JP2021011694A - Work machine and control method of work machine - Google Patents

Abstract

To provide a work machine and a control method of work machine which can improve work efficiency in a series of automatic operations from excavation to muck removal.SOLUTION: A work machine comprises: a control part for rotating a bucket from a horizontal direction toward a dump direction by a predetermined angle during a revolving operation; and an angle setting part for setting the predetermined angle. The angle setting part calculates an angle at which earth and sand do not spill from the bucket. The control part executes a tilting operation that tilts an opening surface of the bucket in the dump direction by rotating the bucket in the dump direction during the automatic revolving operation.SELECTED DRAWING: Figure 8

Description

The present disclosure relates to excavation control of work machinery.

Conventionally, work vehicles such as hydraulic excavators are known. For example, Japanese Patent Application Laid-Open No. 2002-115272 (Patent Document 1) discloses a hydraulic excavator that repeatedly and automatically executes a series of operations from excavation to soil removal.

JP-A-2002-115272

On the other hand, it is possible to improve work efficiency by shortening the work cycle time. In this respect, the conventional hydraulic excavator may take a long time to remove the soil.

An object of the present disclosure is to provide a work machine and a control method of the work machine capable of improving work efficiency.

A work machine according to a certain aspect of the present disclosure includes a swivel body, a work machine attached to the swivel body including a bucket, and a bucket opening surface in a dump direction by rotating the bucket in the dump direction during the swivel operation. It is provided with a control unit that executes a tilting operation.

Preferably, the control unit rotates the bucket from the horizontal direction to the dump direction by a predetermined angle during the turning operation.

Preferably, an angle setting unit for setting a predetermined angle is further provided.
Preferably, the angle setting unit calculates and sets an angle at which earth and sand do not spill from the bucket.

Preferably, the control unit performs an inclination operation of tilting the opening surface of the bucket in the dump direction by rotating the bucket in the dump direction during the automatic turning operation.

A method of controlling a work machine according to a certain aspect of the present disclosure is to rotate the work machine having a bucket by a swivel body and to rotate the bucket in the dump direction during the swivel operation to make the opening surface of the bucket in the dump direction. It includes a step to perform a tilting motion.

The work machine of the present disclosure and the control method of the work machine can improve the work efficiency.

It is an external view of the work machine based on the embodiment. It is a figure which schematically explains the work machine 100 based on an embodiment. A schematic block diagram showing a configuration of a control system of the work machine 100 based on the embodiment will be described. It is a block diagram which shows the structure of the work equipment controller 26 based on an embodiment. It is a figure explaining the case where the bucket 8 is moved to a soil discharge position by a hoist turning operation. It is a figure explaining the control flow of the work machine controller 26 based on the embodiment. It is a flow diagram explaining the subroutine of the hoist turning process based on an embodiment. It is a flow figure explaining the bucket attitude control process based on an embodiment. It is a block diagram which shows the structure of the work machine controller 26 # according to the modification of embodiment.

Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same parts are designated by the same reference numerals. They have the same name and function. Therefore, the detailed description of them will not be repeated.

<Overall configuration of work machine>
FIG. 1 is an external view of a work machine based on an embodiment.

As shown in FIG. 1, a hydraulic excavator including a work machine 2 operated by a flood control as a work machine to which the idea of the present disclosure can be applied will be described as an example.

The work machine 100 includes a vehicle body 1 and a work machine 2.
The vehicle body 1 has a turning body 3, a driver's cab 4, and a traveling device 5.

The swivel body 3 is arranged on the traveling device 5. The traveling device 5 supports the swivel body 3. The swivel body 3 can swivel around the swivel shaft AX. The driver's cab 4 is provided with a driver's seat 4S on which the operator sits. The operator operates the work machine 100 in the driver's cab 4. The traveling device 5 has a pair of tracks 5Cr. The work machine 100 runs by the rotation of the track 5Cr. The traveling device 5 may be composed of wheels (tires).

The positional relationship of each part will be described with reference to the operator seated in the driver's seat 4S. The front-rear direction means the front-rear direction of the operator seated in the driver's seat 4S. The left-right direction refers to the left-right direction with respect to the operator seated in the driver's seat 4S. The left-right direction coincides with the width direction of the vehicle (vehicle width direction). The direction facing the front of the operator seated in the driver's seat 4S is the front direction, and the direction opposite to the front direction is the rear direction. When the operator seated in the driver's seat 4S faces the front, the right side and the left side are the right direction and the left direction, respectively.

The swivel body 3 has an engine room 9 in which an engine is housed, and a counterweight provided at the rear of the swivel body 3. In the swivel body 3, a handrail 19 is provided in front of the engine room 9. An engine, a hydraulic pump, and the like are arranged in the engine room 9.

The working machine 2 is supported by the swivel body 3. The working machine 2 has a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12.

The boom 6 is connected to the swivel body 3 via the boom pin 13. The arm 7 is connected to the boom 6 via the arm pin 14. The bucket 8 is connected to the arm 7 via the bucket pin 15. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8. The base end portion (boom foot) of the boom 6 and the swivel body 3 are connected. The tip end portion (boom top) of the boom 6 and the base end portion (arm foot) of the arm 7 are connected. The tip end portion (arm top) of the arm 7 and the base end portion of the bucket 8 are connected. The boom cylinder 10, arm cylinder 11, and bucket cylinder 12 are all hydraulic cylinders driven by hydraulic oil.

The boom 6 is rotatable with respect to the swivel body 3 about the boom pin 13 which is the central axis. The arm 7 is rotatable with respect to the boom 6 about the arm pin 14, which is a central axis parallel to the boom pin 13. The bucket 8 is rotatable with respect to the arm 7 about a bucket pin 15 which is a central axis parallel to the boom pin 13 and the arm pin 14.

The bucket 8, the working machine 2, and the swivel body 3 are examples of the “bucket”, the “working machine”, and the “swivel body” of the present disclosure.

FIG. 2 is a diagram schematically illustrating a work machine 100 based on an embodiment.
FIG. 2A shows a side view of the work machine 100. FIG. 2B shows a rear view of the work machine 100.

As shown in FIGS. 2A and 2B, the length L1 of the boom 6 is the distance between the boom pin 13 and the arm pin 14. The length L2 of the arm 7 is the distance between the arm pin 14 and the bucket pin 15. The length L3 of the bucket 8 is the distance between the bucket pin 15 and the cutting edge 8A of the bucket 8. The bucket 8 has a plurality of blades, and in this example, the tip end portion of the bucket 8 is referred to as a cutting edge 8A.

The bucket 8 does not have to have a blade. The tip end portion of the bucket 8 may be formed of a straight steel plate.

The work machine 100 includes a boom cylinder stroke sensor 16, an arm cylinder stroke sensor 17, and a bucket cylinder stroke sensor 18. The boom cylinder stroke sensor 16 is arranged in the boom cylinder 10. The arm cylinder stroke sensor 17 is arranged in the arm cylinder 11. The bucket cylinder stroke sensor 18 is arranged in the bucket cylinder 12. The boom cylinder stroke sensor 16, the arm cylinder stroke sensor 17, and the bucket cylinder stroke sensor 18 are also collectively referred to as a cylinder stroke sensor.

The stroke length of the boom cylinder 10 is obtained based on the detection result of the boom cylinder stroke sensor 16. The stroke length of the arm cylinder 11 is obtained based on the detection result of the arm cylinder stroke sensor 17. The stroke length of the bucket cylinder 12 is obtained based on the detection result of the bucket cylinder stroke sensor 18.

In this example, the stroke lengths of the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are also referred to as a boom cylinder length, an arm cylinder length, and a bucket cylinder length, respectively. Further, in this example, the boom cylinder length, the arm cylinder length, and the bucket cylinder length are collectively referred to as cylinder length data L. It is also possible to adopt a method of detecting the stroke length using an angle sensor.

The work machine 100 includes a position detection device 20 capable of detecting the position of the work machine 100.

The position detection device 20 includes an antenna 21, a global coordinate calculation unit 23, and an IMU (Inertial Measurement Unit) 24.

The antenna 21 is, for example, an antenna for GNSS (Global Navigation Satellite Systems). The antenna 21 is, for example, an antenna for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems).

The antenna 21 is provided on the swivel body 3. In this example, the antenna 21 is provided on the handrail 19 of the swivel body 3. The antenna 21 may be provided in the rear direction of the engine room 9. For example, the antenna 21 may be provided on the counterweight of the swivel body 3. The antenna 21 outputs a signal corresponding to the received radio wave (GNSS radio wave) to the global coordinate calculation unit 23.

The global coordinate calculation unit 23 detects the installation position P1 of the antenna 21 in the global coordinate system. The global coordinate system is a three-dimensional coordinate system (Xg, Yg, Zg) based on the reference position Pr installed in the work area. In this example, the reference position Pr is the position of the tip of the reference pile set in the work area. The local coordinate system is a three-dimensional coordinate system represented by (X, Y, Z) with reference to the work machine 100. The reference position in the local coordinate system is data indicating the reference position P2 located on the turning axis (turning center) AX of the turning body 3.

In this example, the antenna 21 has a first antenna 21A and a second antenna 21B provided on the swivel body 3 so as to be separated from each other in the vehicle width direction.

The global coordinate calculation unit 23 detects the installation position P1a of the first antenna 21A and the installation position P1b of the second antenna 21B. The global coordinate calculation unit 23 acquires the reference position data P represented by the global coordinates. In this example, the reference position data P is data indicating the reference position P2 located on the turning axis (turning center) AX of the turning body 3. The reference position data P may be data indicating the installation position P1.

In this example, the global coordinate calculation unit 23 generates the swivel body orientation data Q based on the two installation positions P1a and the installation position P1b. The swivel body orientation data Q is determined based on the angle formed by the straight line determined by the installation position P1a and the installation position P1b with respect to the reference orientation (for example, north) of the global coordinates. The swivel body orientation data Q indicates the direction in which the swivel body 3 (working machine 2) is facing. The global coordinate calculation unit 23 outputs the reference position data P and the swivel body orientation data Q to the work equipment controller 26 described later.

The IMU 24 is provided on the swivel body 3. In this example, the IMU 24 is located below the driver's cab 4. In the swivel body 3, a high-rigidity frame is arranged below the driver's cab 4. The IMU 24 is arranged on the frame. The IMU 24 may be arranged on the side (right side or left side) of the turning shaft AX (reference position P2) of the turning body 3. The IMU 24 detects an inclination angle θ4 that is inclined in the left-right direction of the vehicle body 1 and an inclination angle θ5 that is inclined in the front-rear direction of the vehicle body 1.

FIG. 3 describes a schematic block diagram showing a configuration of a control system of the work machine 100 based on the embodiment.

As shown in FIG. 3, the work machine 100 includes a boom cylinder stroke sensor 16, an arm cylinder stroke sensor 17, a bucket cylinder stroke sensor 18, an antenna 21, a global coordinate calculation unit 23, an IMU 24, and a work machine. It has a controller 26, a boom cylinder 10, an arm cylinder 11, a bucket cylinder 12, a swivel motor 62, and a hydraulic device 64.

The hydraulic device 64 includes a hydraulic oil tank, a hydraulic pump, a flow rate control valve, and an electromagnetic proportional control valve (not shown). The hydraulic pump is driven by the power of an engine (not shown) and supplies hydraulic oil to the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 via a flow control valve. The hydraulic pump supplies hydraulic oil to the swivel motor 62 via a flow control valve to execute the swivel operation of the swivel body 3.

The sensor controller 30 calculates the boom cylinder length based on the detection result of the boom cylinder stroke sensor 16.

Similarly, the sensor controller 30 calculates the arm cylinder length based on the detection result of the arm cylinder stroke sensor 17. The sensor controller 30 calculates the bucket cylinder length based on the detection result of the bucket cylinder stroke sensor 18.

The sensor controller 30 calculates the tilt angle θ1 of the boom 6 with respect to the swivel shaft AX of the swivel body 3 from the boom cylinder length acquired based on the detection result of the boom cylinder stroke sensor 16. The sensor controller 30 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the arm cylinder length acquired based on the detection result of the arm cylinder stroke sensor 17. The sensor controller 30 calculates the inclination angle θ3 of the cutting edge 8A of the bucket 8 with respect to the arm 7 from the bucket cylinder length acquired based on the detection result of the bucket cylinder stroke sensor 18.

The tilt angles θ1, θ2, and θ3, which are the calculation results, the tilt angle θ4 that tilts in the left-right direction of the vehicle body 1, the tilt angle θ5 that tilts in the front-rear direction of the vehicle body 1, the reference position data P, and the turning body orientation. Based on the data Q, it is possible to identify the positions of the boom 6, the arm 7, and the bucket 8 of the work machine 100. This makes it possible to control the posture of the bucket 8.

The tilt angle θ1 of the boom 6, the tilt angle θ2 of the arm 7, and the tilt angle θ3 of the bucket 8 do not have to be detected by the cylinder stroke sensor. The tilt angle θ1 of the boom 6 may be detected by an angle detector such as a rotary encoder. The angle detector detects the bending angle of the boom 6 with respect to the swivel body 3 and detects the inclination angle θ1. Similarly, the inclination angle θ2 of the arm 7 may be detected by an angle detector attached to the arm 7. The inclination angle θ3 of the bucket 8 may be detected by an angle detector attached to the bucket 8. The posture information may be detected via the IMU 24 attached to the work machine.

<Work machine controller configuration>
FIG. 4 is a block diagram showing a configuration of the work equipment controller 26 based on the embodiment.

The work machine 100 based on the embodiment executes an automatic control process in which a series of processes of excavation operation, hoist turning operation, soil removal operation, and down turning operation are repeatedly executed by the work machine controller 26.

As shown in FIG. 4, the work equipment controller 26 includes a detection information acquisition unit 102, a hoist rotation control unit 104, a soil removal control unit 108, a down rotation control unit 110, and an excavation control unit 112.

The hoist swivel control unit 104 includes a bucket attitude control unit 105 and a swivel body control unit 106.

The detection information acquisition unit 102 acquires the inclination angles θ1, θ2, θ3, θ4, and θ5 from the sensor controller 30, the reference position data P from the global coordinate calculation unit 23, and the swivel body orientation data Q. Based on the information acquired by the detection information acquisition unit 102, the positions of the boom 6, arm 7, and bucket 8 of the work machine 100 can be specified, and automatic control becomes possible.

The excavation control unit 112 controls the work machine 2 to execute an excavation operation of excavating earth and sand or the like, which is an object to be excavated, by using the bucket 8. The excavation control unit 112 sets the opening surface of the bucket 8 in the horizontal direction or a direction close to the horizontal direction in order to stably hold the earth and sand due to the excavation operation in the bucket 8.

The hoist swivel control unit 104 moves the earth and sand held in the bucket 8 to the soil discharge position by the swivel operation (hoist swivel operation) by the swivel body 3.

After the hoist turning operation, the soil discharge control unit 108 controls the work machine 2 to execute the soil discharge operation of discharging the earth and sand held in the bucket 8 to the loading platform of the dump truck.

The down swivel control unit 110 moves the empty bucket 8 after the soil removal operation to the excavation position by the swivel operation (down swivel operation) by the swivel body 3.

The excavation control unit 112 again controls the work machine 2 to execute an excavation operation of excavating earth and sand or the like, which is an object to be excavated, by using the bucket 8. The same applies to the subsequent operations, which are repeated.

The work equipment controller 26 based on the embodiment controls the posture of the bucket 8 during the hoist turning operation.

The swivel body control unit 106 controls the swivel body 3 in order to move the bucket 8 to the soil discharge position after the excavation operation.

The bucket attitude control unit 105 executes an inclination operation of tilting the opening surface of the bucket 8 in the dump direction by rotating the bucket 8 in the dump direction during the hoist turning operation. The bucket attitude control unit 105 rotates the bucket 8 from the horizontal direction to the dump direction by a predetermined angle during the hoist turning operation. The opening surface of the bucket 8 is tilted by a predetermined angle from the horizontal direction to the dump direction. The opening surface of the bucket 8 is, for example, a surface determined based on the position of the bucket pin 15 and the position of the tip end portion of the bucket 8, or the position of the bucket pin 15 and the cutting edge 8A of the bucket 8.

By executing the tilting operation of tilting the bucket 8 by a predetermined angle in the dump direction from the state before turning, it is possible to advance the start timing of the soil discharge operation.

The bucket attitude control unit 105 is an example of the “control unit” of the present disclosure.
FIG. 5 is a diagram illustrating a case where the bucket 8 is moved to the soil removal position by the hoist turning operation.

FIG. 5A shows a state of the conventional hoist turning operation as a comparative example.
In the conventional hoist turning operation, the opening surface of the bucket 8 is maintained in a horizontal state.

In this respect, the timing at which soil such as earth and sand is discharged from the bucket 8 to the loading platform of the dump truck 200 is started when the bucket 8 is moved from the horizontal state to the dump truck by a predetermined angle or more. Therefore, a time loss has occurred between the start of the soil removal operation and the actual start of soil removal.

FIG. 5B shows a state of hoist turning operation according to the embodiment.
In the hoist turning operation based on the embodiment, a tilting operation of tilting the opening surface of the bucket 8 in the dump direction from the state before turning is executed during the turning operation. Specifically, the bucket attitude control unit 105 executes a tilting operation that tilts the opening surface of the bucket 8 by a predetermined angle from the horizontal direction.

As a result, the posture of the bucket 8 can be brought closer to the soil removal start position than the state before turning.

Therefore, the timing at which soil such as earth and sand is discharged from the bucket 8 to the loading platform of the dump truck 200 is started immediately after the soil discharge operation is started.

Therefore, it is possible to shorten the time from the start of the soil removal operation to the actual start of soil removal. Therefore, it is possible to shorten a series of operation periods from excavation to soil removal and improve work efficiency.

FIG. 6 is a diagram illustrating a control flow of the work equipment controller 26 based on the embodiment.
With reference to FIG. 6, the work equipment controller 26 executes the excavation process (step S2).

The excavation control unit 112 controls the work machine 2 to execute an excavation operation of excavating earth and sand or the like, which is an object to be excavated, by using the bucket 8. The excavation control unit 112 sets the opening surface of the bucket 8 in the horizontal direction in order to stably hold the earth and sand due to the excavation operation.

Next, the work equipment controller 26 executes the hoist turning process (step S4). The hoist swivel control unit 104 moves the earth and sand held in the bucket 8 to the soil discharge position by the swivel operation (hoist swivel operation) by the swivel body 3.

Next, the work equipment controller 26 executes the soil removal process (step S6). After the hoist turning operation, the soil discharge control unit 108 controls the work machine 2 to execute the soil discharge operation of discharging the earth and sand held in the bucket 8 to the loading platform of the dump truck.

Next, the work equipment controller 26 executes the down turning process (step S8). The down swivel control unit 110 moves the empty bucket 8 after the soil removal operation to the excavation position by the swivel operation (down swivel operation) by the swivel body 3.

Next, the work equipment controller 26 determines whether to continue the automatic control process (step S10).

When the work equipment controller 26 determines that the automatic control process is not continued (NO in step S10), the work machine controller 26 ends the process (end).

For example, the work equipment controller 26 determines whether or not the amount of soil loaded on the loading platform of the dump truck has reached a predetermined amount, and if so, determines that the automatic control process is not continued. Alternatively, the work equipment controller 26 determines whether or not the amount of earth and sand or the like, which is the object to be excavated, is less than or equal to a predetermined amount, and if it is less than or equal to a predetermined amount, it is determined that the automatic control process is not continued.

On the other hand, when the work equipment controller 26 determines that the automatic control process is to be continued (YES in step S10), the work machine controller 26 returns to step S2 and repeats the above process.

FIG. 7 is a flow chart illustrating a subroutine of hoist turning processing based on the embodiment.

With reference to FIG. 7, the hoist turning control unit 104 executes the turning process (step S30). The swivel body control unit 106 executes a swivel operation by the swivel body 3.

Next, the hoist turning control unit 104 executes the bucket attitude control process (step S32). The bucket attitude control unit 105 executes a process of controlling the attitude of the bucket 8. The bucket attitude control process will be described later.

Next, the hoist turning control unit 104 determines whether or not the bucket 8 has reached the soil removal position (step S34).

In step S34, the hoist turning control unit 104 ends the hoist turning process (return) when the bucket 8 reaches the soil removal position (YES in step S34).

On the other hand, in step S34, when the bucket 8 does not reach the soil removal position (NO in step S34), the hoist turning control unit 104 returns to step S30 and repeats the turning process and the bucket attitude control process.

FIG. 8 is a flow chart for explaining the bucket attitude control process based on the embodiment.
With reference to FIG. 8, the bucket attitude control unit 105 acquires the attitude of the bucket 8 (step S40). The bucket attitude control unit 105 acquires the attitude of the bucket 8 based on the information acquired from the detection information acquisition unit 102.

Next, the bucket attitude control unit 105 determines whether or not the bucket 8 is tilted by a predetermined angle from the horizontal direction to the dump direction (step S42). It is assumed that the value of the predetermined angle is set in advance. The predetermined angle is an angle at which the earth and sand held in the bucket 8 does not spill from the bucket 8 even when the bucket 8 is tilted from the horizontal direction to the dump direction.

Next, in step S42, when the bucket attitude control unit 105 determines that the bucket 8 is not tilted by a predetermined angle from the horizontal direction to the dump direction (NO in step S42), the bucket attitude control unit 105 adjusts the attitude of the bucket 8 (NO). Step S44). For example, the bucket attitude control unit 105 tilts the bucket 8 in the dump direction so that the bucket 8 is tilted by a predetermined angle from the horizontal direction. Alternatively, the bucket attitude control unit 105 adjusts the attitude of the bucket 8 so as to maintain a state of being inclined by a predetermined angle from the horizontal direction to the dump direction.

Then, the bucket attitude control unit 105 ends the bucket attitude control process (return). That is, the process returns to FIG.

On the other hand, in step S42, when the bucket attitude control unit 105 determines that the bucket 8 is tilted by a predetermined angle from the horizontal direction to the dump direction (YES in step S42), the bucket attitude control unit 105 skips step S44 and the bucket attitude. End the control process (return).

When the bucket 8 reaches the soil discharge position by the bucket attitude control process during the hoist turning process, the opening surface of the bucket 8 is not in a horizontal state but in an inclined state. The timing at which soil such as earth and sand is discharged from the bucket 8 to the loading platform of the dump truck 200 is started immediately after the soil discharge operation is started. It is possible to shorten the time from the start of the soil removal operation to the actual start of soil removal. Therefore, it is possible to shorten a series of operation periods from excavation to soil removal and improve work efficiency.

(Modification example)
FIG. 9 is a block diagram showing a configuration of a work machine controller 26 # according to a modified example of the embodiment.

With reference to FIG. 9, the working machine controller 26 # is different from the working machine controller 26 shown in FIG. 4 in that the angle setting unit 103 is newly provided. Since the other configurations are the same as those described with reference to FIG. 4, the detailed description thereof will not be repeated.

The angle setting unit 103 sets an angle at which the bucket attitude control unit 105 tilts the bucket 8 from the horizontal direction to the dump direction during the hoist turning operation.

For example, the angle setting unit 103 may set a predetermined angle by receiving an angle setting command from the user.

The timing at which the bucket 8 is tilted in the dump direction to generate soil such as earth and sand differs depending on the type of earth and sand in the bucket 8. Therefore, the angle setting unit 103 may accept the input of the sediment type information from the user and set the predetermined angle based on the type information.

The angle setting unit 103 may execute a verification operation for verifying an angle at which soil or the like is actually discharged when the bucket 8 is tilted in the dump direction, and set a predetermined angle based on the verification result. .. For example, the weight sensor may be provided in the bucket 8, and the angle setting unit 103 may set a predetermined angle based on the angle at which the value of the weight sensor changes when the bucket 8 is tilted in the dump direction. Instead of using the weight sensor, the weight of the earth and sand inside the bucket 8 may be measured based on the equilibrium formula based on the pressure sensor information of the boom cylinder 10 and the posture information of the work machine 2.

The angle setting unit 103 may calculate and set a predetermined angle at which earth and sand do not spill from the bucket 8 in consideration of the control error during the hoist turning operation and the measurement error of the IMU 24.

The angle setting unit 103 may set a predetermined angle based on an image captured by a camera mounted in front of the driver's cab 4. For example, as image processing of the captured image, the earth and sand spilling from the bucket 8 may be recognized based on the optical flow and a predetermined angle may be set.

The angle setting unit 103 is an example of the “angle setting unit” of the present disclosure.
In the above embodiment, an automatic control process for repeatedly executing a series of processes of excavation operation, hoist turning operation, soil removal operation, and down turning operation has been described as an example. However, for example, the above series of processes are repeatedly executed. Not limited to the case, for example, when the work equipment controller 26 determines that the hoist turning operation is instructed according to the operation command from the user, the work equipment controller 26 may execute the tilting operation of tilting the bucket 8 in the dump direction from the state before turning. good.

In the above embodiment, the hydraulic excavator is mentioned as an example of the work machine, but the present invention is not limited to the hydraulic excavator, and can be applied to other types of work machines such as a mechanical rope excavator, an electric excavator, and a wheel loader.

Although the embodiments of the present disclosure have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present disclosure is indicated by the scope of claims and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 vehicle body, 2 work equipment, 3 swivel body, 4 driver's cab, 4S driver's seat, 5 traveling device, 5Cr hoist, 6 boom, 7 arm, 8 bucket, 8A cutting edge, 9 engine room, 10 boom cylinder, 11 arm cylinder , 12 bucket cylinder, 13 boom pin, 14 arm pin, 15 bucket pin, 16 boom cylinder stroke sensor, 17 arm cylinder stroke sensor, 18 bucket cylinder stroke sensor, 19 handrail, 20 position detector, 21 antenna, 23 global coordinate calculation unit, 26, 26 # Work equipment controller, 30 sensor controller, 62 swivel motor, 64 hydraulic device, 100 work machine, 102 detection information acquisition unit, 103 angle setting unit, 104 hoist swivel control unit, 105 bucket attitude control unit, 106 swivel body Control unit, 108 soil removal control unit, 110 down turning control unit, 112 excavation control unit, 200 dump truck.

Claims (6)

With a swivel body that can swivel
A work machine attached to the swivel body and including a bucket,
A work machine including a control unit that executes a tilting operation of tilting the opening surface of the bucket in the dumping direction by rotating the bucket in the dumping direction during the turning operation. The work machine according to claim 1, wherein the control unit rotates the bucket from a horizontal direction to a dump direction by a predetermined angle during the turning operation. The work machine according to claim 2, further comprising an angle setting unit for setting the predetermined angle. The work machine according to claim 3, wherein the angle setting unit calculates and sets an angle at which earth and sand do not spill from the bucket. The work machine according to claim 1, wherein the control unit executes an inclination operation of tilting the opening surface of the bucket in the dump direction by rotating the bucket in the dump direction during the automatic turning operation. A step of turning a work machine with a bucket by a swivel body,
A method for controlling a work machine, comprising a step of performing a tilting operation of tilting the opening surface of the bucket in the dumping direction by rotating the bucket in the dumping direction during the turning operation.

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