EP4600428A1 - Work machine - Google Patents

Work machine

Info

Publication number
EP4600428A1
EP4600428A1 EP23874777.8A EP23874777A EP4600428A1 EP 4600428 A1 EP4600428 A1 EP 4600428A1 EP 23874777 A EP23874777 A EP 23874777A EP 4600428 A1 EP4600428 A1 EP 4600428A1
Authority
EP
European Patent Office
Prior art keywords
mode
action
work machine
work
state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23874777.8A
Other languages
German (de)
French (fr)
Inventor
Teppei Saitoh
Tadashi Kotani
Ryu Narikawa
Hidefumi Ishimoto
Hideaki Ito
Kei Satou
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of EP4600428A1 publication Critical patent/EP4600428A1/en
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return

Definitions

  • Patent Document 1 As a conventional technology relating to a work machine provided with an automated operating function, an excavator provided with an automated operating function and its teaching system are described, for example, in Patent Document 1.
  • the excavator for teaching new work to the excavator as a work machine, the excavator is once moved in actions that an operator wants to teach, posture information and the like of the excavator moved at that time are stored on a time series basis in the excavator, and the posture information thus stored is displayed as teaching points on a mobile terminal, so that the posture information on the mobile terminal can be edited.
  • the excavator automatically operates according to the posture information edited on the mobile terminal. Specifically, as the teaching points can be changed on the mobile terminal, the operator is hence no longer needed to operate the excavator again each time a change is to be made to the work, so that an improvement is expected in the work efficiency.
  • the present application includes a plurality of means for solving the above-described problem, and as one example of the means, there is provided awork machine including a work device that acts according to operation of an operation device, and a controller that controls actions of the work device.
  • the work machine includes a state recognition sensor that senses a state of the work device.
  • the controller is configured to predict a current action mode and a next action mode of the work machine from among a plurality of action modes that represent kinds of preclassified actions in the work machine, according to a sensing result of the state recognition sensor, and start action control of the work machine by switching a control mode, the control mode representing a kind of action control of the work machine, to a control mode corresponding to the next action mode out of a manual operation mode that allows the work machine to act according to operation of the operation device and an automated operation mode that allows the work machine to act without relying upon operation of the operation device, when the work machine is in a state of transitioning from the current action mode to the next action mode.
  • actions of automated operation can be more easily and appropriately changed according to circumstances of a work site, and operator's fatigue can be reduced while suppressing a reduction in productivity.
  • FIGS. 1 to 7 A first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7 .
  • a large hydraulic excavator 1 (work machine) includes a lower track structure 2, an upper swing structure 3 swingably disposed on an upper portion of the lower track structure 2, and a work device 4 disposed on a front section of the upper swing structure 3.
  • the lower track structure 2 is configured to be able to travel by a pair of left and right track hydraulic motors 2a (only one of which is depicted in FIG. 1 ) as hydraulic actuators.
  • the automatically operating section 6d According to an operation signal from the switch 5b and information from the state recognition sensors 9, the automatically operating section 6d generates control signals for driving the hydraulic excavator 1 without the operator's operation. Specifically, at the automatically operating section 6d, control signals for automated operation are generated according to the state of the hydraulic excavator 1 and its surrounding circumstances as recognized by the state recognition sensors 9 and the operation signal from the switch 5b.
  • the hydraulic circuit control system 5 In response to the operation signal from the machine body controller 6, the hydraulic circuit control system 5 generates control signals to control the control valves or the like. If the operation signal generated at the manual operating section 6a is selected at the control mode selecting section 6e, for example, the hydraulic circuit control system 5 generates control signals such that the hydraulic actuators perform actions corresponding to operation (operation amount and operation direction) of the operation lever 7a by the operator. Further, if the operation signal generated at the assist control section 6c is selected at the control mode selecting section 6e, the hydraulic circuit control system 5 generates control signals such that at least some of the hydraulic actuators perform actions corresponding to operation (operation amount and operation direction) of the operation lever 7a by the operator and others of the hydraulic actuators automatically perform actions (in other words, such that others of the hydraulic actuators perform assist control). Furthermore, if the operation signal generated at the automatically operating section 6d is selected at the control mode selecting section 6e, the hydraulic circuit control system 5 generates control signals such that the hydraulic actuators perform actions without operation by the operator (in other words, performs
  • action modes and control modes are presented in a vertical direction and a horizontal direction, respectively, on the settings screen 11.
  • the traveling action mode is a work mode that moves and changes the position of the hydraulic excavator 1 (work machine) by driving the track hydraulic motors 2a (traveling devices) of the lower track structure 2.
  • the control mode indicates the kind of each action control of the hydraulic excavator 1 (work machine), and defines a manual operation mode, an assist mode, an automated operation mode, and the like.
  • the manual operation mode is a control mode that allows the work device 4 or the like to act according to operation (operation amount and operation direction) of the operation lever 7a (operation device).
  • the assist mode is a control mode that allows the work device 4 or the like to semiautomatically act by intervening the action of the work device 4 according to the operation (operation amount and operation direction) of the operation lever 7a (operation device).
  • the automated operation mode is a control mode that allows the work device 4 or the like to act without relying upon operation of the operation lever 7a (operation device).
  • any one of the three control modes can be selectively set.
  • Exemplified on the settings screen 11 of FIG. 3 is a case in which the excavating action mode has been set to the manual operation mode, the loading action mode, the dumping action mode, the traveling action mode, and the cooperative action mode have each been set to the automated operation mode, and the returning action mode has been set to the assist mode, respectively.
  • operation information that serves as a trigger for the execution of control at the automated control command generating section 6b is also set.
  • the operation information that serves as the trigger there is, for example, information that the switch 5b has been operated (depressed) in the automated operation mode (control mode), or the like, and an action is started according to such operation information. It is to be noted that the setting on the settings screen 11 by the presetting device 8 may be made possible even while the hydraulic excavator 1 is in operation.
  • the action mode transition generating section 10b reads the setting information stored in the action mode storing section 10a, and according to the setting information, generates transition information that indicates the state of transition of the action mode. Further, the transitioning condition generating section 10c sets, according to the transition information generated at the action mode transition generating section 10b, one or more state transitioning conditions between transition states.
  • state transition information The information that indicates a relation between transition information and a state transitioning condition or conditions in each action mode is herein referred to as "state transition information.”
  • a starting state (Start) that is started by activation of the hydraulic excavator 1, and a manually operating state (S0), dumping state (S1), returning state (S2), excavating state (S3), loading state (S4), traveling state (S5), and cooperating state (S6), which correspond to the respective action modes, are generated as transition states by the action mode transition generating section 10b.
  • state transitioning conditions (C0) to (C9) between the transition states (Start) and (S0) to (S6) are generated by the transitioning condition generating section 10c.
  • FIG. 5 is a diagram illustrating examples of the state transitioning conditions.
  • FIG. 5 Exemplified in FIG. 5 are the state transitioning conditions (C2) to (C5) in an illustrative work of 1 cycle, in which the work device 4 undergoes state transitions in an order of the dumping state (S1), returning state (S2), excavating state (S3), and loading state (S4), and returns again to the dumping state (S1).
  • S1 dumping state
  • S2 returning state
  • S3 excavating state
  • S4 loading state
  • FIG. 5 schematic views of the postures of the hydraulic excavator 1 and a dump truck 15, as seen from the side and top, and conditions are presented as transitioning conditions in the lower row.
  • the state transitioning conditions (C2) for transitioning from the dumping state (S1) to the returning state (S2) are assumed, for example, to be a case in which the position of the bucket 4c of the hydraulic excavator 1 has moved outside the dump truck 15, and the weight of earth in the bucket 4c is around 0 (zero) ton (in other words, the bucket 4c is in an empty state).
  • a case in which a sensor for measuring the weight of the earth in the bucket 4c is included as a state recognition sensor 9 will hereinafter be considered.
  • the state transitioning conditions (C1) for transitioning from the manually operating state (S0) to the dumping state (S1) are assumed, for example, to be a case in which the same conditions as the state transitioning conditions (C5) have been satisfied by manual operation.
  • the state transitioning conditions (C7) for transitioning from the traveling state (S5) to the excavating state (S3) is assumed, for example, to be a case in which the traveling operation by the operation lever 5a has been stopped and the same conditions as the transitioning conditions (C3) have been satisfied.
  • the current action mode estimating section 10d of the action mode predicting section 10 estimates, according to posture information or the like from the state recognition sensor 9, a corresponding action mode from the action performed currently by the hydraulic excavator 1 and outputs the estimated action mode.
  • the predicting section 10e predicts an action mode to be performed next.
  • the predicting section 10e outputs information on the control mode set for the current action mode by the presetting device 8, and also outputs information on the control mode, which corresponds to the predicted action mode, to a display unit 13.
  • the display unit 13 is a monitor arranged in the cab 3a or the like, and is a device for providing the operator with information such as a video.
  • the display unit 13 receives information on a control mode corresponding to the current action mode predicted at the predicting section 10e.
  • FIG. 6 is a diagram illustrating a presentation example by the display unit.
  • the display unit 13 exemplifies a case in which a machine state area 13a indicating the current state and a control mode 13d of the hydraulic excavator 1, a trigger operation display area 13b displaying, to the operator, a predicted next action mode and operator's operation needed in the control mode set for the action mode, and a transitioning condition area 13c indicating a state transitioning condition that has not been achieved are displayed.
  • a state transitioning conditions (C4) to the loading state (S4) as illustrated in FIG. 5 and an example of a case in which the control mode set for the loading state (S4) is assist control.
  • control mode for the loading state S4 as an action mode is set to assist control
  • a swing action of the upper swing structure 3 and raising of the work device 4 of the hydraulic excavator 1 are semiautomatically controlled, for example, using leftward swing operation of the operation lever 7 as trigger operation for a start of the assist control.
  • the operation direction of the operation lever 7a to be operated may be displayed as a picture.
  • FIG. 7 is a flow chart illustrating processing details in the machine body controller.
  • Step S100 when the machine body controller 6 is activated, the setting information set by the presetting device 8 is first stored in the action mode storing section 10a (Step S100).
  • the action mode transition generating section 10b generates respective pieces of information (transition information) relating to transition states of the action modes (Step S110).
  • the transitioning condition generating section 10c sets a state transitioning condition according to the generated transition information (Step S120).
  • the current action mode estimating section 10d estimates the current action mode of the hydraulic excavator 1 according to information from the state recognition sensor 9 (Step S130).
  • the state transition illustrated in FIG. 4 when the machine body controller 6 is activated, the state transitioning condition (C0) becomes true, and the control mode automatically transitions from the starting state (Start) to the manually operating state (S0).
  • Step S140 a judgement is made whether the state transiting condition by the state recognition sensor 9 is true or false (Step S140). If the judgement result is NO, in other words, if the state transitioning condition is not satisfied, the current action mode is kept (Step S141), and the processing returns to the judgement processing in Step S140. For example, if the action mode is the dumping state (S1), and if the state transitioning conditions (C2) and (C8) are not satisfied, the current action mode is kept as is in the dumping state (S1), and the processing returns to the judgement processing in Step S140.
  • Step S140 determines whether the state transitioning condition is satisfied. If the state transitioning condition is satisfied, the hydraulic excavator 1 transitions to a next action mode that satisfies the state transitioning condition (Step S150), and the current action mode estimating section 10d updates the action mode of the transition destination to the current action mode (Step S160).
  • the state transitioning condition (C1) is satisfied by the operator's operation of the operation lever 7a or switch 7b.
  • the control mode for example, for the dumping state (S1) as an action mode is the automated operating mode according to the setting information indicated in FIG. 2 , so that the hydraulic excavator 1 automatically performs the dumping action, is controlled in a posture satisfying the state transitioning conditions (C2), and undergoes a state transition to the returning state (S2).
  • Step S170 judgements are made whether the current control mode is automated operation, and the operation lever 7a has been operated for a fixed time period or longer determined in advance. If the judgement result in Step S170 is YES, the control mode set for the current action mode is overwritten to the manual operation mode (which corresponds to "Manual (or Remote)" in FIG. 3 ), and is outputted to the control mode selecting section 6e (Step S171), and the processing returns to the processing in Step S140.
  • the manual operation mode which corresponds to "Manual (or Remote)" in FIG. 3
  • the control mode set for the current action mode is switched to the manual operation mode (which corresponds to "Manual (or Remote)" in FIG. 3 ), and the control of the hydraulic excavator 1 by the operator through the operation lever 7a is prioritized.
  • the control mode of the returning state (S2) as the action mode of the stored setting information is overwritten from the automated operation mode to the manual operation mode.
  • Step S170 if the judgement result in Step S170 is NO, in other words, if it is judged that there is no operational intervention by the operator in the automated operation mode, the predicting section 10e outputs, to the display unit 13, the control mode set for the next action mode (Step S180) and outputs, to the control mode selecting section 6e, the control mode set for the current action mode (Step S190), and the processing returns to the processing in Step S130.
  • the predicting section 10e transmits to and displays on the display unit 13 the operation information in the manual operation mode as the control mode set for the excavating state (S3) which is the next action mode of the returning state (S2) and the information on the state transitioning condition (C3) to the excavating state (S3), and notifies the operator of these pieces of information. Also, the predicting section 10e outputs to the control mode selecting section 6e the information on the automated operation mode as the control mode set for the returning state (S2), that is, the transition state of the current action mode.
  • the control mode selecting section 6e outputs to the hydraulic circuit control system 5 the control signal computed by the automatically operating section 6d for the hydraulic excavator 1. Therefore, the hydraulic excavator 1 automatically performs an action to the returning state (S2) as the current action mode.
  • the productivity relating to excavation and loading which are principal actions of a hydraulic excavator (work machine), is affected by operator's arrangements (determinations on excavating and dumping positions, work orders, excavation amount adjustment, and the like).
  • operator's arrangements determination on excavating and dumping positions, work orders, excavation amount adjustment, and the like.
  • an appropriate determination processing function matching all work environments is needed. In other words, even if automation is made, reduction in productivity by hydraulic excavator is concerned if there is a work environment with which the determination processing function cannot deal.
  • an operator may continuously work for a long period of time, and hence the productivity may be reduced by an accumulation of fatigue over time.
  • an operator performs work while watching a video displayed on a monitor or the like.
  • the video displayed on the monitor however tends to have poor depth perception. If work is performed with a risk of contact between machines themselves as in the loading action of earth or the like onto a dump truck by a hydraulic excavator, the operator therefore has to carefully watch the video and is more fatigued than riding in the cab of the hydraulic excavator and performing operation there.
  • the action of automated operation can be more easily and appropriately changed according to the circumstances of a work site, and the operator's fatigue can be reduced while suppressing a reduction in productivity, so that the productivity can be stabilized at a high level for a long period of time.
  • work that is great in the influence on productivity can be performed by an operator, and the rest of work that is small in the influence on productivity (for example, the loading action and the returning action) can be automated or semi-automated.
  • Fatigue reducing effect is also expected on work, such as the loading action, that is high in the degree of fatigue by operation in remote operation. While the excavating action and the dumping action make use of the high level of ability of the operator to judge, the rest of work can therefore be automated in parts, so that the maintenance of the productivity at a high level and the reduction of the operator's fatigue can be both achieved.
  • control mode can be changed according to the operator's proficiency of operation to a control mode appropriate for maintaining the productivity, so that the productivity of the entire work site can be raised in level.
  • high productivity is obtained by setting the proportion of manual operation (manual operation modes) to be higher.
  • productivity can be improved by setting the proportion of automation and semiautomation (assist mode and automated operation mode) to be higher.
  • the acquisition of an automative function capable of replacing judgements enables the software of the machine body controller 6 to be updated, and the change in the setting of the control mode for the action mode from the manual operation mode to the automated operation mode enables the automative function to be easily improved. Therefore, the machine development cost can be cut down.
  • the operator is configured to display the information on the control mode on the display unit 13, so that the operator can seamlessly operate according to the transitions of a series of action modes of excavation and loading. For example, in the excavating and loading actions in which an automated operation mode and a manual operation mode are present together as each action mode, there is a need for operation, which matches the next action mode, shortly after satisfying a state transitioning condition or conditions.
  • the operator can check a trigger matching the action mode even if he or she has not recognized the trigger. It is therefore possible to suppress a delay in the start of the next action and to suppress a reduction in productivity.
  • the control mode is promptly switched to a manual operation mode to avoid the hydraulic excavator from performing action different a lot from the operator's intention even while the hydraulic excavator is performing automated work, thereby enabling reduction in productivity to be suppressed.
  • the description is made by exemplifying the case in which, as the control modes, the three modes of manual operation mode, assist mode, and automated operation mode are defined, and the control modes are switched among them.
  • the present embodiment may be configured, for example, such that at least two control modes of manual operation mode and automated operation mode are defined, and these two control modes are switched.
  • FIG. 8 A second embodiment of the present invention will be described with reference to FIG. 8 .
  • members similar to those in the first embodiment are identified by the same reference characters, and their description is omitted.
  • the present embodiment updates state transition information, which is generated at the action mode transition generating section 10b and the transition condition generating section 10c (transition information and state transitioning conditions), according to information from the operation lever 7a and state recognition sensors 9.
  • a machine body controller 6A includes the manual operating section 6a, the automated control command generating section 6b (the assist control section 6c and the automatically operating section 6d), the control mode selecting section 6e, and an action mode predicting section 10A.
  • the action mode predicting section 10 includes the action mode storing section 10a, the action mode transition generating section 10b, the transitioning condition generating section 10c, the current action mode estimating section 10d, the predicting section 10e, and an action mode transition updating section 10f.
  • the action mode transition updating section 10f receives signals from the operation lever 7 and the state recognition sensors 9, and updates transition information generated at the action mode transition generating section 10b.
  • the action mode transition generating section 10b reads setting information stored in the action mode storing section 10a, and according to the setting information, generates transition information that indicates the transition state of the action mode. Further, the transition information is updated according to action mode transition information newly generated at the action mode transition updating section 10f.
  • the transitioning condition generating section 10c sets, according to the transition information generated at the action mode transition generating section 10b, one or more state transitioning conditions between transition states.
  • the state transition information (transition information and state transitioning conditions) is updated according to changes in the work environment in the present embodiment.
  • the rest of the configuration is similar to that of the first embodiment.
  • the action mode transition updating section 10f collects operation history information on the operation lever 5a during manual operation by the operator, and work information on the hydraulic excavator 1 from the state recognition sensors 9 at that time.
  • the action mode transition updating section 10f classifies time-series data on the collected work information, and generates a new action mode.
  • a classification method a statistical clustering algorithm such as the support vector machine can be used, for example.
  • the action mode transition updating section 10f sets a state transitioning condition or conditions corresponding to the information on the transition state of (transition information on) the newly generated action mode.
  • the action mode transition updating section 10f updates the state transition information by adding or modifying action modes suited for the work environments.
  • the action mode transition generating section 10b can generate appropriate transition information on the action mode suited for each work environment and the state transition information including the state transitioning condition or conditions generated at the transitioning condition generating section 10c can be achieved.
  • the description is given by exemplifying the hydraulic excavator as the work machine in the above-described embodiments.
  • the present invention can also be applied to a work machine of electrically driven type, which is driven, for example, by electrically driven motors.
  • the description is given in the above-described embodiment by exemplifying the case in which information is notified to the operator by displaying it on the display unit 13.
  • the present invention can also be applied to a case in which information is notified to the operator by a method other than displaying, for example, such as sound.
  • the description is also made by exemplifying the case in which the operation lever 7a, the switch 7b, the presetting device 8, the display unit 13, and the like, which are configurations relating to operation of the hydraulic excavator 1 (work machine) by the operator, are arranged in the cab 3a, and the automated control command generating section 6b (assist control section 6c and automatically operating section 6d), the control mode selecting section 6e, the action mode predicting section 10 or 10A, which are functional sections relating to control of automated operation and semiautomated operation, are disposed in the machine body controller 6 or 6A.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

A current action mode and a next action mode are predicted according to a sensing result of a state recognition sensor, and when a work machine is in a state of transitioning from the current action mode to the next action mode, action control of the work machine is started by switching a control mode, which represents a kind of the action control of the work machine, to a control mode corresponding to the next action mode out of a manual operation mode that operates the work machine according to operation of an operation device and an automated operation mode that allows the work machine to act without relying upon the operation of the operation device. This enables actions of automated operation to more easily and appropriately change according to circumstances of a work site and also makes it possible to reduce operator's fatigue while suppressing a reduction in productivity.

Description

    Technical Field
  • The present invention relates to a work machine.
    • Background Art
  • In recent years, partially automated operating functions have been developed in work machines such as excavators and bulldozers. With such a partially automated operating function, a control system intervenes operator's specific operation to semiautomatically perform an action of a work machine, in other words, to automate some work. In addition, automated operating functions have also been developed to automate a series of work by a work machine and hence to eliminate the need for operator's operation. By replacing parts or a series of work with automated operation as mentioned above, the operation amount by an operator is decreased, so that the operator's load can be reduced. Meanwhile, the variety of work that allows partially automated operation or automated operation is expected to increase because work that is performed by work machines ranges widely in variety.
  • As a conventional technology relating to a work machine provided with an automated operating function, an excavator provided with an automated operating function and its teaching system are described, for example, in Patent Document 1.
    • Prior Art Document Patent Document
  • Patent Document 1: JP-2021-50576-A
    • Summary of the Invention Problem to be Solved by the Invention
  • In the conventional technology described above, for teaching new work to the excavator as a work machine, the excavator is once moved in actions that an operator wants to teach, posture information and the like of the excavator moved at that time are stored on a time series basis in the excavator, and the posture information thus stored is displayed as teaching points on a mobile terminal, so that the posture information on the mobile terminal can be edited. The excavator automatically operates according to the posture information edited on the mobile terminal. Specifically, as the teaching points can be changed on the mobile terminal, the operator is hence no longer needed to operate the excavator again each time a change is to be made to the work, so that an improvement is expected in the work efficiency.
  • In an actual work site, however, a work machine such as an excavator has to perform cooperative work with other vehicles such as dump trucks without a delay. It is however difficult to perform cooperation between the excavator and the other vehicles without a delay, if, as in the conventional technology, there is a need to sequentially change the actions of automated operation corresponding to the circumstances of the site, which change from time to time, and terrain changes. Due to a delay in the cooperation between the excavator and any dump truck, it is considered, for example, that the stopping time of the dump truck increases and the productivity at the entire work site is lowered. Further, without being limited to an excavator but in a work machine that performs a variety of work, the workload and fatigue to an operator are expected to be reduced without causing a reduction in productivity.
  • With the foregoing in view, the present invention has as an object thereof the provision of a work machine which can more easily and appropriately change actions of automated operation according to circumstances of a work site and can also reduce operator's fatigue while suppressing a reduction in productivity.
    • Means for Solving the Problem
  • The present application includes a plurality of means for solving the above-described problem, and as one example of the means, there is provided awork machine including a work device that acts according to operation of an operation device, and a controller that controls actions of the work device. The work machine includes a state recognition sensor that senses a state of the work device. The controller is configured to predict a current action mode and a next action mode of the work machine from among a plurality of action modes that represent kinds of preclassified actions in the work machine, according to a sensing result of the state recognition sensor, and start action control of the work machine by switching a control mode, the control mode representing a kind of action control of the work machine, to a control mode corresponding to the next action mode out of a manual operation mode that allows the work machine to act according to operation of the operation device and an automated operation mode that allows the work machine to act without relying upon operation of the operation device, when the work machine is in a state of transitioning from the current action mode to the next action mode.
    • Advantages of the Invention
  • According to the present invention, actions of automated operation can be more easily and appropriately changed according to circumstances of a work site, and operator's fatigue can be reduced while suppressing a reduction in productivity.
    • Brief Description of the Drawings
    • FIG. 1 is a side view schematically depicting an appearance of a hydraulic excavator presented as an example of a work machine.
    • FIG. 2 is a functional block diagram illustrating processing details in a machine body controller in a first embodiment.
    • FIG. 3 is a diagram presenting an example of a settings screen of preset information on a presetting device.
    • FIG. 4 is a diagram illustrating an example of state transition information that indicates relations between transition information and state transitioning conditions in action modes.
    • FIG. 5 is a diagram illustrating examples of the state transitioning conditions.
    • FIG. 6 is a diagram illustrating a display example by a display unit.
    • FIG. 7 is a flow chart illustrating processing details in the machine body controller.
    • FIG. 8 is a functional block diagram illustrating processing details in a machine body controller in a second embodiment.
    Modes for Carrying Out the Invention
  • Embodiments of the present invention will hereinafter be described with reference to the drawings. It is to be noted that in the embodiments of the present invention, a description will be made by exemplifying a hydraulic excavator as a work machine, but the present invention can also be applied to other work machines having a work device like a wheel loader or a crane.
    • <First Embodiment>
  • A first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7.
  • FIG. 1 is a side view schematically depicting an appearance of the hydraulic excavator as an example of a work machine according to the present embodiment. Further, FIG. 2 is a functional block diagram illustrating processing details in a machine body controller.
  • In FIG. 1, a large hydraulic excavator 1 (work machine) includes a lower track structure 2, an upper swing structure 3 swingably disposed on an upper portion of the lower track structure 2, and a work device 4 disposed on a front section of the upper swing structure 3.
  • The lower track structure 2 is configured to be able to travel by a pair of left and right track hydraulic motors 2a (only one of which is depicted in FIG. 1) as hydraulic actuators.
  • The upper swing structure 3 is swingably driven by a swing hydraulic motor (not depicted) as a hydraulic actuator. Although not depicted in the figure, there are arranged, inside the upper swing structure 3, a prime mover such as a diesel engine, a hydraulic pump driven by the prime mover, control valves that control the flow rates and directions of hydraulic fluid delivered from the hydraulic pump to be supplied to hydraulic actuators (the track hydraulic motors 2a, the swing hydraulic motor, a boom cylinder 14a, an arm cylinder 14b, a bucket cylinder 14c, and the like), and the like. In the upper swing structure 3, there are also provided a machine body controller 6 (controller) that, as a controller for controlling actions of the hydraulic excavator 1, generates operation signals to control actions of the hydraulic actuators according to operation of operation devices such as operation levers 7a and a switch 7b, and a hydraulic circuit control system 5 that generates control signals to control the control valves and the like, according to the operation signals from the machine body controller 6.
  • The work device 4 is mainly made up of a boom 4a connected pivotally in an up-down direction to the front section of the upper swing structure 3, an arm 4b connected pivotally in the up-down direction to a distal end portion of the boom 4a, a bucket 4c connected pivotally in the up-down direction to a distal end portion of the arm 4b, the boom cylinder 14a that pivotally drives the boom 4a relative to the upper swing structure 3, the arm cylinder 14b that pivotally drives the arm 4b relative to the boom 4a, and the bucket cylinder 14c that pivotally drives the bucket relative to the arm 4b.
  • State recognition sensors 9 are sensors for recognizing postures of parts of the hydraulic excavator 1 and its surrounding circumstances. Although not illustrated in the figure, there are provided as the state recognition sensors 9, for example, a boom angle sensor that senses a pivot angle of the boom 4a, an arm angle sensor that senses a pivot angle of the arm 4b, a bucket angle sensor that senses a pivot angle of the bucket 4c, an inclination sensor that senses an inclination of the upper swing structure 3 with respect to a reference plane such as a horizontal plane, a swing angle sensor that senses a swing angle as a relative angle of the upper swing structure 3 to the lower track structure 2, a 3D-LiDAR (Light Detection And Ranging) as an external-environment recognition sensor, and so on.
  • Beside the work device on the front section of the upper swing structure 3, a cab 3a is provided in which an operator rides to perform operation of the hydraulic excavator 1. In the cab 3a, the operation levers 7a are arranged as operation devices for operating the individual hydraulic actuators. The operation levers 7a are, for example, left and right track levers for operating the left and right track hydraulic motors, respectively, work operation levers for operating the individual hydraulic actuators 14a, 14b, and 14c and the swing hydraulic motor of the work device 4, and so on. In addition, in the cab 3a, the switch 7b (horn switch) is arranged to cause a horn provided in the hydraulic excavator 1 to sound.
  • In FIG. 2, the machine body controller 6 includes a manual operating section 6a, an automated control command generating section 6b (an assist control section 6c and an automatically operating section 6d), a control mode selecting section 6e, and an action mode predicting section 10.
  • The manual operating section 6a receives signals (operation signals) representing a lever operation amount and operation direction input by the operator at the operation lever 7a, and generates control signals to drive the hydraulic excavator 1 in response to the received operation signals.
  • According to operation signals from the operation lever 7a, an operation signal from a switch 5b (horn switch), and information from the state recognition sensors 9, the assist control section 6c generates control signals to perform assist control of operation of the hydraulic excavator 1 by the operator. As the assist control, there is, for example, one that automatically perform the generation of a control signal for at least one of operations, which perform two actions, one being a swing action of the upper swing structure 3 and the other raising action of the work device 4, needed for a loading action to a dump truck as a transport vehicle that transports earth or the like, and with respect to the other operation, generates a control signal in response to an operation signal. Specifically, for example, when the raising action of the work device 4 is automatically performed in the assist control of the loading action, the raising action of the work device 4 is performed to an extent needed for the loading action to the dump truck simply through the operator's operation of the operation lever 7a for the swing action, so that the loading action can be performed semiautomatically.
  • According to an operation signal from the switch 5b and information from the state recognition sensors 9, the automatically operating section 6d generates control signals for driving the hydraulic excavator 1 without the operator's operation. Specifically, at the automatically operating section 6d, control signals for automated operation are generated according to the state of the hydraulic excavator 1 and its surrounding circumstances as recognized by the state recognition sensors 9 and the operation signal from the switch 5b.
  • According to information on a control mode from a predicting section 10e (which will be described subsequently) of the action mode predicting section 10, the control mode selecting section 6e selects, as a control signal to be outputted to the hydraulic circuit control system 5, one generated at any one of the manual operating section 6a, assist control section 6c, and automatically operating section 6d, and outputs it to the hydraulic circuit control system 5. If the information on the control mode from the predicting section 10e is one indicating "manual operation mode," for example, the control mode selecting section 6e selects a control signal generated at the manual operating section 6a, and outputs it to the hydraulic circuit control system 5. Further, if the information on the control mode from the predicting section 10e is one indicating "assist mode," the control mode selecting section 6e selects a control signal generated at the assist control section 6c, and outputs it to the hydraulic circuit control system 5. Furthermore, if the information on the control mode from the predicting section 10e is one indicating "automated operation mode," the control mode selecting section 6e selects a control signal generated at the automatically operating section 6d, and outputs it to the hydraulic circuit control system 5.
  • In response to the operation signal from the machine body controller 6, the hydraulic circuit control system 5 generates control signals to control the control valves or the like. If the operation signal generated at the manual operating section 6a is selected at the control mode selecting section 6e, for example, the hydraulic circuit control system 5 generates control signals such that the hydraulic actuators perform actions corresponding to operation (operation amount and operation direction) of the operation lever 7a by the operator. Further, if the operation signal generated at the assist control section 6c is selected at the control mode selecting section 6e, the hydraulic circuit control system 5 generates control signals such that at least some of the hydraulic actuators perform actions corresponding to operation (operation amount and operation direction) of the operation lever 7a by the operator and others of the hydraulic actuators automatically perform actions (in other words, such that others of the hydraulic actuators perform assist control). Furthermore, if the operation signal generated at the automatically operating section 6d is selected at the control mode selecting section 6e, the hydraulic circuit control system 5 generates control signals such that the hydraulic actuators perform actions without operation by the operator (in other words, performs automated operation).
  • The action mode predicting section 10 includes an action mode storing section 10a, an action mode transition generating section 10b, a transitioning condition generating section 10c, a current action mode estimating section 10d, and the predicting section 10e.
  • The action mode storing section 10a receives and stores preset information set at a presetting device 8.
  • FIG. 3 is a diagram presenting an example of a settings screen of preset information on the presetting device.
  • The presetting device 8 is, for example, a touch panel display unit, and can set the preset information by operating a displayed settings screen 11 on a screen.
  • In FIG. 3, action modes and control modes are presented in a vertical direction and a horizontal direction, respectively, on the settings screen 11.
  • The term "action modes" indicates kinds of work by the hydraulic excavator 1 (work machine), and defines an excavating action mode (excavation), a loading action mode (loading), a dumping action mode (dumping), a returning action mode (return), a traveling action mode (travel), a cooperative action mode, and so on.
  • The excavating action mode is an action mode that performs an excavating action by the work device 4 at an excavating position to excavate earth as an object. Further, the loading action mode is an action mode that moves the earth, which has been excavated by the excavating action, to a predetermined dumping position to the dump truck (transport vehicle) that transports the earth as the object. Specifically, by the excavating action and the loading action, the earth is excavated and moved onto the dump truck by the hydraulic excavator 1.
  • The dumping action mode is an action mode that dumps the earth from the work device 4 onto the dump truck (transport vehicle) at the dumping position. Further, the returning action mode is an action mode that returns the work device 4 from the dumping position to the excavating position. Specifically, by the dumping action and the returning action, the hydraulic excavator 1 empties the earth onto a vessel of the dump truck and returns again to the excavating position.
  • The traveling action mode is a work mode that moves and changes the position of the hydraulic excavator 1 (work machine) by driving the track hydraulic motors 2a (traveling devices) of the lower track structure 2.
  • The cooperative action mode is an action mode that performs cooperative action between the hydraulic excavator 1 (work machine) and the dump truck (transport vehicle). The cooperation between the hydraulic excavator 1 and the dump truck is, for example, an action that causes the horn to sound by the switch 5b, and gives a signal to an operator of the dump truck.
  • The control mode indicates the kind of each action control of the hydraulic excavator 1 (work machine), and defines a manual operation mode, an assist mode, an automated operation mode, and the like.
  • The manual operation mode is a control mode that allows the work device 4 or the like to act according to operation (operation amount and operation direction) of the operation lever 7a (operation device). Further, the assist mode is a control mode that allows the work device 4 or the like to semiautomatically act by intervening the action of the work device 4 according to the operation (operation amount and operation direction) of the operation lever 7a (operation device). Furthermore, the automated operation mode is a control mode that allows the work device 4 or the like to act without relying upon operation of the operation lever 7a (operation device).
  • On the settings screen 11, with respect to each operation mode, any one of the three control modes can be selectively set. Exemplified on the settings screen 11 of FIG. 3 is a case in which the excavating action mode has been set to the manual operation mode, the loading action mode, the dumping action mode, the traveling action mode, and the cooperative action mode have each been set to the automated operation mode, and the returning action mode has been set to the assist mode, respectively.
  • In addition, at the presetting device 8, operation information that serves as a trigger for the execution of control at the automated control command generating section 6b is also set. As the operation information that serves as the trigger, there is, for example, information that the switch 5b has been operated (depressed) in the automated operation mode (control mode), or the like, and an action is started according to such operation information. It is to be noted that the setting on the settings screen 11 by the presetting device 8 may be made possible even while the hydraulic excavator 1 is in operation.
  • The action mode transition generating section 10b reads the setting information stored in the action mode storing section 10a, and according to the setting information, generates transition information that indicates the state of transition of the action mode. Further, the transitioning condition generating section 10c sets, according to the transition information generated at the action mode transition generating section 10b, one or more state transitioning conditions between transition states. The information that indicates a relation between transition information and a state transitioning condition or conditions in each action mode is herein referred to as "state transition information."
  • FIG. 4 is a diagram illustrating an example of state transition information that indicates relations between transition information and state transitioning conditions in the action modes.
  • In FIG. 4, a starting state (Start) that is started by activation of the hydraulic excavator 1, and a manually operating state (S0), dumping state (S1), returning state (S2), excavating state (S3), loading state (S4), traveling state (S5), and cooperating state (S6), which correspond to the respective action modes, are generated as transition states by the action mode transition generating section 10b. Also, in FIG. 4, state transitioning conditions (C0) to (C9) between the transition states (Start) and (S0) to (S6) are generated by the transitioning condition generating section 10c. As described above,
  • The state transition information (transition information and state transitioning conditions) exemplified in FIG. 4 will now be mentioned in detail.
  • FIG. 5 is a diagram illustrating examples of the state transitioning conditions.
  • Exemplified in FIG. 5 are the state transitioning conditions (C2) to (C5) in an illustrative work of 1 cycle, in which the work device 4 undergoes state transitions in an order of the dumping state (S1), returning state (S2), excavating state (S3), and loading state (S4), and returns again to the dumping state (S1). In FIG. 5, schematic views of the postures of the hydraulic excavator 1 and a dump truck 15, as seen from the side and top, and conditions are presented as transitioning conditions in the lower row.
  • The state transitioning conditions (C2) for transitioning from the dumping state (S1) to the returning state (S2) are assumed, for example, to be a case in which the position of the bucket 4c of the hydraulic excavator 1 has moved outside the dump truck 15, and the weight of earth in the bucket 4c is around 0 (zero) ton (in other words, the bucket 4c is in an empty state). A case in which a sensor for measuring the weight of the earth in the bucket 4c is included as a state recognition sensor 9 will hereinafter be considered.
  • The state transitioning condition (C3) for transitioning from the returning state (S2) to the excavating state (S3) is assumed, for example, to be a case in which the position of a claw tip of the bucket 4c has moved into a range surrounded by dot-dash lines. The position and posture of the bucket 4c may be set, for example, so as to bring the bucket 4c into a posture that, at an excavation starting position, efficient excavation is possible in the excavating state (S3), that is, the next transition state.
  • The state transitioning conditions (C4) for transitioning from the excavating state (S3) to the loading state (S4) are assumed, for example, to be a case in which the position and posture of the bucket 4c have moved into a range surrounded by dot-dash lines, the position of the dump truck 15 has been appropriately sensed by a state recognition sensor 9, and the weight of earth in the bucket 4c is equal to or greater than a threshold determined in advance (in other words, earth has been loaded in the bucket 4c). These conditions are conditions that, with the position of the dump truck 15 as a loading target having been appropriately sensed by the state recognition sensor 9, the bucket 4c is at a position and in a posture capable of safely and efficiently moving the bucket 4c to a position above the dump truck 15, sufficient earth is held in the bucket 4c, and efficient loading can be started.
  • The state transitioning condition (C5) for transitioning from the loading state (S4) to the dumping state (S1) is assumed, for example, to be a case in which the position of the bucket 4c has moved to a position where earth can be loaded onto the dump truck 15.
  • In addition, although not illustrated in the figure, the state transitioning conditions (C0), (C1), and (C6) to (C9) out of the state transitioning conditions (C0) to (C9) through the transition states (Start) and (S0) to (S6) are defined as below.
  • The state transitioning condition (C0) for transitioning from the starting state (Start) to the manually operating state (S0) is assumed, for example, to be a case in which key-ON operation of the hydraulic excavator 1 has been performed and an engine has been started.
  • The state transitioning conditions (C1) for transitioning from the manually operating state (S0) to the dumping state (S1) are assumed, for example, to be a case in which the same conditions as the state transitioning conditions (C5) have been satisfied by manual operation.
  • The state transitioning condition (C6) for transitioning from the returning state (S2) to the traveling state (S5) is assumed, for example, to be a case in which traveling operation has been started by the operation lever 5a.
  • The state transitioning conditions (C7) for transitioning from the traveling state (S5) to the excavating state (S3) is assumed, for example, to be a case in which the traveling operation by the operation lever 5a has been stopped and the same conditions as the transitioning conditions (C3) have been satisfied.
  • The state transitioning conditions (C8) for transitioning from the dumping state (S1) to the cooperating state (S6) with the transport vehicle is assumed, for example, to be a case in which the load capacity of the dump truck 15 has increased equal to or greater than a threshold determined in advance (for example, a case in which a load capacity close to the maximum loading has been reached).
  • The state transitioning conditions (C9) for transitioning from the cooperating state (S6) with the transport vehicle to the returning state (S2) is assumed, for example, to be a case in which the dump truck 15 has moved away from the hydraulic excavator 1 (for example, a case in which the dump truck 15 has moved out of a dump truck sensing range from the hydraulic excavator 1).
  • Reference will be made back to FIG. 2.
  • In FIG. 2, the current action mode estimating section 10d of the action mode predicting section 10 estimates, according to posture information or the like from the state recognition sensor 9, a corresponding action mode from the action performed currently by the hydraulic excavator 1 and outputs the estimated action mode.
  • According to the estimated current action mode and the state transition information (transition information and state transitioning condition or conditions), the predicting section 10e predicts an action mode to be performed next. In addition, the predicting section 10e outputs information on the control mode set for the current action mode by the presetting device 8, and also outputs information on the control mode, which corresponds to the predicted action mode, to a display unit 13.
  • The display unit 13 is a monitor arranged in the cab 3a or the like, and is a device for providing the operator with information such as a video. The display unit 13 receives information on a control mode corresponding to the current action mode predicted at the predicting section 10e.
  • FIG. 6 is a diagram illustrating a presentation example by the display unit.
  • In FIG. 6, the display unit 13 exemplifies a case in which a machine state area 13a indicating the current state and a control mode 13d of the hydraulic excavator 1, a trigger operation display area 13b displaying, to the operator, a predicted next action mode and operator's operation needed in the control mode set for the action mode, and a transitioning condition area 13c indicating a state transitioning condition that has not been achieved are displayed. In FIG. 6, illustrated are the state transitioning conditions (C4) to the loading state (S4) as illustrated in FIG. 5, and an example of a case in which the control mode set for the loading state (S4) is assist control.
  • If the control mode for the loading state S4 as an action mode is set to assist control, a swing action of the upper swing structure 3 and raising of the work device 4 of the hydraulic excavator 1 are semiautomatically controlled, for example, using leftward swing operation of the operation lever 7 as trigger operation for a start of the assist control. It is to be noted that, in the trigger operation display area 13b, for example, the operation direction of the operation lever 7a to be operated may be displayed as a picture.
  • Actions in the present embodiment configured as above will be described.
  • FIG. 7 is a flow chart illustrating processing details in the machine body controller.
  • In FIG. 7, when the machine body controller 6 is activated, the setting information set by the presetting device 8 is first stored in the action mode storing section 10a (Step S100).
  • Subsequently, the action mode transition generating section 10b generates respective pieces of information (transition information) relating to transition states of the action modes (Step S110).
  • Subsequently, the transitioning condition generating section 10c sets a state transitioning condition according to the generated transition information (Step S120).
  • Subsequently, the current action mode estimating section 10d estimates the current action mode of the hydraulic excavator 1 according to information from the state recognition sensor 9 (Step S130). In the state transition illustrated in FIG. 4, when the machine body controller 6 is activated, the state transitioning condition (C0) becomes true, and the control mode automatically transitions from the starting state (Start) to the manually operating state (S0).
  • Subsequently, a judgement is made whether the state transiting condition by the state recognition sensor 9 is true or false (Step S140). If the judgement result is NO, in other words, if the state transitioning condition is not satisfied, the current action mode is kept (Step S141), and the processing returns to the judgement processing in Step S140. For example, if the action mode is the dumping state (S1), and if the state transitioning conditions (C2) and (C8) are not satisfied, the current action mode is kept as is in the dumping state (S1), and the processing returns to the judgement processing in Step S140.
  • Conversely, if the judgement result in Step S140 is YES, in other words, if the state transitioning condition is satisfied, the hydraulic excavator 1 transitions to a next action mode that satisfies the state transitioning condition (Step S150), and the current action mode estimating section 10d updates the action mode of the transition destination to the current action mode (Step S160). In the manually operating state (S0), for example, the state transitioning condition (C1) is satisfied by the operator's operation of the operation lever 7a or switch 7b. Further, the control mode, for example, for the dumping state (S1) as an action mode is the automated operating mode according to the setting information indicated in FIG. 2, so that the hydraulic excavator 1 automatically performs the dumping action, is controlled in a posture satisfying the state transitioning conditions (C2), and undergoes a state transition to the returning state (S2).
  • Subsequently, judgements are made whether the current control mode is automated operation, and the operation lever 7a has been operated for a fixed time period or longer determined in advance (Step S170). If the judgement result in Step S170 is YES, the control mode set for the current action mode is overwritten to the manual operation mode (which corresponds to "Manual (or Remote)" in FIG. 3), and is outputted to the control mode selecting section 6e (Step S171), and the processing returns to the processing in Step S140. If the operator has operated the operation lever 7a for the fixed time period or longer, for example, when the transition state is the returning state (S2) and the control mode is the automated operation mode, the control mode set for the current action mode is switched to the manual operation mode (which corresponds to "Manual (or Remote)" in FIG. 3), and the control of the hydraulic excavator 1 by the operator through the operation lever 7a is prioritized. At this time, the control mode of the returning state (S2) as the action mode of the stored setting information is overwritten from the automated operation mode to the manual operation mode.
  • Conversely, if the judgement result in Step S170 is NO, in other words, if it is judged that there is no operational intervention by the operator in the automated operation mode, the predicting section 10e outputs, to the display unit 13, the control mode set for the next action mode (Step S180) and outputs, to the control mode selecting section 6e, the control mode set for the current action mode (Step S190), and the processing returns to the processing in Step S130. For example, if there is no operational intervention by the operator when the transition state of the action mode is the returning state (S2) and the control mode is the automated operation mode, the predicting section 10e transmits to and displays on the display unit 13 the operation information in the manual operation mode as the control mode set for the excavating state (S3) which is the next action mode of the returning state (S2) and the information on the state transitioning condition (C3) to the excavating state (S3), and notifies the operator of these pieces of information. Also, the predicting section 10e outputs to the control mode selecting section 6e the information on the automated operation mode as the control mode set for the returning state (S2), that is, the transition state of the current action mode. According to the received information on the automated operation mode, the control mode selecting section 6e outputs to the hydraulic circuit control system 5 the control signal computed by the automatically operating section 6d for the hydraulic excavator 1. Therefore, the hydraulic excavator 1 automatically performs an action to the returning state (S2) as the current action mode.
  • Advantageous effects in the present embodiment configured as above will be described.
  • The productivity relating to excavation and loading, which are principal actions of a hydraulic excavator (work machine), is affected by operator's arrangements (determinations on excavating and dumping positions, work orders, excavation amount adjustment, and the like). To automate work that requires such a high level of ability of an operator to determine, an appropriate determination processing function matching all work environments is needed. In other words, even if automation is made, reduction in productivity by hydraulic excavator is concerned if there is a work environment with which the determination processing function cannot deal.
  • Meanwhile, an operator may continuously work for a long period of time, and hence the productivity may be reduced by an accumulation of fatigue over time. Further, in remote control or the like of a hydraulic excavator, an operator performs work while watching a video displayed on a monitor or the like. The video displayed on the monitor however tends to have poor depth perception. If work is performed with a risk of contact between machines themselves as in the loading action of earth or the like onto a dump truck by a hydraulic excavator, the operator therefore has to carefully watch the video and is more fatigued than riding in the cab of the hydraulic excavator and performing operation there.
  • In the present embodiment, it is configured such that the current action mode and the next action mode of the hydraulic excavator 1 (work machine) are predicted according to the sensing result of the state recognition sensor, and the control mode is selectively switched according to the predicted current and next action modes. Selectively switched control modes are assumed to be the manual operation mode that allows the work device 4 to act according to operation of the operation lever 7a (operation device), the assist mode that allows the work device 4 to semiautomatically act by intervening the action of the work device 4 according to operation of the operation lever 7a (operation device), and the automated operation mode that allows the work device 4 to act without relying upon operation of the operation lever 7a (operation device). Therefore, according to the present embodiment, the action of automated operation can be more easily and appropriately changed according to the circumstances of a work site, and the operator's fatigue can be reduced while suppressing a reduction in productivity, so that the productivity can be stabilized at a high level for a long period of time.
  • For example, work that is great in the influence on productivity (for example, the excavating action and the dumping action) can be performed by an operator, and the rest of work that is small in the influence on productivity (for example, the loading action and the returning action) can be automated or semi-automated. Fatigue reducing effect is also expected on work, such as the loading action, that is high in the degree of fatigue by operation in remote operation. While the excavating action and the dumping action make use of the high level of ability of the operator to judge, the rest of work can therefore be automated in parts, so that the maintenance of the productivity at a high level and the reduction of the operator's fatigue can be both achieved.
  • Also, concerning the work other than excavation and loading, it is possible to set manual operation (manual operation mode) for work in which the operator's arrangements contribute to the productivity, and to automatically or semiautomatically perform the rest of the work.
  • In a case in which the terrain changes a lot during work, specifically in a case in which the work efficiency is affected if relied upon the excavating action by automated operation, the control mode of the excavating state can be switched from an automated operation mode to a manual operation mode. In other words, the control mode can be appropriately changed to a control mode appropriate for maintaining the productivity.
  • In addition, the control mode can be changed according to the operator's proficiency of operation to a control mode appropriate for maintaining the productivity, so that the productivity of the entire work site can be raised in level. For an operator with a high proficiency level, high productivity is obtained by setting the proportion of manual operation (manual operation modes) to be higher. For an operator with a relatively low proficiency level, conversely, the productivity can be improved by setting the proportion of automation and semiautomation (assist mode and automated operation mode) to be higher.
  • Further, concerning the action mode that manual operation has been performed, for example, due to the need for a high level of ability of the operator to judge, the acquisition of an automative function capable of replacing judgements enables the software of the machine body controller 6 to be updated, and the change in the setting of the control mode for the action mode from the manual operation mode to the automated operation mode enables the automative function to be easily improved. Therefore, the machine development cost can be cut down.
  • Furthermore, it is configured to display the information on the control mode on the display unit 13, so that the operator can seamlessly operate according to the transitions of a series of action modes of excavation and loading. For example, in the excavating and loading actions in which an automated operation mode and a manual operation mode are present together as each action mode, there is a need for operation, which matches the next action mode, shortly after satisfying a state transitioning condition or conditions. In the present embodiment, as the state transitioning condition or conditions and the information on the operation in the next action mode are displayed on the display unit 13 and notified to the operator, the operator can check a trigger matching the action mode even if he or she has not recognized the trigger. It is therefore possible to suppress a delay in the start of the next action and to suppress a reduction in productivity.
  • Moreover, if the operation by the operator is performed for the fixed period of time or longer, in other words, if the operation intended by the operator is clear, the control mode is promptly switched to a manual operation mode to avoid the hydraulic excavator from performing action different a lot from the operator's intention even while the hydraulic excavator is performing automated work, thereby enabling reduction in productivity to be suppressed.
  • It is to be noted that, in the present embodiment, the description is made by exemplifying the case in which, as the control modes, the three modes of manual operation mode, assist mode, and automated operation mode are defined, and the control modes are switched among them. However, without being limited to the foregoing, the present embodiment may be configured, for example, such that at least two control modes of manual operation mode and automated operation mode are defined, and these two control modes are switched.
    • <Second Embodiment>
  • A second embodiment of the present invention will be described with reference to FIG. 8. In the present embodiment, members similar to those in the first embodiment are identified by the same reference characters, and their description is omitted.
  • The present embodiment updates state transition information, which is generated at the action mode transition generating section 10b and the transition condition generating section 10c (transition information and state transitioning conditions), according to information from the operation lever 7a and state recognition sensors 9.
  • FIG. 8 is a functional block diagram illustrating processing details in a machine body controller in the present embodiment.
  • In FIG. 8, a machine body controller 6A includes the manual operating section 6a, the automated control command generating section 6b (the assist control section 6c and the automatically operating section 6d), the control mode selecting section 6e, and an action mode predicting section 10A.
  • The action mode predicting section 10 includes the action mode storing section 10a, the action mode transition generating section 10b, the transitioning condition generating section 10c, the current action mode estimating section 10d, the predicting section 10e, and an action mode transition updating section 10f.
  • The action mode transition updating section 10f receives signals from the operation lever 7 and the state recognition sensors 9, and updates transition information generated at the action mode transition generating section 10b.
  • The action mode transition generating section 10b reads setting information stored in the action mode storing section 10a, and according to the setting information, generates transition information that indicates the transition state of the action mode. Further, the transition information is updated according to action mode transition information newly generated at the action mode transition updating section 10f.
  • The transitioning condition generating section 10c sets, according to the transition information generated at the action mode transition generating section 10b, one or more state transitioning conditions between transition states.
  • As described above, the state transition information (transition information and state transitioning conditions) is updated according to changes in the work environment in the present embodiment.
  • The rest of the configuration is similar to that of the first embodiment.
  • Advantageous effects in the present embodiment configured as above will be described.
  • The action mode transition updating section 10f collects operation history information on the operation lever 5a during manual operation by the operator, and work information on the hydraulic excavator 1 from the state recognition sensors 9 at that time. The action mode transition updating section 10f classifies time-series data on the collected work information, and generates a new action mode. As a classification method, a statistical clustering algorithm such as the support vector machine can be used, for example. Also, according to the information from the state recognition sensors 9, the action mode transition updating section 10f sets a state transitioning condition or conditions corresponding to the information on the transition state of (transition information on) the newly generated action mode.
  • As initial information on the action mode set at the presetting device 8 and the state transition information generated at the action mode transition generating section 10b, those preset at the machine body controller 6 are used. However, environments under which the hydraulic excavator 1 works are of a great variety. When work is performed with the state transition information remaining unchanged from the initial information, the machine body controller 6 may not be able to sufficiently match work environments if the control mode is changed to an automated operation mode.
  • In the present embodiment, it is therefore configured such that work information on the hydraulic excavator 1 is analyzed according to the operation history information on the operation lever 7a during manual operation by the operator and the sensing results of the state recognition sensors 9 at that time, and the action mode transition updating section 10f updates the state transition information by adding or modifying action modes suited for the work environments. Specifically, it is possible that the action mode transition generating section 10b can generate appropriate transition information on the action mode suited for each work environment and the state transition information including the state transitioning condition or conditions generated at the transitioning condition generating section 10c can be achieved. As a result, even under a new work environment, a sufficiently matched, automated or semi-automated action can be achieved, and productivity and a reduction in the operator's fatigue can be both achieved.
    • <Remarks>
  • It is to be noted that the present invention is not limited to the above-described embodiments, but various modifications and combinations within the scope not departing from its spirit are embraced.
  • For example, the description is given by exemplifying the hydraulic excavator as the work machine in the above-described embodiments. Without being limited to this, the present invention can also be applied to a work machine of electrically driven type, which is driven, for example, by electrically driven motors.
  • In addition, the description is given in the above-described embodiment by exemplifying the case in which information is notified to the operator by displaying it on the display unit 13. Without being limited to this, the present invention can also be applied to a case in which information is notified to the operator by a method other than displaying, for example, such as sound.
  • Also, in the above-described embodiments, the description is also made by exemplifying the case in which the operation lever 7a, the switch 7b, the presetting device 8, the display unit 13, and the like, which are configurations relating to operation of the hydraulic excavator 1 (work machine) by the operator, are arranged in the cab 3a, and the automated control command generating section 6b (assist control section 6c and automatically operating section 6d), the control mode selecting section 6e, the action mode predicting section 10 or 10A, which are functional sections relating to control of automated operation and semiautomated operation, are disposed in the machine body controller 6 or 6A. Without being limited to this, it may be configured to permit communications with the hydraulic excavator 1 (work machine) via a wireless system, for example, by arranging configurations which relate to operation of the hydraulic excavator 1 and functional sections which relate to control of automated operation and semiautomated operation, in a remote operation room or the like disposed outside the hydraulic excavator 1.
  • Further, the present invention is not limited to those including all the configurations described in the above-described embodiments, but those in which a part or parts of the configurations are deleted are also included. In addition, the above-described individual configurations, functions, and the like may be realized partly or wholly, for example, by designing them in an integrated circuit. Moreover, the above-described individual configurations, functions, and the like may also be realized as software by allowing the processor to interpret and execute programs that realize the functions.
    • Description of Reference Characters
    • 1: Hydraulic excavator
    • 2: Lower track structure
    • 2a: Track hydraulic motor
    • 3: Upper swing structure
    • 3a: Cab
    • 4: Work device
    • 4a: Boom
    • 4b: Arm
    • 4c: Bucket
    • 5: Hydraulic circuit control system
    • 5a: Operation lever
    • 5b: Switch
    • 6, 6A: Machine body controller
    • 6a: Manual operating section
    • 6b: Automated control command generating section
    • 6c: Assist control section
    • 6d: Automatically operating section
    • 6e: Control mode selecting section
    • 7a: Operation lever
    • 7b: Switch
    • 8: Presetting device
    • 9: State recognition sensor
    • 10, 10A: Action mode predicting section
    • 10a: Action mode storing section
    • 10b: Action mode transition generating section
    • 10c: Transitioning condition generating section
    • 10d: Current action mode estimating section
    • 10e: Predicting section
    • 10f: Action mode transition updating section
    • 11: Settings screen
    • 13: Display unit
    • 13a: Machine state area
    • 13b: Trigger operation display area
    • 13c: Transitioning condition area
    • 13d: Control mode
    • 14a: Boom cylinder
    • 14b: Arm cylinder
    • 14c: Bucket cylinder
    • 15: Dump truck
    • C0 to C9: State transitioning condition
    • S0: Manually operating state
    • S1: Dumping state
    • S2: Returning state
    • S3: Excavating state
    • S4: Loading state
    • S5: Traveling state
    • S6: Cooperating state
    • Start: Starting state

Claims (9)

  1. A work machine including a work device that acts according to operation of an operation device, and a controller that controls actions of the work device, the work machine comprising:
    a state recognition sensor that senses a state of the work device,
    wherein the controller is configured to
    predict a current action mode and a next action mode of the work machine from among a plurality of action modes that represent kinds of preclassified actions in the work machine, according to a sensing result of the state recognition sensor, and
    start action control of the work machine by switching a control mode, the control mode representing a kind of action control of the work machine, to a control mode corresponding to the next action mode out of a manual operation mode that allows the work machine to act according to operation of the operation device and an automated operation mode that allows the work machine to automatically act without relying upon operation of the operation device, when the work machine is in a state of transitioning from the current action mode to the next action mode.
  2. The work machine according to claim 1,
    wherein the controller switches the control mode out of the manual operation mode, the automated operation mode, and an assist mode that allows the work machine to semiautomatically act by intervening an action of the work machine while responding to operation of the operation device.
  3. The work machine according to claim 1, comprising:
    a lower track structure provided to be able to travel; and
    an upper swing structure swingably provided on an upper portion of the lower track structure, and provided with the work device to perform excavation and transport of an object.
  4. The work machine according to claim 2,
    wherein the action modes include
    an excavating action mode that performs an excavating action to excavate an object by the work device at an excavating position,
    a loading action mode that moves the object, the object having been excavated by the excavating action, to a predetermined dumping position for a transport vehicle that is to transport the object, by the work device,
    an dumping action mode that dumps the object from the work device to the transport vehicle at the dumping position,
    a returning action mode that returns the work device from the dumping position to the excavating position,
    a traveling action mode that changes a position of the work machine by traveling devices, and
    a cooperative action mode that performs a cooperative action between the work machine and the transport vehicle.
  5. The work machine according to claim 1,
    wherein the controller presets the control modes, the control modes corresponding to the respective action modes, by inputs from an operator, and switches the control mode according to setting details and the predicted action mode.
  6. The work machine according to claim 1, comprising:
    a display unit that presents information to an operator,
    wherein the controller causes the display unit to display
    a condition needed to transition to the next action mode, and
    details of operation required for the operator in the next action mode.
  7. The work machine according to claim 1,
    wherein the controller switches the control mode from the automated operation mode to the manual operation mode until the current action mode is switched to the next action mode, when the operation device is operated while the control mode is the automated operation mode.
  8. The work machine according to claim 1,
    wherein the state recognition sensor includes a posture sensor, a vehicle sensing sensor, and a payload sensor that measures a weight of a material that the work device carries.
  9. The work machine according to claim 1,
    wherein the controller has a function to learn work manually operated in a past, add, and overwrite a state transition setting including information to be used for prediction of the next action mode.
EP23874777.8A 2022-10-06 2023-09-29 Work machine Pending EP4600428A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022161595A JP2024055024A (en) 2022-10-06 2022-10-06 Work Machine
PCT/JP2023/035693 WO2024075650A1 (en) 2022-10-06 2023-09-29 Work machine

Publications (1)

Publication Number Publication Date
EP4600428A1 true EP4600428A1 (en) 2025-08-13

Family

ID=90608378

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23874777.8A Pending EP4600428A1 (en) 2022-10-06 2023-09-29 Work machine

Country Status (4)

Country Link
EP (1) EP4600428A1 (en)
JP (1) JP2024055024A (en)
CN (1) CN119998519A (en)
WO (1) WO2024075650A1 (en)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3145027B2 (en) * 1996-03-22 2001-03-12 新キャタピラー三菱株式会社 Automatic control device for hydraulic excavator
US5953838A (en) * 1997-07-30 1999-09-21 Laser Alignment, Inc. Control for hydraulically operated construction machine having multiple tandem articulated members
JP5658901B2 (en) * 2003-02-27 2015-01-28 小橋工業株式会社 Continuous trimming work method
JP5132742B2 (en) * 2010-09-14 2013-01-30 株式会社小松製作所 Bulldozer
JP2012082644A (en) * 2010-10-14 2012-04-26 Hitachi Constr Mach Co Ltd Construction machine
JP6373728B2 (en) * 2014-11-10 2018-08-15 日立建機株式会社 Construction machinery
WO2015129932A1 (en) * 2015-03-25 2015-09-03 株式会社小松製作所 Wheel loader
WO2019151335A1 (en) * 2018-01-30 2019-08-08 住友建機株式会社 Shovel and shovel management system
JP6956688B2 (en) * 2018-06-28 2021-11-02 日立建機株式会社 Work machine
JP7276046B2 (en) 2019-09-26 2023-05-18 コベルコ建機株式会社 Operation teaching system for work machines

Also Published As

Publication number Publication date
JP2024055024A (en) 2024-04-18
CN119998519A (en) 2025-05-13
WO2024075650A1 (en) 2024-04-11

Similar Documents

Publication Publication Date Title
US8392075B2 (en) Carrier and backhoe control system and method
JP6776343B2 (en) Excavator display
KR101378653B1 (en) Work vehicle monitoring device
US9091044B2 (en) Apparatus and method for controlling automatic operation of working unit of wheel loader
AU2021222454B2 (en) Remote operation system for work machine
US11879234B2 (en) Work vehicle
CN115516174A (en) Excavator
CN112204198B (en) Display system for working machine and control method thereof
EP4600428A1 (en) Work machine
JP7382876B2 (en) excavator
US12215485B2 (en) Display system of work machine and method of controlling the same
WO2020054413A1 (en) Display system for wheel loader, and control method for display system
US12005912B2 (en) System and method for selective derating of self-propelled work vehicle parameters based on operating modes
US20220236731A1 (en) Remote control station and method of operating remote control station
CN119948545A (en) Automatic operation information processing device, automatic operation information processing method and automatic operation information processing program
CN116815864B (en) A multi-functional control system for excavation, loading, and driving.
US20240141626A1 (en) Work Machine
US12559907B2 (en) Operator confirmation of machine control scheme
US20250052037A1 (en) Work machine control method, work machine control program, work machine control system, and work machine
US20250129571A1 (en) Operating range estimation for an electric work vehicle
CN121738234A (en) Operating machinery control methods, operating machinery control programs, operating machinery display systems, and operating machinery
JP2025029514A (en) Control system for work machines
KR20260039732A (en) Operating device, and a working machine equipped with it
JP2026066110A (en) Work support system
JP2019073851A (en) Working vehicle and control method for working vehicle

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20250506

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)