for automatic control. Even in this case, if the work machine 10 moves from the position where it stopped abnormally, the position of the work machine 10 may become unsuitable for automatic control (for example, a position where the work machine 10 becomes unstable). Therefore, in the above configuration 7, if the difference between the information on the position of the work machine 10 when it stopped abnormally and the information on the position of the work machine 10 when the corresponding operation mode M is selected exceeds an acceptable range, the stop position restart mode M25 (see Figure 3) becomes unselectable. Thus, automatic control can be restarted for the work machine 10 from a position suitable for restarting automatic control.

[0142] [Configuration 8] In any one of the above configurations 1 to 7, the abnormal stop response system 1 includes an output unit 80 that outputs information. When the work machine 10 has stopped abnormally, the controller 70 causes the output unit 80 to output information about one or more of the following: the conditions around the work machine 10 and the conditions of the work machine 10, or both of the conditions of the work machine 10.

[0143] The above configuration 8 allows the operator to be aware of the situation of the work machine 10 or its surroundings, such as when the work machine 10 stops abnormally (see Figures 7 and 8). For example, even if there is no operator at the work site where the work machine 10 is operating, the operator can still be aware of the situation, such as when the work machine 10 stops abnormally.

[0144] [Configuration 9] In any one of the above configurations 1 to 8, the abnormal shutdown response system 1 includes an output unit 80 that outputs information. The controller 70 causes the output unit 80 to output information indicating the nature of the abnormality (see abnormality content notification unit G72 in Figure 7).

[0145] With the above configuration 9, the cause of the abnormal stoppage of the work machine 10 (the nature of the abnormality) can be made known to the operator.

[0146] [Configuration 10] In any one of the above configurations 1 to 9, the controller 70 stores information on the progress of the work from the time the work machine 10 starts working under automatic control until the work machine 10 makes an abnormal stop. When restart mode M20 (see Figure 3) is selected, the controller 70 restarts the work machine 10 under automatic control from where it left off when the work machine 10 made the abnormal stop, based on the information on the progress.

[0147] The above configuration 10 makes it possible to suppress the waste of the work machine 10 having to repeat tasks that it has already performed. Therefore, it is possible to suppress the decrease in productivity of the work machine 10 in the event of an abnormal stop.

[0148] [Configuration 11] In any one of the above configurations 1 to 10, the conditions under which the controller 70 can select restart mode M20 (see Figure 3) include the determination that there is an abnormality in one or more of the following conditions: the external conditions of the work machine 10, the posture of the work machine 10, and the settings of the automatic control.

[0149] In the above configuration 11, the conditions under which the controller 70 can select restart mode M20 (see Figure 3) include conditions under which automatic control can be appropriately resumed if the circumstances that caused the abnormal stop change. Specifically, if the work machine 10 is abnormally stopped due to external conditions of the work machine 10, automatic control can be appropriately resumed if the external conditions of the work machine 10 change. If the work machine 10 is abnormally stopped due to the posture of the work machine 10, automatic control can be appropriately resumed if the posture of the work machine 10 changes. If the work machine 10 is abnormally stopped due to the settings of the automatic control, automatic control can be appropriately resumed if the settings of the automatic control change. Therefore, in the above configuration 11, appropriate conditions are set as the conditions under which the controller 70 can select restart mode M20 (see Figure 3). As a result, automatic control can be appropriately resumed.

[0150] (Modifications) The above embodiments (including modifications within the embodiments; the same applies hereinafter) may be modified in various ways. For example, the number of components in the above embodiments may be changed, and some components may not be provided. For example, the arrangement of components (including the arrangement of each part displayed in the output unit 80) may be changed. For example, the connections between components shown in Figure 2 may be changed. For example, the inclusion relationships of components may be changed in various ways. For example, a component described as a subordinate component included in a higher-level component may not be included in this higher-level component, but may be included in other components. For example, a group of elements described as distinct from each other may be treated as a single element. For example, a single element may be divided into a group of distinct elements. For example, each component may have only a part of each feature (function, arrangement, shape, operation, etc.).

[0151] For example, various types of information (values, ranges, etc.) may be pre-set in the controller 70, or they may be set by being read into the controller 70 from an external storage device. Various types of information may also be set in the controller 70 based on information set by an operator (manual setting). Various types of information may also be set in the controller 70 (automatic setting) based on information detected by the detection unit 50. For example, various types of information may not be changeable, may be changed by manual operation, or may be automatically changed by the controller 70 according to certain conditions. For example, the controller 70 may perform processing that is substantially the same as the processing (calculation, judgment, etc.) of the above embodiment. For example, the controller 70 may perform processing using information that can be converted into the various types of information used in the above embodiment. The processing performed by the controller 70 may be combined in various ways.

[0152] In the above embodiment, an abnormal stop response system 1 that causes the work machine 10 to perform the operations described above has been described. However, the present invention may include an abnormal stop response program or method that causes a computer (controller 70) to execute the process of causing the work machine 10 to perform the operations described above. Each function of the computer (controller 70) may correspond to a "step" in the above program and method. For example, the function of switching selectable response operation modes M by the controller 70 can be rephrased as a "switching step" in the above program and method.

Claims

It is equipped with a controller that outputs commands to work machines that can be operated by the automatic control system, The aforementioned controller, When the aforementioned work machine, which was operating under the aforementioned automatic control, stops abnormally, information including the details of the abnormality is acquired. Following the aforementioned abnormal stoppage, the operating mode of the work machine is selected from a plurality of pre-prepared corresponding operating modes, and the corresponding operating mode is switched according to the nature of the abnormality. The corresponding operating mode is: The termination mode is a mode that stops the operation of the aforementioned automatic control system, This includes a restart mode, which is a mode in which the automatic control of the work machine is restarted without stopping the operation of the automatic control system when a specific condition set in the controller is met, An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, It includes an external device that can be positioned outside the aforementioned work machine and outputs commands related to the automatic control, The external device accepts an operation to select the corresponding operating mode to be performed by the work machine. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, An output unit that outputs information, It includes an input unit that accepts operator input, The aforementioned controller, The output unit outputs information to allow the operator to confirm the corresponding operating mode, which can be selected according to the nature of the abnormality. The operator selects the corresponding operation mode through the input unit and causes the work machine to execute it. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, The aforementioned restart mode is, A restart mode after the automatic control has been newly set or modified is a mode in which the automatic control is restarted on the work machine, A specific posture restart mode is a mode in which the automatic control is restarted on the work machine after the posture of the work machine has been set to a specific posture suitable for starting the automatic control, A stop position restart mode is a mode in which the automatic control of the work machine is restarted from the position of the work machine when it stopped abnormally, Includes one or more of the following modes: An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 4, When the specific posture restart mode is selected, the controller selects an operation method to move the work machine according to the conditions set in the controller. The aforementioned operating method is: Boarding operations by a worker riding on the aforementioned work machine, Remote operation of the aforementioned work machine by an operator from outside, Automatic operation by the controller, An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 4, It includes an external device that can be positioned outside the aforementioned work machine and outputs commands related to the automatic control, The external device includes an external device operation unit that accepts remote operation by an operator from outside the work machine when the specific posture restart mode is selected. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 4, The aforementioned controller, The system stores information about the position of the work machine at the time of the abnormal stop. If the difference between the position information of the work machine stored in the controller and the position information of the work machine when the corresponding operation mode is selected exceeds an acceptable range, the stop position restart mode will be made unselectable. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, It is equipped with an output unit that outputs information, The controller causes the output unit to output information from one or more of the following times when the work machine has stopped abnormally: before the abnormal stop and after the abnormal stop, including information about the conditions around the work machine and information about the conditions of one or both of the work machine. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, It is equipped with an output unit that outputs information, The controller causes the output unit to output information indicating the nature of the abnormality. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, The aforementioned controller, The system stores information on the progress of the work from the time the work machine starts working under the automatic control until the work machine malfunctions and stops. When the restart mode is selected, based on the progress information, the automatic control operation is restarted on the work machine from where it left off when it stopped abnormally. An abnormal shutdown response system. 　 An abnormal shutdown response system according to claim 1, The conditions under which the controller can select the restart mode include determining that there is an abnormality in one or more of the following conditions: the external conditions of the work machine, the posture of the work machine, and the settings of the automatic control. An abnormal shutdown response system.

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