JP2024144798A - Control device, control method and working machine - Google Patents

Abstract

[Problem] To improve usability. [Solution] A control device is a control device for a work machine that includes a rotating body that rotates around a rotation center and a work implement having a work tool and attached to the rotating body, and when an instruction signal is input from an operation unit that outputs an instruction signal related to an automatic operation including the work implement, the control device determines which of a plurality of automatic operations is executable based on information related to the work tool, and executes the automatic operation determined to be executable. [Selected Figure] Figure 3

Description

The present disclosure relates to a control device, a control method, and a work machine.

Patent Document 1 describes a control device for a loading machine equipped with a rotating body and a working machine, which can automate the movement of the working machine between a loading position and an excavation position.

JP 2020-41352 A

In a control device that can automate the movement of work equipment between the loading position and the excavation position, the automatic operation is performed based on a signal from a switch operated by the operator. When the number of automatic operation operations increases, it is necessary to provide switches corresponding to the automatic operations, which makes it difficult to secure the installation space. Furthermore, an increase in the number of switches requires the operator to operate the switches reliably, which makes it difficult to use and leads to reduced productivity.

This disclosure has been made in consideration of the above circumstances, and aims to provide a control device, control method, and work machine that can improve usability.

One aspect of the present disclosure is a control device for a work machine that includes a rotating body that rotates around a rotation center and a work machine having a work implement attached to the rotating body, and when an instruction signal is input from an operation unit that outputs an instruction signal related to an automatic operation including the work implement, the control device determines which of multiple automatic operations is executable based on information related to the work implement, and executes the automatic operation determined to be executable.

One aspect of the present disclosure is a control method for a work machine that includes a rotating body that rotates around a rotation center and a work machine having a work implement attached to the rotating body, the control method including the step of, when an instruction signal output from an operation unit that outputs an instruction signal related to an automatic operation including the work implement is input, determining which of a plurality of automatic operations is executable based on information related to the work implement, and executing the automatic operation determined to be executable.

One aspect of the present disclosure is a work machine that includes a rotating body that rotates around a rotation center, a work machine having a work implement and attached to the rotating body, and a control device that controls the rotating body and the work implement, and when an instruction signal is input from an operation unit that outputs an instruction signal related to an automatic operation including the work implement, the control device determines which of multiple automatic operations can be performed based on information related to the work implement, and executes the automatic operation determined to be executable.

The control device, control method, and work machine disclosed herein can improve usability.

1 is a schematic diagram showing a configuration of a work machine according to an embodiment of the present disclosure. FIG. FIG. 2 is a diagram showing the internal configuration of a driver's cab according to an embodiment of the present disclosure. FIG. 1 is a block diagram showing a configuration example of a control system according to an embodiment of the present disclosure. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a schematic diagram for explaining an example of the operation of the control device according to the embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure. 5 is a flowchart illustrating an example of the operation of the control device according to the embodiment of the present disclosure.

Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Note that the same or corresponding configurations in each drawing are designated by the same reference numerals and the description will be omitted as appropriate. FIG. 1 is a schematic diagram showing the configuration of a work machine according to an embodiment of the present disclosure. FIG. 2 is a diagram showing the internal configuration of a cab according to an embodiment of the present disclosure. FIG. 3 is a block diagram showing an example of the configuration of a control system according to an embodiment of the present disclosure. FIGS. 4 to 11 are schematic diagrams for explaining an example of the operation of a control device according to an embodiment of the present disclosure. FIGS. 12, 15, 18, 20, 22, and 24 to 27 are flowcharts showing an example of the operation of a control device according to an embodiment of the present disclosure. FIGS. 13, 14, 16, 17, 19, 21, and 23 are schematic diagrams for explaining an example of the operation of a control device according to an embodiment of the present disclosure.

(Configuration of work machine 100)
FIG. 1 shows a configuration of a work machine 100 according to an embodiment of the present disclosure. The work machine 100 operates at a construction site and works on a construction target such as soil and sand. The work machine 100 according to an embodiment of the present disclosure is, for example, a hydraulic excavator. However, the work machine according to the present disclosure is not limited as long as it is a work machine equipped with a revolving body and a working machine, which are actuators, and may be, for example, another work machine such as a face shovel or a rope shovel. In addition, the work machine may have an actuator that is not limited to hydraulic and is electrically operated. The work machine 100 includes a traveling body 110, a revolving body 120, a working machine 130, and a cab 140.

The running body 110 supports the work machine 100 so that it can run. The running body 110 has two tracks 111 on the left and right, and two travel motors 112 for driving each track 111. The rotating body 120 is supported on the running body 110 so that it can rotate around a rotation center.

The working machine 130 is hydraulically driven. The working machine 130 is supported at the front of the revolving body 120 so that it can be driven in the vertical direction. The cab 140 is a space where an operator sits and operates the work machine 100. The cab 140 is provided at the left front of the revolving body 120. In this embodiment, as shown in FIG. 1, the vertical direction (Z direction), the horizontal direction (Y direction), and the front-rear direction (X direction) are defined based on the revolving body 120. In this embodiment, this coordinate system is called a shovel coordinate system. Also, the part of the revolving body 120 to which the working machine 130 is attached is called the front part. Also, with respect to the revolving body 120, the opposite part is called the rear part, the left part is called the left part, and the right part is called the right part, based on the front part.

(Configuration of rotating body 120)
The swing body 120 includes an engine 121, a hydraulic pump 122, an EPC (Electromagnetic Proportional Control) valve 123-1, a main valve 123-2, a swing motor 124, and a fuel injection device 125. The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. A starter 1211 is provided in the engine 121. The engine 121 is started by the rotation of the starter 1211. The EPC valve 123-1 controls the hydraulic oil flowing to the main valve 123-2 based on an operation command signal output by the control device 61.

The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to each actuator via the main valve 123-2. Each actuator includes a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, and a swing motor 124. The main valve 123-2 controls the flow rate of hydraulic oil supplied from the hydraulic pump 122.

The swing motor 124 is driven by hydraulic oil supplied from the hydraulic pump 122 via the main valve 123-2, and rotates the swing body 120 around the swing axis 120C (center of swing). The fuel injection device 125 injects fuel into the engine 121.

(Configuration of the work machine 130)
The work machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. The boom cylinder 131C, the arm cylinder 132C, and the bucket cylinder 133C are included in the cylinder 130C shown in FIG. 3. In this embodiment, the bucket 133 is one configuration example of the "work tool" in this disclosure. In addition to the bucket, a tiltrotator, a quick coupler, a grapple, a magnet, a breaker, and the like may be attached as the work tool that is an attachment. These are also examples of the "work tool" in this disclosure.

The base end of the boom 131 is attached to the rotating body 120 via a boom pin. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin. The bucket 133 is equipped with a blade for digging soil and the like and a storage section for storing the excavated soil. The base end of the bucket 133 is attached to the tip of the arm 132 via a bucket pin 133P.

The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. The base end of the boom cylinder 131C is attached to the rotating body 120. The tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end of the arm cylinder 132C is attached to the boom 131. The tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end of the bucket cylinder 133C is attached to the arm 132. The tip end of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

(Configuration of the cab 140)
2 shows the internal configuration of the cab 140 according to the embodiment of the present disclosure. A driver's seat 142, an operating device 143, and the like are provided in the cab 140.

The operation device 143 is a device for driving the traveling body 110, the rotating body 120, and the work machine 130 by manual operation by the operator, setting and changing various setting values, and providing information to the operator. The operation device 143 is composed of, for example, a lever, a switch, and a pedal. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, a right travel lever 143RT, and a display input device 143D. In this embodiment, the switch is a component that generates or changes a predetermined signal by being operated by the operator. In this embodiment, the switch is one example of the configuration of the "operation unit" in this disclosure. As the switch, various switches such as a push button switch, a rocker switch, and a toggle switch may be used. In addition, the switch may be provided within a range that can be operated by the operator. The switch is provided around the driver's seat provided in the driver's cab 140 or a remote control room. For example, it may be provided on a console to the side of the driver's seat 142, or on a transmitter that outputs operation commands to the work machine 100 from outside the work machine 100.

The left operating lever 143LO is provided on the left side of the driver's seat 142. The right operating lever 143RO is provided on the right side of the driver's seat 142.

The left operation lever 143LO is an operation mechanism for performing the rotation operation of the revolving body 120 and the excavation/dumping operation of the arm 132. Specifically, when the operator of the work machine 100 tilts the left operation lever 143LO forward, the arm 132 performs the dumping operation. When the operator of the work machine 100 tilts the left operation lever 143LO backward, the arm 132 performs the excavation operation. When the operator of the work machine 100 tilts the left operation lever 143LO to the right, the revolving body 120 rotates to the right. When the operator of the work machine 100 tilts the left operation lever 143LO to the left, the revolving body 120 rotates to the left. In other embodiments, the revolving body 120 may rotate to the right or left when the left operation lever 143LO is tilted in the forward/rearward direction, and the arm 132 may perform the excavation operation or the dumping operation when the left operation lever 143LO is tilted in the left/right direction. The left operating lever 143LO is provided with, for example, an operating switch 1433. The operating switch 1433 is provided on the top or side of the operating lever. When the operating switch 1433 is turned ON, for example, a horn may sound.

The right operation lever 143RO is an operation mechanism for performing the excavation/dumping operation of the bucket 133 and the raising/lowering operation of the boom 131. Specifically, when the operator of the work machine 100 tilts the right operation lever 143RO forward, the boom 131 is lowered. When the operator of the work machine 100 tilts the right operation lever 143RO backward, the boom 131 is raised. When the operator of the work machine 100 tilts the right operation lever 143RO to the right, the bucket 133 is dumped. When the operator of the work machine 100 tilts the right operation lever 143RO to the left, the bucket 133 is excavated. In other embodiments, when the right operation lever 143RO is tilted in the forward/rearward direction, the bucket 133 is dumped or excavated, and when the right operation lever 143RO is tilted in the left/right direction, the boom 131 is raised or lowered. The right operation lever 143RO is provided with, for example, operation switches 1431 and 1432. In this embodiment, the operation switch 1431 is set to function as a teaching switch, and the operation switch 1432 is set to function as an automatic start switch (hereinafter, each switch is also referred to as the teaching switch 1431 and the automatic start switch 1432 (or simply "switch"). The switches 1431 and 1432 are provided on the upper part or side of the operation lever. The teaching switch and the automatic start switch are examples of switches for automatic control. For example, when the automatic start switch is turned ON, it outputs an instruction signal to the control device 61 to start an automatic operation including the work machine 130. In addition, the switch may be a signal related to an automatic operation other than automatic start, and may be a switch that outputs an automatic stop signal, for example. In addition, for example, the allocation of the function of the switch is not limited to the automatic control of loading rotation and return rotation, but may be performed for automatic control such as automatic soil removal that automatically performs soil removal operation by the bucket 133 and automatic excavation that automatically performs excavation operation. For example, automatic excavation, loading rotation, return rotation, and automatic soil removal may each be assigned to two or more switches. In addition, automatic operations may be assigned by providing multiple switches to one operating lever, or may be divided into multiple operating levers, with one or more switches provided on each operating lever.

The left foot pedal 143LF is located on the left side of the floor surface in front of the driver's seat 142. The right foot pedal 143RF is located on the right side of the floor surface in front of the driver's seat 142. The left travel lever 143LT is pivoted to the left foot pedal 143LF and configured so that the tilt of the left travel lever 143LT and the depression of the left foot pedal 143LF are linked. The right travel lever 143RT is pivoted to the right foot pedal 143RF and configured so that the tilt of the right travel lever 143RT and the depression of the right foot pedal 143RF are linked.

The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left track of the running body 110. Specifically, when the operator of the work machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT forward, the left track rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT backward, the left track rotates in the reverse direction.

The right foot pedal 143RF and the right travel lever 143RT correspond to the rotational drive of the right track of the running body 110. Specifically, when the operator of the work machine 100 pushes the right foot pedal 143RF or the right travel lever 143RT forward, the right track rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the right foot pedal 143RF or the right travel lever 143RT backward, the right track rotates in the reverse direction.

The display input device 143D is a device that combines a display device with a sensor that detects touch operations on the display screen. For example, an operator can use the display input device 143D to set or change various setting values. Note that the display input device 143D may be a separate device consisting of a display device having a display unit and an input unit consisting of switches and the like for inputting the operator's instructions.

(sensors, etc.)
As shown in Fig. 3, the control system 60 of the work machine 100 includes a control device 61, an operation device 143, etc., and various sensors. Note that in Fig. 3, the hydraulic system circuit is indicated by a thick line. In the example shown in Fig. 3, the control system 60 includes an attitude angle sensor 151, a GNSS (Global Navigation Satellite System) sensor 152, and an IMU (Inertial Measurement Unit) 153.

The attitude angle sensor 151 includes a boom attitude angle sensor, an arm attitude angle sensor, and a bucket attitude angle sensor. The boom attitude angle sensor measures the attitude angle of the boom cylinder 131C. The arm attitude angle sensor measures the attitude angle of the arm cylinder 132C. The bucket attitude angle sensor measures the attitude angle of the bucket cylinder 133C.

The GNSS sensor 152 calculates the position of the revolving body 120 and the azimuth in which the revolving body 120 faces. The GNSS sensor 152 has two receivers 161 and 162 that receive positioning signals from artificial satellites that constitute the GNSS. The two receivers 161 and 162 are installed at different positions on the revolving body 120. The GNSS sensor 152 detects the position of the representative point of the revolving body 120 (the origin of the shovel coordinate system) in the site coordinate system based on the positioning signals received by the receivers 161 and 162. The GNSS sensor 152 uses the positioning signals received by the two receivers 161 and 162 to calculate the azimuth in which the revolving body 120 faces as the relationship between the installation position of one receiver and the installation position of the other receiver. The azimuth angle of the rotating body 120 (also called the vehicle azimuth angle) is the front direction (X direction) of the rotating body 120, and is equal to the horizontal component of the extension direction of the straight line extending from the boom 131 of the work machine 130 to the bucket 133.

The IMU 153 measures the acceleration and angular velocity of the rotating body 120, and detects the attitude (e.g., roll angle and pitch angle) of the rotating body 120 based on the measurement results. The IMU 153 is installed, for example, on the underside of the rotating body 120.

Examples of other sensors that the work machine 100 may include a stereo camera, a LiDAR (Light Detection and Ranging) device, and a laser scanner. These sensors are installed, for example, so that their detection direction faces forward of the cab 140 of the work machine 100. These sensors identify the three-dimensional position of an object in a coordinate system based on the position of each sensor. These sensors may be installed on either the left or right side of the work machine 100, or on both sides, so that they face to the side of the work machine 100.

The work machine 100 is also equipped with, for example, a short-range communication device for vehicle-to-vehicle communication with other vehicles in the vicinity, a mobile communication device for connecting to a remote server, etc.

(Basic operation of the control device)
First, the basic operation of the control device 61 according to the embodiment of the present disclosure will be described with reference to FIG. 4 to FIG. 11. In this embodiment, the swing operation of automatically raising the boom 131 from a state where the bucket 133 is located outside the loading target due to excavation of the excavation target, swinging to a direction facing the loading target, and moving to the dumping point is called "loading swing". In addition, the operation of automatically lowering the boom 131 from a state where the bucket 133 is located above the loading target due to loading, swinging to a predetermined direction, and moving to the excavation start point is called "return swing". "Loading swing" and "return swing" are operations that automatically change the working machine and the rotating body, and are examples of "automatic operation including the working machine" in the present disclosure. Note that an example of the automatic operation may include automatic operation of either the working machine or the rotating body. The dumping point is a target point where loading or the like is performed, and is set, for example, to the loading platform of a dump truck, which is a transport vehicle, or the inlet of a land improvement machine, a hopper, or the like. However, the present disclosure is not limited thereto, and for example, the destination of excavated soil or the like when it is moved onto another ground surface can also be set as the dumping point. In the present disclosure, the dumping point is an example of a first target point (hereinafter also referred to as a loading rotation target point TLP) corresponding to the target position of unloading the bucket 133 or the like. In addition, the excavation start point is a target point of an automatic return operation after the completion of dumping, and is set, for example, to a point where excavation starts. In the present disclosure, the excavation start point is an example of a second target point (hereinafter also referred to as a return rotation target point TRP) corresponding to the target position of loading the bucket 133 or the like. In addition, in the present embodiment, the dumping point (loading rotation target point TLP), the excavation start point (return rotation target point TRP), and the interference avoidance point described later are collectively referred to as a reference point. In addition, in the present embodiment, the part of the work machine 100 corresponding to the reference point is the bucket pin 133P. The control device 61 sets the position of each reference point as a target value and controls the position of the bucket pin 133P. In addition, the loading turning target point TLP and the return turning target point TRP are collectively referred to as the target points.

Figure 4 shows a schematic diagram of a series of steps including manual excavation, loading rotation, manual soil dumping, and return rotation. For example, as shown in the upper left, the work machine 100 shown in Figure 4 loads soil or other cargo into the bucket 133 by manual excavation by the operator, and then when the operator operates the automatic start switch 1432, loading rotation is started as shown in the upper right, and the work machine 130 and the rotating body 120 automatically rotate to the loading rotation target point TLP by combined operation. Here, the operator manually dumps soil or other cargo from the bucket 133 (lower right diagram). After soil dumping is completed, when the operator operates the automatic start switch 1432, return rotation is started as shown in the lower left, and the work machine 130 and the rotating body 120 automatically rotate to the return rotation target point TRP by combined operation.

2 and 3, one automatic start switch 1432 is used for loading and return rotation, but two or more switches may be used. For example, the automatic start switch for loading rotation may be the automatic start switch 1432 shown in FIG. 2 (hereinafter also referred to as the loading rotation automatic start switch 1432), and the automatic start switch for return rotation may be the automatic start switch 1433 shown in FIG. 2 (hereinafter also referred to as the return rotation automatic start switch 1433), so that two automatic start switches are provided independently. The switches may be provided in a manner that is arbitrarily set by the operator, for example. The operation switch 1433 may be used for the horn, and a third operation switch may be provided on either the left or right operation lever to serve as the automatic start switch for return rotation.

Next, the interference avoidance point will be described with reference to FIG. 5. FIG. 5 shows a schematic positional relationship between the work machine 100 and the dump truck 200, which is the loading target of the loading of soil and sand. The dump truck 200 is equipped with a cab 201, a loading platform 202, and a tailgate 203. In the example shown in FIG. 5, the work machine 100 moves the bucket 133 (133a) at the automatic turning start point (SP) to the loading target point (TLP) via the interference avoidance point (EVP) by the loading swing when the automatic start switch 1432 is operated. The posture of the bucket 133 (133b) when the loading target point (TLP) is reached is the hoisting posture (also referred to as the loading posture in this embodiment). Here, the operator sets the posture of the bucket 133 to the dump posture (also referred to as the unloading posture in this embodiment) (bucket 133 (133c)) and performs the soil discharge work. Here, the interference avoidance point (EVP) is a point (position information) that indicates the boundary of an area set so as not to collide with the loading platform 202 of the dump truck 200 during loading operation (loading rotation). In this embodiment, only a rotation operation is performed on the side of the earth discharge point (loading rotation target point TLP) from this boundary. The interference avoidance point (EVP) can be set, for example, based on teaching in which the operator actually operates the work machine 130 to set the position and attitude. At that time, as shown in FIG. 5, for example, the interference avoidance point (EVP) is set with a certain margin in the vertical and horizontal directions with respect to the interference avoidance point (teaching position) registered by the operator. The automatic rotation start point (SP) is the position of the bucket pin 133P at the start of loading rotation or return rotation, and is the position when the operator operates the automatic start switch 1432. In addition, hereinafter, the automatic rotation start point (SP) is also called the start point. The automatic turning start point (SP) may be a specific position of the work machine 130 at the start of the loading turn or return turn, such as the left or right end of the bucket 133 or the cutting edge.

Figure 6 shows an example of the change in the turning angle and bucket pin height during loading turning. The horizontal axis is the turning angle, and the vertical axis is the bucket pin height. In Figure 6, the turning angle of the automatic turning start point (SP) is shown as the starting angle, the turning angle of the interference avoidance point (EVP) is shown as the interference avoidance point angle, and the turning angle of the loading turning target point (TLP) is shown as the target angle. In addition, the height of the automatic turning start point (SP) is shown as the starting height, the height of the interference avoidance point (EVP) is shown as the interference avoidance point height, and the height of the loading turning target point (TLP) is shown as the target height. In addition, the interference area with the dump truck is shown shaded. In the example shown in Figure 6, from the automatic turning start point (SP) to the interference avoidance point (EVP), the control of the rotating body 120 and the control of the work machine 130 are executed in parallel, so that the bucket pin height reaches the interference starting point height before the turning angle reaches the interference avoidance point angle. Furthermore, after reaching the interference avoidance point, the rotation angle reaches the target angle through independent control of the rotating body 120. The loading rotation operation includes a rotation region in which the rotating body 120 and the boom 131 operate simultaneously. The operation of the boom 131 for loading rotation may be boom raising or boom lowering. For example, if the height of the automatic rotation start point is higher than the interference avoidance point, a boom lowering operation may be performed.

On the other hand, Figures 7 and 8 show examples of changes in the swing angle and bucket pin height during return swing. Figure 7 shows an example in which the height of the automatic swing start point (SP) is equal to the height of the interference avoidance point (EVP), and Figure 8 shows an example in which the height of the automatic swing start point (SP) is lower than the height of the interference avoidance point (EVP). In the example shown in Figure 7, the bucket pin height is maintained at the start height until the interference avoidance point is reached, and the swing angle is changed from the start angle to the interference avoidance point angle by the independent control of the swing body 120. After the interference avoidance point is reached, both the bucket pin height and the swing angle are changed by executing the control of the swing body 120 and the control of the work machine 130 in parallel, and the bucket pin height and the swing angle are changed to the target height and target angle. In the example shown in Figure 8, the bucket pin height is first changed by the independent control of the work machine 130 until the bucket pin height reaches the interference avoidance point height. After reaching the interference avoidance point height, the bucket pin height is maintained at the start height until the interference avoidance point is reached, and the swing angle is changed from the start angle to the interference avoidance point angle by the sole control of the rotating body 120. After reaching the interference avoidance point, the control of the rotating body 120 and the control of the work machine 130 are executed in parallel, so that both the bucket pin height and the swing angle change, and the target height and target angle are reached. In this embodiment, in the return swing, the attitude of the work machine 130 (the attitude of the bucket 133) is controlled to be the target attitude by the time the target angle and target height are reached. The return swing operation includes a swing region in which the rotating body 120 and the boom 131 are simultaneously operated. The operation of the boom 131 in the return swing may be a boom lowering operation or a boom raising operation. For example, if the target height is higher than the interference avoidance point, it may be a boom raising operation.

Figure 9 is an oblique view of an example of the operation during loading rotation. In addition to the tailgate 203, the dump truck 200 is equipped with a cobo lane (scattering prevention device) 204 and a hinge 205. The cobo lane 204 and the hinge 205 are examples of interference objects. In the example shown in Figure 9, the trajectory of the bucket pin extends from the automatic rotation start point (SP) to the interference avoidance point (EVP) by the operation of both the work machine 130 and the rotating body 120 (hereinafter referred to as combined operation), and continues from the interference avoidance point (EVP) to the loading rotation target point (TLP) by the independent operation of the rotating body 120.

Figure 10 is an oblique view of an example of operation during return rotation. In the example shown in Figure 10, the height of the automatic rotation start point (SP) is higher than the height of the interference avoidance point (EVP). In addition, the positions of the automatic rotation start point (SP) and the interference avoidance point (EVP) are different. In this case, in this embodiment, avoidance of interference with an interfering object is ensured based on a vertical plane (interference avoidance vertical plane (VS)) that includes the rotation axis 120C of the rotating body 120 and the interference avoidance point (EVP). Note that in this embodiment, the interference avoidance vertical plane (VS) and the interference avoidance plane (HS) described later are collectively referred to as the interference avoidance plane. In this example, the trajectory of the bucket pin extends from the automatic rotation start point (SP) until it passes through the interference avoidance vertical plane (VS) by the independent movement of the rotating body 120, and after passing through the interference avoidance vertical plane (VS), it continues to the return rotation target point (TRP) by the combined movement of the work machine 130 and the rotating body 120.

Figure 11 is an oblique view of an example of operation during a return turn. In the example shown in Figure 11, the height of the automatic turn start point (SP) is lower than the height of the interference avoidance point (EVP). In addition, the positions of the automatic turn start point (SP) and the interference avoidance point (EVP) are different. In this case, in this embodiment, the work machine 130 is controlled based on a horizontal plane (interference avoidance plane (HS)) including the interference avoidance point (EVP) until the height of the bucket pin 133P becomes equal to or higher than the height of the interference avoidance plane (HS). Thereafter, similar to the example shown in Figure 10, interference avoidance with an interfering object is ensured based on the interference avoidance vertical plane (VS). In this example, the trajectory of the bucket pin rises from the automatic rotation start point (SP) until it reaches the interference avoidance plane (HS), then extends by the independent movement of the rotating body 120 until it passes through the interference avoidance vertical plane (VS), and after passing through the interference avoidance vertical plane (VS), it continues to the return rotation target point (TRP) by the combined movement of the work machine 130 and the rotating body 120.

(Configuration of the control device)
3, the control device 61 can be configured using a computer such as a microcontroller, and includes an automatic turning control unit 62, a storage unit 63, and an operation command switching unit 64 as a functional configuration configured by a combination of hardware such as a computer, peripheral devices and peripheral circuits of the computer, and software such as a program executed by the computer. The automatic turning control unit 62 also includes an information input/output unit 621, a reference point setting unit 622, a turning direction setting unit 623, a start instruction receiving unit 624, an operation command switching control unit 625, and an operation command signal generating unit 626. The storage unit 63 also stores information 631 indicating the target working machine attitude and vehicle body azimuth (earth removal target point, interference avoidance point, excavation start point), etc.

The automatic rotation control unit 62 generates an operation command signal (automatic) and outputs it to the EPC valve 123-1 via the operation command switching unit 64, thereby driving the rotating body 120 and the work machine 130. Note that the actuator that automatically operates with the operation command signal generated by the control device without the operation of the operator is an actuator that corresponds to the automatic operation assigned to the instruction signal output by the operation of the operation switch. In this embodiment, the automatic rotation control unit 62 receives an instruction signal from the automatic start switch 1432, which outputs an instruction signal related to an automatic operation including the work machine, and executes the automatic operation of the input instruction signal when the automatic operation assigned to the input instruction signal is the same as the executable automatic operation based on information indicating the position, attitude, surrounding conditions, etc. related to the bucket 133 (an example of "information related to the work machine" in this disclosure). In this case, the automatic turning control unit 62 may execute the automatic action of the instruction signal when the automatic action assigned to the instruction signal is the same as the executable automatic action based on the information about the bucket 133, or may not execute the automatic action of the instruction signal when the automatic action assigned to the instruction signal is the same as the infeasible automatic action based on the information about the bucket 133. Note that the automatic turning control unit 62 does not execute the automatic action of the instruction signal when the automatic action assigned to the instruction signal is not the same as the executable automatic action based on the information about the bucket 133.

The information input/output unit 621 inputs predetermined information output by the operation device 143, the attitude angle sensor 151, the GNSS sensor 152, the IMU 153, etc., and outputs predetermined display information to the display input device 143D. The information input/output unit 621 inputs, for example, an instruction signal from an automatic start switch 1432 (operation unit) that outputs an instruction signal regarding an automatic operation including the work machine 130 equipped with a work tool such as the boom 131, the arm 132, or the bucket 133.

The reference point setting unit 622 sets a loading turning target point TLP (earth unloading point), a return turning target point TRP (digging start point), and an interference avoidance point (EVP). In this embodiment, these reference points can be set by the operator teaching, or a three-dimensional map or the like is created as described in Patent Document 1, and the reference points can be set based on the created three-dimensional map. The method of setting can be, for example, selected arbitrarily by the operator. Here, an example of setting by the operator teaching will be described.
The reference point setting unit 622 causes the display input device 143D to display an instruction to move the bucket 133 to the excavation start point. The operator operates the operation device 143 to move the bucket 133 to the excavation start point, and inputs a completion of the movement to the excavation start point to the display input device 143D.
Next, the reference point setting unit 622 causes the display input device 143D to display an instruction to move the bucket 133 to the interference avoidance point. The operator operates the operation device 143 to move the bucket 133 to the interference avoidance point, and inputs a completion of the movement to the interference avoidance point to the display input device 143D.
Next, the reference point setting unit 622 causes the display input device 143D to display an instruction to move the bucket 133 to the earth unloading point. The operator operates the operation device 143 to move the bucket 133 to the earth unloading point, and inputs a completion of the movement to the earth unloading point to the display input device 143D.

The reference point setting unit 622 displays an instruction to move to the reference point on the display input device 143D, and stores information on the position and attitude of the work machine 130 acquired based on the excavator coordinate system at each reference point, the rotation angle of the rotating body 120, etc., in the storage unit 63 as information 631 based on the operator's input operation on the display input device 143D and the information input by the information input/output unit 621. The reference point setting unit 622 can change the setting of the reference point at any timing. That is, the reference point setting unit 622 can set the loading rotation target point TLP (earth unloading point), the return rotation target point TRP (digging start point), and the interference avoidance point (EVP) once before performing automatic rotation, and can perform the setting at any timing, for example, during work. In this case, for example, fine adjustments of the loading rotation target point TLP (earth unloading point) and the return rotation target point TRP (digging start point) can be made as appropriate.

The rotation direction setting unit 623 sets the rotation direction of the work machine 130. The rotation direction setting unit 623 sets the rotation direction in the loading rotation control (first rotation control) and the return rotation control (second rotation control) according to the rotation direction of the rotating body 120 in which interference with an interfering object may occur in the loading rotation control (first rotation control) and the return rotation control (second rotation control).

The turning direction setting unit 623 sets the turning direction in a direction in which the bucket 133 crosses the interference avoidance point (EVP) to reach the loading turning target point TLP (first target point) corresponding to the unloading position (target position for unloading) or the bucket 133 crosses the interference avoidance point (EVP) to reach the return turning target point TRP (second target point) corresponding to the excavation start position (target position for loading). FIG. 12 shows an example of the operation of the turning direction setting unit 623 in this case. The process shown in FIG. 12 is started when the automatic start switch is operated. When the process shown in FIG. 12 is started, the turning direction setting unit 623 first acquires the target angle described with reference to FIG. 6 or FIG. 7 (step S101). Next, the turning direction setting unit 623 acquires the interference avoidance point angle (step S102). Next, the turning direction setting unit 623 determines whether the target angle is reached by crossing the interference avoidance point angle when turning left (step S103). If the target angle is reached by crossing the interference avoidance point angle when turning left (step S103: YES), the turning direction setting unit 623 sets the turning direction to a left turn (step S104) and ends the process shown in FIG. 12. If the target angle is not reached by crossing the interference avoidance point angle when turning left (step S103: NO), the turning direction setting unit 623 sets the turning direction to a right turn (step S105) and ends the process shown in FIG. 12. FIG. 13 shows an example when the turning direction is set to a left turn. FIG. 14 shows an example when the turning direction is set to a right turn. In this case, since the loading turn or return turn is performed in the direction of the taught interference avoidance point, it is possible to prevent the user from becoming unclear in which direction to turn when turning nearly 180 degrees, for example.

In addition, for example, when the target of unloading (loading, dumping, etc.) is the dump truck 200 and the interfering object is the cab 201 of the dump truck 200, the turning direction setting unit 623 sets the turning direction in a direction that does not cause interference with the cab 201 of the dump truck 200 based on the positional relationship between the turning center (turning axis 120C) and the dump truck 200. Figure 15 shows an example of the operation of the turning direction setting unit 623 in this case. The process shown in Figure 15 is started when the automatic start switch 1432 is operated. When the process shown in Figure 15 is started, the turning direction setting unit 623 acquires the position information of the discharge target point P0 and the position coordinates of the four truck contour points P1 to P4 shown in Figure 16 or Figure 17 based on the excavator coordinate system (step S201). The position coordinates of the four track contour points P1 to P4 can be obtained, for example, by vehicle-to-vehicle communication or by using an external sensor such as a LiDAR device, a radar scanner, or a camera provided on the work machine 100. Next, the turning direction setting unit 623 calculates a vector (vector a) connecting the origin (turning axis 120C) of the shovel coordinate system and the earth removal target point P0 (step S202). Next, the turning direction setting unit 623 calculates a vector (vector b) of the X-axis of the truck coordinate system (step S203). The truck coordinate system is a coordinate system based on the position and orientation of the dump truck 200. Next, the turning direction setting unit 623 determines whether the angle between the vector a and the vector b is greater than 0 degrees (step S204). If the angle between the vector a and the vector b is greater than 0 degrees, the turning direction setting unit 623 sets the turning direction to the right (step S205) and ends the processing shown in FIG. 15. If the angle between vector a and vector b is not greater than 0 degrees, the turning direction setting unit 623 sets the turning direction to the left (step S206) and ends the process shown in FIG. 15. In the example shown in FIG. 16, the turning direction is set to the right because the angle is greater than 0. In the example shown in FIG. 17, the turning direction is set to the left because the angle is not greater than 0. In this case, the work machine 130 can approach from the rear side of the bed 202 of the dump truck 200, which is preferable compared to passing over the cab 201. Note that when the angle between vector a and vector b is near 0 degrees within a predetermined range from the preset 0 degrees, the automatic turning may be performed in the direction that results in the minimum turning angle.

The turning direction setting unit 623 may be set manually based on, for example, an operator's input operation to the display input device 143D. The turning direction setting unit 623 may also set the turning direction in a direction that results in a minimum turning angle, for example, in the case of a hopper or earth dumping work on the ground where there are no obstructions. The setting method may be selected by the operator at will, for example, by touching the input screen.

When the automatic start switch 1432 is a single operation switch, the start instruction receiving unit 624 receives, when the automatic start switch 1432 (a specified operation unit) is operated, an instruction to start loading rotation control (first rotation control for moving the bucket to a first target point corresponding to the target position for unloading) or an instruction to start return rotation control (second rotation control for moving the bucket to a second target point corresponding to the target position for loading). With this configuration, it is possible to instruct the start of rotation using a single operation switch.

In addition, when the automatic start switch 1432 is a single operation switch, the start instruction receiving unit 624 receives the operation of the automatic start switch 1432 as an instruction to start the return turning control (second turning control) when the bucket 133 is above the loading platform 202 or the vessel 206 of the dump truck 200 (when the bucket is within a predetermined range from the first target point) as shown in FIG. 19, or receives the operation as an instruction to start the loading turning control (first turning control) when the bucket 133 is not above the loading platform 202 or the vessel 206 of the dump truck 200 (hereinafter, simply referred to as the vessel 206) (when the bucket is not within a predetermined range from the first target point). Note that in FIG. 19, positions P5 and P6 are the positions of the ends of the cab 201. FIG. 18 shows an example of the operation of the start instruction receiving unit 624 in this case. The process shown in FIG. 18 is started when the automatic start switch 1432 is operated. When the process shown in Fig. 18 is started, the start instruction receiving unit 624 acquires position information of the vessel 206 (step S301). Next, the start instruction receiving unit 624 acquires position information of the bucket 133 (step S302). For example, the position of the bucket 133 is the position of the bucket pin 133P in the shovel coordinate system, and also includes the orientation in which the revolving body 120 faces. Next, the start instruction receiving unit 624 determines whether or not the bucket 133 is above the vessel 206 (step S303). If the bucket 133 is above the vessel 206 (step S303: YES), the start instruction receiving unit 624 sets the revolving mode (type of revolving control) to return revolving (step S304), and ends the process shown in Fig. 18. If the bucket 133 is not above the vessel 206 (step S303: NO), the start command receiving unit 624 sets the rotation mode to loading rotation (step S305) and ends the processing shown in FIG. 18.

In addition, when the automatic start switch 1432 is a single operation switch, the start instruction receiving unit 624 receives the operation of the automatic start switch 1432 as an instruction to start return swing control (second swing control) when the bucket 133 is in a dump position (the bucket 133 is in a predetermined unloading position) as shown in FIG. 21, or receives the operation as an instruction to start loading swing control (first swing control) when the bucket 133 is in a holding position (the bucket 133 is in a predetermined loading position) as shown in FIG. 23, in the case where the automatic start switch 1432 is a single operation switch, the start instruction receiving unit 624 receives the operation of the automatic start switch 1432 as an instruction to start return swing control (second swing control) when the bucket 133 is in a holding position (the bucket 133 is in a predetermined loading position) as shown in FIG. 23. In this case, the swing mode can be set by the work machine 100 alone. An example of the operation in this case is shown in FIG. 20 and FIG. 22. The dump position is a position in which the load in the bucket 133 is being discharged. The dump position is a position in which the blade tip 133T of the bucket 133 faces away from the work machine 100 than the position in which the blade tip 133T of the bucket 133 faces vertically as shown in FIG. 21 (dashed line DL in FIG. 21). The hoarding posture is a posture in which a load is loaded into the bucket 133. The hoarding posture is a posture in which the blade tip 133T of the bucket 133 faces in a direction approaching the work machine 100 rather than a posture in which the blade tip 133T of the bucket 133 faces in the vertical direction, as shown by the dashed line DL in FIG. 23, for example. It is preferable that the blade tip 133T faces upward in the approaching direction, more than perpendicular to the vertical direction, as shown by the dashed line DL in FIG. 21. The posture of the bucket 133 may be corrected by the pitch angle of the work machine 100.

The process shown in FIG. 20 is started when the automatic start switch 1432 is operated. When the process shown in FIG. 20 is started, the start instruction receiving unit 624 acquires attitude information of the bucket 133 (step S401). Next, the start instruction receiving unit 624 determines whether the bucket 133 is in a dump attitude (step S402). If the bucket 133 is in a dump attitude (step S402: YES), the start instruction receiving unit 624 sets the rotation mode to return rotation (step S403) and ends the process shown in FIG. 20. If the bucket 133 is not in a dump attitude (step S402: NO), the start instruction receiving unit 624 sets the rotation mode to loading rotation (step S404) and ends the process shown in FIG. 20.

22 is started when the automatic start switch 1432 is operated. When the process shown in FIG. 22 is started, the start instruction receiving unit 624 acquires posture information of the bucket 133 (step S501). Next, the start instruction receiving unit 624 determines whether the bucket 133 is in a hoisting posture (step S502). If the bucket 133 is in a hoisting posture (step S502: YES), the start instruction receiving unit 624 sets the rotation mode to loading rotation (step S503) and ends the process shown in FIG. 22. If the bucket 133 is not in a hoisting posture (step S502: NO), the start instruction receiving unit 624 sets the rotation mode to return rotation (step S504) and ends the process shown in FIG. 22.

In addition, when the automatic start switch 1432 is a single operation switch, the start instruction receiving unit 624 may not accept the switch operation when the switch is operated, for example, as shown in FIG. 19, even if the bucket 133 is above the bed 202 or vessel 206 of the dump truck 200 (even if the bucket is within a predetermined range from the first target point) and the bucket 133 is not in a dumping position (when the bucket is not in a predetermined unloading position), or may not accept the switch operation when the bucket 133 is not above the bed 202 or vessel 206 of the dump truck 200 (even if the bucket is not within a predetermined range from the first target point) and the bucket 133 is not in a hoisting position (when the bucket is not in a predetermined loading position). An example of the operation in this case is shown in FIG. 24.

The process shown in FIG. 24 is started when the automatic start switch 1432 is operated. When the process shown in FIG. 24 is started, the start instruction receiving unit 624 acquires position information of the vessel 206 (step S601), and acquires position and posture information of the bucket 133 (step S602). For example, the position of the bucket 133 is the position of the bucket pin 133P in the shovel coordinate system, and also includes the orientation in which the rotating body 120 faces. Next, the start instruction receiving unit 624 determines whether the bucket 133 is above the vessel 206 (step S603). If the bucket 133 is above the vessel 206 (step S603: YES), the start instruction receiving unit 624 determines whether the bucket 133 is in a dump posture (step S604). If the bucket 133 is in the dump position (step S604: YES), the start instruction receiving unit 624 sets the rotation mode to return rotation (step S607) and ends the process shown in FIG. 24. If the bucket 133 is not in the dump position (step S604: NO), the start instruction receiving unit 624 does not activate automatic rotation (step S605), and outputs a display or sound to the display input device 143D for a predetermined period of time, for example, that the position or posture of the bucket 133 is inappropriate (step S606), and ends the process shown in FIG. 24. Note that step S601 does not have to be included.

If the bucket 133 is not above the vessel 206 (step S603: NO), the start instruction receiving unit 624 determines whether the bucket 133 is in a hoisting position (step S608). If the bucket 133 is in a hoisting position (step S608: YES), the start instruction receiving unit 624 sets the rotation mode to loading rotation (step S609) and ends the process shown in FIG. 24. If the bucket 133 is not in a hoisting position (step S608: NO), the start instruction receiving unit 624 does not activate automatic rotation (step S610), and outputs a display or sound to the display input device 143D for a predetermined time, for example, that the position or posture of the bucket 133 is inappropriate (step S611), and ends the process shown in FIG. 24. This configuration makes it possible to prevent automatic rotation control from being executed when the position or posture of the bucket 133 is inappropriate. In the above example of an automatic start switch with a single operating switch, the automatic operations were loading swing control and return swing control, but the automatic start switch may be one that starts two or more automatic operations. For example, it may further include an excavation operation or an automatic soil discharge operation. Based on the posture of the work implement, including the posture of the arm, boom, etc., which are work implements other than the bucket, it may be determined that the operation is an excavation operation or an automatic soil discharge operation, and the appropriate automatic operation may be started. In addition, the combination of automatic operations started by the switch may be any combination of automatic operations, such as a combination of loading swing control and automatic soil discharge.

In addition, when the automatic start switch 1432 is two switches (for example, when the loading rotation automatic start switch 1432 and the return rotation automatic start switch 1433 are provided), the start instruction receiving unit 624 may receive the operation of the loading rotation automatic start switch 1432 or the return rotation automatic start switch 1433 (first operation unit or second operation unit) as an instruction to start the loading rotation control (first rotation control) or the return rotation control (second rotation control) only when at least one of the position or posture of the bucket 133 satisfies a predetermined condition (only when at least one of the position or posture of the bucket satisfies a predetermined condition). For example, when one automatic start switch is provided on the left operation lever and the other automatic start switch is provided on the right operation lever, the automatic rotation control can be prevented from starting if the operator mistakenly operates the loading rotation automatic start switch 1432 and the return rotation automatic start switch 1433. In addition, when multiple automatic start switches are provided on one operating lever, it can become more difficult to operate the automatic operation switch, but even in this case, erroneous operation can be suppressed.

The start instruction receiving unit 624 can, for example, accept the return rotation automatic start switch 1433 (second operation unit) as an instruction to start return rotation control (second rotation control) only when the bucket 133 is above the vessel 206 (only when the bucket is within a predetermined range from the first target point) when the return rotation automatic start switch 1433 (second operation unit) is operated, or accept the load rotation control (first rotation control) as an instruction to start loading rotation control (first rotation control) only when the bucket 133 is not above the vessel 206 (only when the bucket is not within a predetermined range from the first target point) when the loading rotation automatic start switch 1432 (first operation unit) is operated. An example of the operation in this case is shown in FIG. 25.

The process shown in FIG. 25 is started when the loading rotation automatic start switch 1432 is operated. When the process shown in FIG. 25 is started, the start instruction receiving unit 624 acquires the position information of the vessel 206 (step S701) and acquires the position information of the bucket 133 (step S702). For example, the position of the bucket 133 is the position of the bucket pin 133P in the shovel coordinate system, and also includes the direction in which the rotating body 120 faces. Next, the start instruction receiving unit 624 determines whether the bucket 133 is above the vessel 206 (step S703). If the bucket 133 is above the vessel 206 (step S703: YES), the start instruction receiving unit 624 does not activate the automatic rotation (step S704), and outputs a display or sound to the display input device 143D for a predetermined time, for example, to the effect that the position or posture of the bucket 133 is inappropriate (step S705), and ends the process shown in FIG. 25. If the bucket 133 is not above the vessel 206 (step S703: YES), the start instruction receiving unit 624 sets the rotation mode to loading rotation (step S706) and ends the process shown in FIG. 25. Note that step S701 does not necessarily have to be included.

The start instruction receiving unit 624 may, for example, accept the operation of the loading rotation automatic start switch 1432 (first operation unit) as an instruction to start loading rotation control (first rotation control) only when the bucket 133 is in a hoisting position (the bucket is in a specified loading position) when the loading rotation automatic start switch 1432 (first operation unit) is operated, or may accept the operation of the return rotation automatic start switch 1433 (second operation unit) as an instruction to start return rotation control (second rotation control) only when the bucket 133 is in a dump position (the bucket is in a specified unloading position). An example of the operation in this case is shown in FIG. 26.

26 is started when the loading swing automatic start switch 1432 is operated. When the processing shown in FIG. 26 is started, the start instruction receiving unit 624 acquires the attitude information of the bucket 133 (step S801). Next, the start instruction receiving unit 624 determines whether the bucket 133 is in a dump attitude (step S802). If the bucket 133 is in a dump attitude (step S802: YES), the start instruction receiving unit 624 does not activate the automatic swing (step S803), and outputs a display or sound to the display input device 143D that the attitude of the bucket 133 is inappropriate for a predetermined time, for example (step S804), and ends the processing shown in FIG. 26. If the bucket 133 is not in a dump attitude (step S802: NO), the start instruction receiving unit 624 sets the swing mode to loading swing (step S805), and ends the processing shown in FIG. 26.

The manner in which the above-mentioned multiple start instruction receiving units 624 operate can be selected by the operator, for example.

The operation command switching control unit 625 controls the operation command switching unit 64 to output from the operation command switching unit 64 either an operation command signal (manual) generated in response to an operation of the operator on the operation device 143, or an operation command signal (automatic) generated by the operation command signal generating unit 626. For example, when the operation command signal generating unit 626 generates and outputs an operation command signal (automatic), the operation command switching control unit 625 selects the operation command signal (automatic) and outputs it from the operation command switching unit 64.

The operation command signal generating unit 626 is one example configuration of a control unit according to the present disclosure. The operation command signal generating unit 626 (control unit) generates and outputs an operation command signal for performing loading swing control or return swing control in response to a predetermined instruction (e.g., operation of the automatic start switch 1432). The operation command signal generating unit 626 controls the movement of the bucket 133 in the loading swing control and return swing control based on, for example, an interference avoidance point.

The operation command signal generating unit 626 also executes loading turning control when the start instruction receiving unit 624 receives the operation of the automatic start switch 1432 as an instruction to start loading turning control, and executes return turning control when the start instruction receiving unit 624 receives the operation of the automatic start switch 1432 as an instruction to start return turning control.

The operation command signal generating unit 626 also performs loading turning control based on the loading turning target point TLP and the interference avoidance point EVP, and performs return turning control based on the return turning target point TRP and the interference avoidance vertical plane VS (interference avoidance surface) that includes the interference avoidance point EVP.

In addition, when the interference avoidance plane is an interference avoidance vertical plane VS including the rotation axis 120C passing through the rotation center and the interference avoidance point EVP, the operation command signal generating unit 626 sets the height of the bucket pin 133P of the bucket 133 (the specified height of the bucket) to be equal to or higher than the height of the interference avoidance point EVP from the start of the return rotation control until passing through the interference avoidance vertical plane VS.

In addition, the operation command signal generating unit 626 performs a combination of control of the attitude of the work machine 130 and control of the rotation of the rotating body 120 in one of the first and second regions bounded by the interference avoidance surface, and performs only control of the rotation of the rotating body 120 in the other region.

In addition, the operation command signal generating unit 626 executes loading rotation control when the start instruction receiving unit 624 receives the operation of the loading rotation automatic start switch 1432 as an instruction to start loading rotation control, and executes return rotation control when the start instruction receiving unit 624 receives the operation of the return rotation automatic start switch 1433 as an instruction to start return rotation control.

Figure 27 shows an example of the operation of the operation command signal generating unit 626. The operation shown in Figure 27 is started when the automatic start switch 1432 is operated and the turning direction and turning mode are set. When the process shown in Figure 27 is started, the operation command signal generating unit 626 determines whether the turning mode is set to loading turning (step S901). If the turning mode is set to loading turning (step S901: YES), the operation command signal generating unit 626 executes turning control and work machine control in parallel in the set turning direction up to the interference avoidance point (step S902), and after passing the interference avoidance point, executes turning control alone up to the loading turning target point (step S903), and ends the process shown in Figure 27.

If the turning mode is not set to loading turning (step S901: NO), the operation command signal generating unit 626 determines whether the start height is equal to or higher than the interference avoidance point height (step S904). If the start height is not equal to or higher than the interference avoidance point height (step S904: NO), the operation command signal generating unit 626 executes the work machine control alone up to the interference avoidance point height (step S907). After step 907, or if the start height is equal to or higher than the interference avoidance point height (step S904: YES), the operation command signal generating unit 626 executes the turning control alone up to the interference avoidance vertical plane (VS) in the set turning direction (step S905), and after passing the interference avoidance point, executes the turning control and the work machine control in parallel up to the return turning target point (return turning target posture) (step S906), and ends the processing shown in FIG. 27.

As described above, in this embodiment, the control device 61 is a control device for a work machine 100 including a rotating body 120 that rotates around a rotation center and a working machine 130 that has a bucket 133 as a working tool and is attached to the rotating body 120. When an instruction signal output by a switch that is an operation unit that outputs an instruction signal related to an automatic operation including the working tool 130 is input, the control device 61 determines which of multiple automatic operations can be executed based on information about the bucket 133 (work tool), and executes the automatic operation determined to be executable. Note that the multiple automatic operations are, for example, automatic operations including a combined operation of the working tool 130 and the rotating body 120. The combined operation is, for example, a loading rotation or a return rotation. The information about the bucket 133 is, for example, information that represents the position or posture of the bucket 133. The determination of the executable automatic operation is, for example, determining whether the bucket 133 is located above the vessel of the transport vehicle. In addition, the determination of executable automatic operations is made by, for example, determining whether the position of the bucket 133 is either the dump position or the hoisting position.

(Action and Effects)
The number of switches operated by the operator is limited by space, but according to this embodiment, the number of operation switches that output a signal to start an automatic driving operation can be made smaller than the number of automatic driving operations. Therefore, according to this embodiment, space can be effectively utilized. In addition, in the automatic turning control, erroneous operation of the operation switch by the operator can be suppressed, and usability can be improved.

Although the embodiment of the present invention has been described above with reference to the drawings, the specific configuration is not limited to the above embodiment, and design changes and the like are also included within the scope of the gist of the present invention. For example, a remote control system may be used in which the operating device 143 and part of the configuration of the control device 61 are installed in a remote location, and an operator in the remote location controls the work machine 130 and the rotating body 120 via wireless communication while watching a monitor screen. In addition, part or all of the program executed by the computer in the above embodiment can be distributed via a computer-readable recording medium or communication line.

[Additional Notes]
The control device 61 described in the embodiment can be understood as follows.

(1) A control device according to a first aspect of the present disclosure is a control device for a work machine having a rotating body that rotates around a rotation center and a work machine having a work implement attached to the rotating body, and when an instruction signal output from an operation unit that outputs an instruction signal related to an automatic operation including the work implement is input, the control device determines which of multiple automatic operations is executable based on information related to the work implement, and executes the automatic operation determined to be executable.

(2) A control device according to a second aspect of the present disclosure is the control device of (1), in which the operation unit is one.

(3) A control device according to a third aspect of the present disclosure is the control device of (1) or (2), in which the operating unit is provided on an operating lever.

(4) A control device according to a fourth aspect of the present disclosure is a control device according to (1) to (3), in which the multiple automatic operations include a combined operation of the work machine and the rotating body.

(5) A control device according to a fifth aspect of the present disclosure is a control device according to any one of (1) to (4), in which the combined operation is a loading turn or a return turn.

(6) A control device according to a sixth aspect of the present disclosure is a control device according to any one of (1) to (5), in which the information relating to the work tool is information representing the position or posture of the work tool.

(7) A control device according to a seventh aspect of the present disclosure is a control device according to any one of (1) to (6), in which the determination of the executable automatic operation is a determination of whether the work tool is located above the vessel of the transport vehicle.

(8) A control device according to a seventh aspect of the present disclosure is a control device according to any one of (1) to (6), in which the determination of the executable automatic operation is a determination of whether the posture of the implement is either a dump posture or a hoist posture.

100...working machine, 110...traveling body, 120...rotating body, 130...working machine, 133...bucket, 140...operator's cab, 143D...display input device, 60...control system, 61...control device, 622...reference point setting unit, 623...rotation direction setting unit, 624...start instruction receiving unit, 626...operation command signal generating unit (control unit)

Claims (10)

A control device for a work machine including a rotating body that rotates around a rotation center and a work implement having a working tool and attached to the rotating body,
A control device that, when an instruction signal is input from an operation unit that outputs an instruction signal related to an automatic operation including the work implement, determines which of a plurality of automatic operations is executable based on information about the work implement, and executes the automatic operation determined to be executable. The control device according to claim 1 , wherein the operation unit is one. The control device according to claim 2 , wherein the operation portion is provided on an operation lever. The control device according to claim 1 , wherein the plurality of automatic actions include a combined action of the work machine and the rotating body. The control device according to claim 4 , wherein the combined motion is a loading turn or a return turn. The control device according to claim 1 , wherein the information relating to the work implement is information representing a position or a posture of the work implement. The control device according to claim 1 , wherein the determination of the executable automatic operation is a determination of whether the implement is located above a vessel of a transport vehicle. The control device according to any one of claims 1 to 6, wherein the determination of the executable automatic operation is a determination of whether or not the posture of the implement is either a dump posture or a hoisting posture. A control method for a work machine including a rotating body that rotates around a rotation center and a work implement having a working tool and attached to the rotating body, comprising:
A control method including a step of, when an instruction signal is input from an operation unit that outputs an instruction signal related to an automatic operation including the work implement, determining which of a plurality of automatic operations is executable based on information related to the work implement, and executing the automatic operation determined to be executable. A rotating body that rotates around a rotation center;
A work machine having a work tool and attached to the rotating body;
A control device for controlling the rotating body and the work machine;
A work machine comprising:
When an instruction signal is input from an operation unit that outputs an instruction signal related to an automatic operation including the work implement, the control device determines which of a plurality of automatic operations is executable based on information about the work implement, and executes the automatic operation determined to be executable.

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