WORK MACHINE

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of International Application No. PCT/JP2024/030642, filed on Aug. 28, 2024, and designated the U.S., which is based upon and claims priority to Japanese Patent Application No. 2023-141700, filed on Aug. 31, 2023, the entire contents of which are incorporated herein by reference.

BACKGROUND

1. Field of the Invention

The present disclosure relates to a work machine.

2. Description of the Related Art

Conventionally, work machines in which actuators are operated by automated operation are known in the related art.

The related art discloses a shovel which automatically operates at least one of a boom, an arm, or a bucket.

SUMMARY

In order to achieve the above object, according to one embodiment of the present disclosure, there is provided a work machine including: an actuator configured to shift to a state in which the actuator operates in response to an operation input by an operator. The shifting to the state is in accordance with an actual operation state of the actuator and an operation state of the actuator corresponding to the operation input by the operator approaching each other with time, upon the operation input by the operator to the actuator being started in a state in which the actuator is automatically being operated.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view illustrating an example of a shovel;

FIG. 2 is a top view illustrating an example of the shovel;

FIG. 3 is a diagram illustrating an exemplary configuration related to remote operation of the shovel;

FIG. 4 is a diagram illustrating an exemplary hardware configuration of the shovel;

FIG. 5 is a diagram illustrating an exemplary configuration including an operation system and a hydraulic drive system of the shovel;

FIG. 6 is a functional block diagram illustrating an exemplary functional configuration for an automated operation of the shovel;

FIG. 7 is a flowchart schematically illustrating exemplary control processing for an intervention operation performed during an automated operation mode;

FIG. 8 is a flowchart schematically illustrating exemplary control processing executed during a transition mode;

FIG. 9 is a flowchart schematically illustrating exemplary control processing executed during an intervention operation mode;

FIG. 10 is a graph illustrating a first example of temporal changes in a pilot pressure during transition from the automated operation mode to the intervention operation mode; and

FIG. 11 is a graph illustrating a second example of temporal changes in the pilot pressure during transition from the automated operation mode to the intervention operation mode.

DETAILED DESCRIPTION

With respect to the above, there is a case where an operator performs an operation in the form of intervening in the automated operation of the actuator in order to correct the operation of the actuator while the actuator is being operated by the automated operation. In this case, there is a possibility that the operation of the actuator shifts from the automated operation to the operation by the operator in a state where there is a large discrepancy between the actual operation state of the actuator and an operation state of the actuator corresponding to the operation input by the operator. As a result, there is a possibility that a large vibration is generated in the work machine.

In view of the above issue, it is an object of the present disclosure to provide a technique for smoothly shifting the operation of a work machine from automated operation of an actuator to operation performed by an operator.

Embodiments will now be described with reference to the drawings.

Outline of Shovel

An outline of a shovel 100 according to the present embodiment will be described with reference to FIGS. 1 to 3.

FIG. 1 is a side view illustrating an example of the shovel 100. FIG. 2 is a top view illustrating an example of the shovel 100. FIG. 3 is a diagram illustrating an exemplary configuration related to remote operation of the shovel 100. Hereinafter, the direction in the shovel 100 or the direction seen from the shovel 100 may be described by defining the direction in which an attachment AT extends in the top view of the shovel 100 (the upward direction in FIG. 2) as “front”.

As shown in FIGS. 1 and 2, the shovel 100 includes a lower traveling body 1, an upper swivel body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cab 10.

The lower traveling body 1 causes the shovel 100 to travel by using a pair of crawlers 1C. The pair of crawlers 1C include a left crawler 1CL and a right crawler 1CR. The crawler 1CL is hydraulically driven by a traveling hydraulic motor 1ML. Similarly, the crawler 1CR is hydraulically driven by a traveling hydraulic motor 1MR. Thus, the lower traveling body 1 can move by itself.

The upper swivel body 3 is mounted on the lower traveling body 1 to be able to turn (freely turn) via a turner 2. For example, the upper swivel body 3 is able to turn with respect to the lower traveling body 1 when the turner 2 is hydraulically driven by a swivel hydraulic motor 2M.

The boom 4 is attached to the front center of the upper swivel body 3 to be able to turn about a rotation axis along a left-right direction. The arm 5 is attached to the tip of the boom 4 to be able to turn about the rotation axis along the left-right direction. The bucket 6 is attached to the tip of the arm 5 to be able to turn about the rotation axis along the left-right direction.

The bucket 6 is an example of an end attachment, and is used, for example, for excavation work, slope work, and ground leveling work.

The bucket 6 is attached to the tip of the arm 5 in a suitably replaceable manner according to the work contents of the shovel 100. That is, instead of the bucket 6, a bucket of a type different from the bucket 6, for example, a relatively large bucket, a slope bucket, a dredging bucket, or the like, may be attached to the tip of the arm 5. In addition, an end attachment of a type other than the bucket, for example, an agitator, a breaker, a crusher, or the like, may be attached to the tip of the arm 5. A spare attachment such as a quick coupler or a tilt rotator, for example, may be provided between the arm 5 and the end attachment.

The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

The cab 10 is an operator's room in which an operator rides and operates the shovel 100. The cab 10 is mounted, for example, on the front left side of the upper swivel body 3.

For example, the shovel 100 operates driven elements such as the lower traveling body 1 (that is, the pair of left and right crawlers 1CL and 1CR), the upper swivel body 3, the boom 4, the arm 5, and the bucket 6 in response to the operation by an operator on board the cab 10.

In addition, the shovel 100 may be configured to be operable from the outside of the shovel 100 (remote operation) instead of being operable by an operator on board the cab 10. When the shovel 100 is remotely operated, the inside of the cab 10 may be unoccupied. When the shovel 100 is exclusively for remote operation, the cab 10 may be omitted. Hereinafter, description will be made on the assumption that the operation by the operator includes at least one of the operation by the operator in the cab 10 of an operation apparatus 26 or the remote operation by an operator outside the shovel 100.

For example, as shown in FIG. 3, the remote operation includes a mode in which the shovel 100 is operated by an operation input concerning the actuator of the shovel 100 performed by a remote-operation support apparatus 300 capable of communicating with the shovel 100 through a communication line NW. In this case, the shovel 100 is equipped with a communicator 60 and can communicate with the remote-operation support apparatus 300 through the predetermined communication line NW.

The communication line NW includes, for example, a local area network (LAN) at a work site. Furthermore, the communication line NW may include a wide area network (WAN). The wide area network includes, for example, a mobile communication network having a base station as a terminal, a satellite communication network that uses a communication satellite, an Internet network, and the like. Furthermore, the communication line NW may include, for example, a short-distance communication line based on a wireless communication standard such as Wi-Fi or Bluetooth (registered trademark).

The remote-operation support apparatus 300 is provided, for example, at a management center or the like which manages the work of the shovel 100 from the outside. Furthermore, the remote-operation support apparatus 300 may be a portable operation terminal, and in this case, the operator can remotely operate the shovel 100 while directly confirming the work status of the shovel 100 from the vicinity of the shovel 100.

The shovel 100 may transmit to the remote-operation support apparatus 300, for example, an image (hereinafter, “peripheral images”) representing the state of the periphery including the front of the shovel 100 based on a captured image output from an imaging apparatus (for example, a sensor apparatus S6 described in the following) mounted on the shovel 100 via the communicator 60 mounted on the shovel 100. Furthermore, the shovel 100 may transmit the captured image output from the imaging apparatus to the remote-operation support apparatus 300 through the communicator 60, and the remote-operation support apparatus 300 may process the captured image received from the shovel 100 to generate a peripheral image. The remote-operation support apparatus 300 may display the peripheral image representing a peripheral state including the front of the shovel 100 on its own display apparatus. Furthermore, various information images (information screens) displayed on an output apparatus 50 (display apparatus) inside the cab 10 of the shovel 100 may similarly be displayed on the remote-operation support apparatus 300 (display). Thus, an operator using the remote-operation support apparatus 300 can remotely operate the shovel 100 while confirming display contents such as an image representing a peripheral state of the shovel 100 and an information screen that are displayed. The shovel 100 may operate an actuator in response to a remote operation signal representing the contents of the remote operation received from the remote-operation support apparatus 300 by the communicator 60 to drive driven elements such as the lower traveling body 1, the upper swivel body 3, the boom 4, the arm 5, and the bucket 6.

Furthermore, the remote operation may include control of a mode in which the shovel 100 is operated by voice input or gesture input from the outside to the shovel 100 by a person (for example, a worker) around the shovel 100. More specifically, the shovel 100 recognizes voices spoken by workers around the shovel 100, gestures made by workers, and the like through a voice input apparatus (for example, a microphone), a gesture input apparatus (for example, an imaging apparatus), and the like mounted on the shovel. The shovel 100 may operate an actuator in accordance with the contents of the recognized voice, gesture, or the like to drive the driven elements such as the lower traveling body 1 (the pair of left and right crawlers 1C), the upper swivel body 3, the boom 4, the arm 5, and the bucket 6.

Furthermore, the shovel 100 may automatically operate the actuator regardless of the contents of the operation by the operator. Thus, the shovel 100 can achieve a function of automatically operating at least a part of the driven elements such as the lower traveling body 1, the upper swivel body 3, and the attachment AT, that is, a so-called “automated operation function”. The automated operation function is also referred to as a “machine control (MC) function”.

The automated operation function includes, for example, a semi-automated operation function. The semi-automated operation function is also referred to as an operation-support-type MC function. The semi-automated operation function is a function for automatically operating another driven element (actuator) to be interlocked with the driven element (actuator) to be operated in response to an operator's operation. The automated operation function may also include a fully-automated operation function. The fully-automated operation function is also referred to as a fully-automated MC function. The fully-automated operation function is a function for automatically operating at least a part of a plurality of driven elements (actuators) without the operation by an operator. When the fully-automated operation function is effective in the shovel 100, the interior of the cab 10 may be unmanned. When the shovel 100 is operated exclusively by the fully-automated operation function, the cab 10 may be omitted. The semi-automated operation function and the fully-automated operation function include, for example, a rule-based automated operation function. The rule-based automated operation function is an automated operation function in which the contents of operation of the driven element (actuator) to be subjected to automated operation are automatically determined in accordance with a predetermined rule. The semi-automated operation function and the fully-automated operation function may include an autonomous operation function. The autonomous operation function is an automated operation function in which the shovel 100 autonomously makes various judgments and the contents of operation of the driven element (actuator) to be subjected to automated operation are determined in accordance with the judgment results.

The operation of the shovel 100 may be remotely monitored. In this case, for example, a remote monitoring support apparatus having the same function as the remote-operation support apparatus 300 is provided. A monitoring personnel, who is an operator of the remote monitoring support apparatus, can monitor the work status of the shovel 100 while confirming a peripheral image displayed on the remote monitoring support apparatus (display). Furthermore, for example, when judged necessary from the viewpoint of safety, the monitoring personnel can intervene in the operation of the shovel 100 by the operator or the automated operation of the shovel 100 and make an emergency stop of the shovel 100 by performing a predetermined input by using the remote monitoring support apparatus (input part).

Hardware Configuration of Shovel

Next, the hardware configuration of the shovel 100 will be described with reference to FIG. 4 in addition to FIGS. 1 to 3.

FIG. 4 is a block diagram illustrating an exemplary hardware configuration of the shovel 100.

In FIG. 4, a path through which mechanical power is transmitted is indicated by a double line, a path through which high-pressure hydraulic fluid for driving the hydraulic actuator flows is indicated by a solid line, a path through which pilot pressure is transmitted is indicated by a broken line, and a path through which electrical signals are transmitted is indicated by a dotted line.

The shovel 100 includes components such as a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with an operator, a communication system for communicating with the outside, and a control system for various types of control.

<Hydraulic Drive System>

As shown in FIG. 4, the hydraulic drive system of the shovel 100 includes hydraulic actuators HA for hydraulically driving each of the driven elements such as the lower traveling body 1 (left and right crawlers 1C), the upper swivel body 3, the boom 4, the arm 5, and the bucket 6, as described above. The hydraulic drive system of the shovel 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

The hydraulic actuators HA include the traveling hydraulic motors 1ML and 1MR, the swivel hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the like.

In the shovel 100, a part or all of the hydraulic actuators HA may be replaced with an electric actuator. That is, the shovel 100 may be a hybrid shovel or an electric shovel.

The engine 11 is a prime mover of the shovel 100 and a main power source of the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, at the rear of the upper swivel body 3. The engine 11 rotates at a predetermined target rotational speed under direct or indirect control by a controller 30 described in the following, for example, to drive the main pump 14 and a pilot pump 15.

It should be noted that another prime mover (for example, an electric motor) may be mounted on the shovel 100 instead of or in addition to the engine 11.

The regulator 13 controls (adjusts) the discharge amount of the main pump 14 under control of the controller 30. For example, the regulator 13 adjusts an inclination angle (hereinafter, referred to as “tilt angle”) of a swash plate of the main pump 14 in response to a control command from the controller 30.

The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper swivel body 3 in the same manner as the engine 11. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and, as described above, under the control of the controller 30, the regulator 13 adjusts the tilt angle of the swash plate, thereby adjusting the stroke length of the piston and controlling a discharge flow rate and discharge pressure.

The control valve 17 drives the hydraulic actuators HA in accordance with the contents of the operator's operation or remote operation with respect to the operation apparatus 26, or an operation command corresponding to the automated operation function. The control valve 17 is mounted, for example, at the center of the upper swivel body 3. The control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies the hydraulic oil supplied from the main pump 14 to the respective hydraulic actuators in accordance with the operator's operation or an operation command corresponding to the automated operation function. The control valve 17 includes directional switching valves 17A to 17F for controlling the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to the respective hydraulic actuators HA.

The directional switching valve 17A controls the flow rate and the flow direction of the hydraulic oil supplied to the boom cylinder 7. Thus, the directional switching valve 17A can expand and contract the boom cylinder 7 at a variable speed.

The directional switching valve 17B controls the flow rate and the flow direction of the hydraulic oil supplied to the arm cylinder 8. Thus, the directional switching valve 17B can expand and contract the arm cylinder 8 at a variable speed.

The directional switching valve 17C controls the flow rate and the flow direction of the hydraulic oil supplied to the bucket cylinder 9. Thus, the directional switching valve 17C can expand and contract the bucket cylinder 9 at a variable speed.

The directional switching valve 17D controls the flow rate and flow direction of the hydraulic oil supplied to the traveling hydraulic motor 1ML. Thus, the directional switching valve 17D can rotate the traveling hydraulic motor 1ML in both directions at a variable speed.

The directional switching valve 17E controls the flow rate and flow direction of the hydraulic oil supplied to the traveling hydraulic motor 1MR. Thus, the directional switching valve 17E can rotate the traveling hydraulic motor 1MR in both directions at a variable speed. The directional switching valve 17E is, for example, a spool valve.

The directional switching valve 17F controls the flow rate and flow direction of the hydraulic oil supplied to the swivel hydraulic motor 2M. Thus, the directional switching valve 17F can rotate the swivel hydraulic motor 2M in both directions at a variable speed.

Hereinafter, as shown in FIG. 5, any one of the directional switching valves 17A to 17F may be individually referred to as a “directional switching valve 17X”. In the present embodiment, the directional switching valve 17X is a spool valve for supplying the hydraulic oil supplied from the main pump 14 to the hydraulic actuators HA through an oil path OL1 or an oil path OL2 and discharging the hydraulic oil discharged by the hydraulic actuators HA to a hydraulic oil tank.

<Operation System>

As shown in FIGS. 4 and 5, the operation system of the shovel 100 includes the pilot pump 15, the operation apparatus 26, and hydraulic control valves 31.

The pilot pump 15 supplies pilot pressure to various hydraulic apparatuses via a pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper swivel body 3 in the same manner as the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The pilot pump 15 may be omitted. In this case, after the relatively high pressure hydraulic fluid discharged from the main pump 14 is reduced by a predetermined pressure reducing valve, the relatively low pressure hydraulic fluid may be supplied to the various hydraulic apparatuses as the pilot pressure.

The operation apparatus 26 is provided near an operator's seat in the cab 10 and is used by the operator to operate the various driven elements. Specifically, the operation apparatus 26 is used by the operator to operate the hydraulic actuators HA for driving the respective driven elements, such that the operator can drive the elements that are driven by the hydraulic actuators HA. As shown in FIG. 5, the operation apparatus 26 includes a lever apparatus 26X for operating the respective driven elements (hydraulic actuators HA).

A part of the driven elements (hydraulic actuators HA) may be operable by a pedal apparatus instead of the lever apparatus 26X or in addition.

For example, as shown in FIG. 4, the operation apparatus 26 is an electric type. Specifically, the operation apparatus 26 outputs an electric signal (hereinafter, referred to as “operation signal”) corresponding to the operation contents, and the operation signal is taken in by the controller 30. Then, the controller 30 outputs to the hydraulic control valves 31 an operation command corresponding to the operation contents of the operation signal, that is, an operation command (control signal) corresponding to the operation contents of the operation apparatus 26. Thus, a pilot pressure corresponding to the operation contents of the operation apparatus 26 is input from the hydraulic control valves 31 to the control valve 17, and the control valve 17 can drive the respective hydraulic actuators HA according to the operation contents of the operation apparatus 26.

As shown in FIG. 5, the lever apparatus 26X is configured so as to be tilted by an operator in two two-way directions (for example, in a front-rear direction or in the left-right direction). The lever apparatus 26X outputs an electric signal (operation signal) corresponding to the operation contents in the two two-way directions, and the output operation signal is taken into the controller 30.

The corresponding relationship between an operation amount (for example, the tilt angle of the lever apparatus 26X) of the lever apparatus 26X and the control signal (control current) to the hydraulic control valves 31L and 31R is preset in the controller 30. The respective hydraulic control valves 31L and 31R corresponding to the lever apparatus 26X are controlled based on the set corresponding relationship.

The directional switching valves 17A to 17F incorporated in the control valve 17 for driving the respective hydraulic actuators HA may be of an electromagnetic solenoid type. In this case, an operation signal output from the operation apparatus 26 (i.e., corresponding lever apparatus 26X) may be directly input to the control valve 17 (that is, corresponding electromagnetic-solenoid-type directional switching valve).

Furthermore, the operation apparatus 26 may be of a hydraulic pilot type. Specifically, the operation apparatus 26 (i.e., each lever apparatus 26X) utilizes the hydraulic fluid supplied from the pilot pump 15 through the pilot line, and outputs a pilot pressure corresponding to the operation contents to the pilot line on a secondary side. The pilot line on the secondary side is connected to the control valve 17. Thus, the pilot pressure corresponding to the operation contents of the various driven elements (hydraulic actuators HA) in the operation apparatus 26 can be input to the control valve 17. Therefore, the control valve 17 can drive the respective hydraulic actuators HA in accordance with the operation contents of the operation apparatus 26 by the operator or the like. In this case, an operation state sensor capable of obtaining information on the operation state of the operation apparatus 26 is provided, and the output of the operation state sensor is taken into the controller 30. Thus, the controller 30 can grasp the operation state of the operation apparatus 26. The operation state sensor is, for example, a pressure sensor (operation pressure sensor) for obtaining information on the pilot pressure (operation pressure) of the pilot line on the secondary side of the operation apparatus 26.

Furthermore, as described above, part or all of the hydraulic actuators HA may be replaced with an electric actuator. In this case, for example, the controller 30 may output an operation command corresponding to the operation contents of the operation apparatus 26 or remote operation contents defined by the remote operation signal to the electric actuator or a driver or the like for driving the electric actuator. Furthermore, the operation signal may be directly input from the operation apparatus 26 to the electric actuator, the driver, or the like such that the electric actuator can be operated by the operation apparatus 26.

Furthermore, the operation apparatus 26 may be omitted when the shovel 100 is exclusively remotely operated or is exclusively operated by a fully-automated operation function.

One hydraulic control valve 31 is provided for each driven element (hydraulic actuator HA) to be operated by the operation apparatus 26. Each hydraulic control valve 31 may be provided, for example, in a pilot line between the pilot pump 15 and the control valve 17, such that a flow path area (that is, a cross-sectional area through which hydraulic fluid can flow) of the pilot line can be changed. Thus, the hydraulic control valves 31 can output a predetermined pilot pressure to the pilot line on the secondary side by utilizing the hydraulic oil of the pilot pump 15 supplied through the pilot line on a primary side. Therefore, the hydraulic control valves 31 can apply a predetermined pilot pressure corresponding to an operation command from the controller 30 to the control valve 17. Thus, for example, the controller 30 can directly cause the hydraulic control valves 31 to supply the pilot pressure corresponding to the operation contents (operation signal) of the operation apparatus 26 to the control valve 17, thereby achieving the operation of the shovel 100 based on an operator's operation.

Furthermore, the controller 30 may control the hydraulic control valves 31 to achieve the automated operation function of the shovel 100. Specifically, the controller 30 outputs an operation command corresponding to the automated operation function to the hydraulic control valve 31. Thus, the controller 30 can achieve the operation of the shovel 100 by the automated operation function.

Furthermore, the controller 30 may control the hydraulic control valves 31 to achieve the remote operation of the shovel 100. Specifically, the controller 30 outputs an operation command corresponding to the contents of the remote operation specified by the remote operation signal received from the remote-operation support apparatus 300 to the hydraulic control valves 31 by the communicator 60. Thus, the controller 30 causes the hydraulic control valve 31 to supply a pilot pressure corresponding to the contents of the remote operation to the control valve 17, and the operation of the shovel 100 based on the remote operation by the operator can be achieved.

As shown in FIG. 5, the hydraulic control valve 31 includes two hydraulic control valves 31L and 31R corresponding to the respective operating directions (for example, the upward and downward directions of the boom 4) of the double-acting driven element (hydraulic actuator HA).

The hydraulic control valve 31L operate in response to an operation command (control current) input from the controller 30. Specifically, the hydraulic control valve 31L outputs a pilot pressure corresponding to the control current input by the controller 30 to the left pilot port of the directional control valve 17X by using the hydraulic oil discharged from the pilot pump 15. Thus, the hydraulic control valve 31L can adjust the pilot pressure acting on the left pilot port of the directional control valve 17X. For example, when a control current corresponding to a tilting operation of the lever apparatus 26X in a first direction is input by the controller 30, the hydraulic control valve 31L can apply on the left pilot port of the directional control valve 17X a pilot pressure corresponding to the operation contents (operation amount) of the lever apparatus 26X. Furthermore, when a predetermined control current is input by the controller 30 regardless of the operation contents of the lever apparatus 26X, the hydraulic control valve 31L can apply on the left pilot port of the directional control valve 17X a pilot pressure regardless of the operation contents of the lever apparatus 26X. Therefore, the hydraulic control valve 31L can achieve the operation of the double-acting hydraulic actuator HA in the first direction based on the automated operation function or the remote operation function of the shovel 100 under the control of the controller 30.

The hydraulic control valve 31R operates in response to an operation command (control current) input from the controller 30. Specifically, the hydraulic control valve 31R outputs a pilot pressure corresponding to the control current input by the controller 30 to the right pilot port of the directional switching valve 17X by using hydraulic oil discharged from the pilot pump 15. Thus, the hydraulic control valve 31R can adjust the pilot pressure applied to the right pilot port of the directional switching valve 17X. For example, when a control current corresponding to a tilting operation of the lever apparatus 26X in a second direction is input by the controller 30, the hydraulic control valve 31R can apply a pilot pressure corresponding to the operation contents (operation amount) of the lever apparatus 26X to the right pilot port of the directional switching valve 17X. Furthermore, when a predetermined control current is input by the controller 30 regardless of the operation contents of the lever apparatus 26X, the hydraulic control valve 31R can apply a pilot pressure to the right pilot port of the directional switching valve 17X regardless of the operation contents of the lever apparatus 26X. Therefore, the hydraulic control valve 31R can achieve the operation of the double-acting hydraulic actuator HA in the second direction based on the automated operation function or the remote operation function of the shovel 100 under the control of the controller 30.

As described above, the hydraulic control valves 31L and 31R can adjust the pilot pressure output to the secondary side such that the directional switching valve 17X can be stopped at a desired valve position according to the operation state of the lever apparatus 26X, under the control of the controller 30. The hydraulic control valves 31L and 31R can adjust the pilot pressure output to the secondary side such that the directional switching valve 17X can be stopped at a desired valve position regardless of the operation state of the lever apparatus 26X under the control of the controller 30.

The controller 30 controls the hydraulic control valve 31L in accordance with an operation signal corresponding to the operation of the hydraulic actuator HA in the first direction by the operator, a remote operation signal, or the like. As a result, the controller 30 can supply a pilot pressure corresponding to the contents (operation amount) of the operation of the hydraulic actuator HA in the first direction by the operator to the left pilot port of the directional control valve 17X. The controller 30 also controls the hydraulic control valve 31R in accordance with an operation signal corresponding to the operation by the operator, a remote operation signal, or the like. As a result, the controller 30 can supply a pilot pressure corresponding to the contents (operation amount) of the operation of the hydraulic actuator HA in the second direction by the operator to the right pilot port of the directional control valve 17X.

As described above, the controller 30 can control the hydraulic control valves 31L and 31R in accordance with an operation signal output from the lever apparatus 26X or a remote operation signal received by the communicator 60, thereby achieving the operation of the hydraulic actuator HA in accordance with the contents of the operation by the operator.

The controller 30 can control the hydraulic control valve 31L and supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the directional control valve 17X independently of the operation of the hydraulic actuator HA in the first direction by the operator. The controller 30 can control the hydraulic control valve 31R and supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the directional control valve 17X independently of the operation of the hydraulic actuator HA in the second direction by the operator.

As described above, the controller 30 can automatically control the operations of the hydraulic actuator in two two-way directions, thereby achieving the automated operation function, the remote operation function, or the like of the shovel 100.

Furthermore, the controller 30 may control the hydraulic control valve 31R when it is determined that a braking operation for decelerating or stopping the hydraulic actuator HA is necessary in a state in which the hydraulic actuator HA is operated in the first direction by the operator. Specifically, the controller 30 may apply a predetermined pilot pressure from the hydraulic control valve 31R to the right pilot port of the directional control valve 17X in a state in which the hydraulic actuator HA is operated in the first direction. Thus, the pilot pressure is applied to the right pilot port of the directional control valve 17X in a manner opposed to the pilot pressure applied from the hydraulic control valve 31L to the left pilot port of the directional control valve 17X in response to the operation of the hydraulic actuator HA in the first direction. Therefore, the controller 30 may forcibly bring the spool of the directional control valve 17X closer to a neutral position to suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the hydraulic actuator HA in the first direction by the operator. Similarly, the controller 30 may control the hydraulic control valve 31L in a state in which the hydraulic actuator HA is operated in the second direction by the operator when it is determined that the braking operation for decelerating or stopping the hydraulic actuator HA is necessary. Thus, the controller 30 may forcibly bring the spool of the directional control valve 17X closer to the neutral position to suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the hydraulic actuator HA in the second direction by the operator.

When the operation apparatus 26 is a hydraulic pilot type, a shuttle valve may be provided between the operation apparatus 26, the hydraulic control valves 31, and the control valve 17. Similar to the hydraulic control valve 31, the shuttle valve is provided for each driven element (hydraulic actuator HA) to be operated by the operation apparatus 26. Two shuttle valves are provided for each double-acting hydraulic actuator HA. For example, one of the pilot pressure output in response to the operation of the lever apparatus 26X in the first direction and the pilot pressure on the secondary side of the hydraulic control valve 31L, which is higher, acts on the left pilot port of the directional control valve 17X through the shuttle valve. Furthermore, one of the pilot pressure output in response to the operation of the lever apparatus 26X in the second direction and the pilot pressure on the secondary side of the hydraulic control valve 31R, which is higher, acts on the right pilot port of the directional control valve 17X through the shuttle valve. By outputting a pilot pressure higher than the pilot pressure on the secondary side of the lever apparatus 26X from the hydraulic control valves 31L and 31R, the controller 30 can control the directional control valve 17X independently of the operation of the lever apparatus 26X by the operator. Therefore, the controller 30 can control the operation of the driven elements (the lower traveling body 1, the upper swivel body 3, the boom 4, the arm 5, and the bucket 6) independently of the operation state of the operation apparatus 26 operated by the operator, thereby achieving the automated operation function and the remote operation function.

Furthermore, when the operation apparatus 26 is a hydraulic pilot type, a pressure reducing valve may be provided in the pilot line between the lever apparatus 26X and the shuttle valve in addition to the shuttle valve. The pressure reducing valve operates in response to a control signal input from the controller 30, for example, and is configured to be able to change the flow path area of the pressure reducing valve. Thus, when the lever apparatus 26X is operated by an operator, the controller 30 can forcibly reduce the pilot pressure output by the operation of the lever apparatus 26X. Therefore, even when the lever apparatus 26X is operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the lever apparatus 26X. Furthermore, for example, even when the lever apparatus 26X is operated, the controller 30 can reduce the pilot pressure output by the operation of the lever apparatus 26X by the pressure reducing valve such that the pilot pressure is lower than the pilot pressure output from the hydraulic control valves 31L and 31R. Therefore, by controlling the hydraulic control valves 31L and 31R and the pressure reducing valve, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the directional switching valve 17X in the control valve 17 independently of the operation contents of the lever apparatus 26X, for example. Therefore, by controlling the pressure reducing valve in addition to the hydraulic control valves 31L and 31R, for example, the controller 30 can more appropriately achieve the automated operation function and the remote operation function of the shovel 100.

<User Interface System>

As shown in FIG. 4, the user interface system of the shovel 100 includes the operation apparatus 26, the output apparatus 50, and an input apparatus 52.

The output apparatus 50 outputs various kinds of information to an operator of the shovel 100 (for example, an operator in the cab 10 or an external remote operator), a person around the shovel 100 (for example, a worker or a driver of a work vehicle), and the like.

For example, the output apparatus 50 includes a lighting apparatus and a display apparatus 50A for outputting various kinds of information in a visual manner. The lighting apparatus is, for example, a warning lamp (indicator lamp) or the like. The display apparatus 50A is, for example, a liquid crystal display, an organic electroluminescence (EL) display, or the like. For example, as shown in FIG. 2, the lighting apparatus and the display apparatus 50A may be provided inside the cab 10 and output various kinds of information in a visual manner to an operator or the like inside the cab 10. Furthermore, the lighting apparatus and the display apparatus 50A may be provided on a side surface or the like of the upper swivel body 3 and output various kinds of information in a visual manner to an operator or the like around the shovel 100.

Furthermore, the output apparatus 50 may include a sound output apparatus 50B for outputting various kinds of information in an auditory manner. The sound output apparatus 50B includes, for example, a buzzer and a speaker. The sound output apparatus 50B is provided, for example, at least either inside or outside the cab 10 and outputs various kinds of information in an auditory manner to an operator inside the cab 10 and a person (such as an operator) around the shovel 100.

Furthermore, the output apparatus 50 may include an apparatus for outputting various kinds of information by a tactile method such as vibration of the operator's seat.

The input apparatus 52 receives various kinds of input from the operator of the shovel 100, and a signal corresponding to the received input is taken into the controller 30. For example, as shown in FIG. 2, the input apparatus 52 is provided inside the cab 10 and receives input from an operator or the like inside the cab 10. Furthermore, the input apparatus 52 may be provided, for example, on a side surface of the upper swivel body 3 and receives input from an operator or the like around the shovel 100.

For example, the input apparatus 52 includes an operation input apparatus for receiving input by a mechanical operation from an operator. The operation input apparatus may include a touch panel mounted on the display apparatus, a touch pad provided around the display apparatus, a button switch, a lever, a toggle, a knob switch provided on the operation apparatus 26 (lever apparatus), and the like.

The input apparatus 52 may also include a voice input apparatus for receiving voice input from an operator. The voice input apparatus includes, for example, a microphone.

The input apparatus 52 may also include a gesture input apparatus for receiving gesture input from an operator. The gesture input apparatus includes, for example, an imaging apparatus for imaging a gesture performed by an operator.

The input apparatus 52 may also include a biometric input apparatus for receiving biometric input from an operator. The biometric input includes, for example, input of biometric information such as an operator's fingerprint or iris.

For example, the shovel 100 includes a predetermined input apparatus 52 for enabling and disabling the automatic driving function. In this case, when an input to the predetermined input apparatus 52 is accepted, the controller 30 switches the automated operation function between enabled and disabled.

For example, when an input to the predetermined input apparatus 52 (for example, a knob switch provided on a knob of the lever apparatus 26X) provided in the operation apparatus 26 is accepted from a state in which the input is not accepted, the controller 30 switches the semi-automated operation function from disabled to enabled. The controller 30 maintains an enabled state of the semi-automated operation function while the state in which the input to the input apparatus 52 is accepted continues, and switches the semi-automated operation function from enabled to disabled when the input to the predetermined input apparatus 52 is no longer accepted. Thus, the operator can operate the semi-automated operation of the shovel 100 by inputting to the predetermined input apparatus 52 and maintaining an input state while operating the operation apparatus 26.

Furthermore, the controller 30 may switch the semi-automated operation function between enabled and disabled for each predetermined input by using the predetermined input apparatus 52 (for example, a switch provided on a console or a touch panel for operating a predetermined operation screen displayed on the display apparatus 50A) provided at a location other than the operation apparatus 26. In this case, when the predetermined hydraulic actuator HA is operated through the operation apparatus 26 while the semi-automated operation function is enabled, the controller 30 causes the semi-automated operation of the shovel 100 to be performed.

Furthermore, on the premise that the semi-automated operation function is switched between enabled and disabled by the input to the predetermined input apparatus 52 provided separately from the operation apparatus 26, the controller 30 may determine the start and stop of the semi-automated operation by the input to the input apparatus 52 (for example, the knob switch described above) provided in the operation apparatus 26 while the semi-automated operation function is enabled. Specifically, the controller 30 starts the semi-automated operation of the shovel 100 when the input to the input apparatus 52 provided in the operation apparatus 26 is shifted from a state in which the input is not accepted to a state in which the input is accepted in a state in which the semi-automated operation function is enabled. The controller 30 stops the semi-automated operation of the shovel 100 when the input through the input apparatus 52 provided in the operation apparatus 26 is no longer accepted. However, even when the semi-automated operation of the shovel 100 is stopped, the hydraulic actuator HA can be operated in response to the operation of the operation apparatus 26 by the operator. That is, the operator can switch between the manual operation of the shovel 100 and the operation for the semi-automated operation depending on the presence or absence of input to the input apparatus 52 provided in the operation apparatus 26.

Furthermore, for example, when the input to the predetermined input apparatus 52 is accepted in a state where the fully-automated operation is not performed, the controller 30 enables the fully-automated operation function and starts the fully-automated operation of the shovel 100. Furthermore, when the input to the predetermined input apparatus 52 is accepted in a state where the fully-automated operation is not performed, the controller 30 may enable the fully-automated operation function and start the fully-automated operation when the input to the input apparatus 52 other than the predetermined input apparatus 52 is accepted. When the predetermined fully-automated operation is completed, the controller 30 stops the fully-automated operation. Furthermore, when the input to the input apparatus 52 other than the predetermined input apparatus 52 is accepted during the execution of the fully-automated operation, the controller 30 may stop the fully-automated operation, and when the input to the predetermined input apparatus 52 is accepted thereafter, the fully-automated operation function may be disabled. Furthermore, when the input to the predetermined input apparatus 52 is accepted during the execution of the fully-automated operation, the controller 30 may forcibly stop the fully-automated operation and disable the fully-automated operation function.

<Communication System>

As shown in FIG. 4, the communication system of the shovel 100 according to the present embodiment includes the communicator 60.

The communicator 60 is connected to an external communication line NW to communicate with an apparatus provided separately from the shovel 100. The apparatus provided separately from the shovel 100 may include a portable terminal apparatus (mobile terminal) brought into the cab 10 by an operator of the shovel 100, in addition to an apparatus outside the shovel 100. The communicator 60 may include, for example, a mobile communication module conforming to a standard such as 4th generation (4G) or 5th generation (5G). Furthermore, the communicator 60 may include, for example, a satellite communication module. Furthermore, the communicator 60 may include, for example, a Wi-Fi communication module or a Bluetooth (registered trademark) communication module. Furthermore, when there are a plurality of connectable communication lines NW, the communicator 60 may include a plurality of communicators 60 corresponding to the types of the communication lines NW.

For example, the communicator 60 communicates with an external apparatus such as the remote-operation support apparatus 300 in the work site through a local communication line constructed in the work site. The local communication line is, for example, a mobile communication line by locally provided 5G (so-called local 5G) or a local network by Wi-Fi6 constructed in the work site.

Furthermore, the communicator 60 may communicate with an external apparatus such as the remote-operation support apparatus 300 outside the work site through a wide area communication line including the work site, i.e., a WAN.

Note that the communicator 60 may be omitted when remote operation or remote monitoring of the shovel 100 is not performed.

<Control System>

As shown in FIG. 4, the control system of the shovel 100 includes the controller 30. The control system of the shovel 100 according to the present embodiment includes sensor apparatuses S1 to S6.

The controller 30 performs various types of control related to the shovel 100.

The functions of the controller 30 may be achieved by any hardware or any combination of hardware and software. For example, as shown in FIG. 4, the controller 30 includes an auxiliary storage 30A, a memory 30B, a central processing unit (CPU) 30C, and an interface apparatus 30D connected by a bus B1.

The auxiliary storage 30A is a nonvolatile storage means, and stores a program to be installed and stores necessary files, data, and the like. The auxiliary storage 30A is, for example, an electrically erasable programmable read-only memory (EEPROM) or a flash memory.

The memory 30B, for example, loads a program in the auxiliary storage 30A such that the CPU 30C can read the program when an instruction to start the program is given. The memory 30B is, for example, static random access memory (SRAM).

The CPU 30C, for example, executes the program loaded in the memory 30B and implements various functions of the controller 30 in accordance with an instruction of the program.

The interface apparatus 30D functions, for example, as a communication interface for connecting to a communication line inside the shovel 100. The interface apparatus 30D may include a plurality of different types of communication interfaces in accordance with the types of communication lines to be connected.

The interface apparatus 30D also functions as an external interface for reading data from a recording medium and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected to a connector installed inside the cab 10 by a detachable cable. The recording medium may be a general-purpose recording medium such as a secure digital (SD) memory card or a universal serial bus (USB) memory. Thus, a program for achieving various functions of the controller 30 may be provided by a portable recording medium and installed in the auxiliary storage 30A of the controller 30. Furthermore, the program may be downloaded from another computer outside the shovel 100 through the communicator 60 and installed in the auxiliary storage 30A.

Note that a part of the functions of the controller 30 may be achieved by another controller (control apparatus). That is, the functions of the controller 30 may be achieved in a distributed manner by a plurality of controllers mounted on the shovel 100.

The sensor apparatus S1 is attached to the boom 4 and measures an attitude state of the boom 4. The sensor apparatus S1 outputs measurement data representing the attitude state of the boom 4. The attitude state of the boom 4 is, for example, an attitude angle (hereinafter, referred to as “boom angle”) around a rotation shaft of a base end corresponding to a connection portion of the boom 4 with respect to the upper swivel body 3. The sensor apparatus S1 includes, for example, a rotary potentiometer, a rotary encoder, an acceleration sensor, an angular acceleration sensor, a 6-axis sensor, an inertial measurement unit (IMU), and the like. Hereinafter, the same may be applied to the sensor apparatuses S2 to S4. Furthermore, the sensor apparatus S1 may include a cylinder sensor for detecting expansion and contraction positions of the boom cylinder 7. Hereinafter, the same may be applied to the sensor apparatuses S2 and S3. The output of the sensor apparatus S1, that is, measurement data representing the attitude state of the boom 4, is taken into the controller 30. Thus, the controller 30 can grasp the attitude state of the boom 4.

The sensor apparatus S2 is attached to the arm 5 and measures the attitude state of the arm 5. The sensor apparatus S2 outputs measurement data representing the attitude state of the arm 5. The attitude state of the arm 5 is, for example, an attitude angle (hereinafter, referred to as “arm angle”) of the base end of the arm 5 corresponding to the connection portion with respect to the boom 4. The output of the sensor apparatus S2 (measurement data representing the attitude state of the arm 5) is taken into the controller 30. Thus, the controller 30 can grasp the attitude state of the arm 5.

The sensor apparatus S3 is attached to the bucket 6 and measures the attitude state of the bucket 6. The sensor apparatus S3 outputs measurement data representing the attitude state of the bucket 6. The attitude state of the bucket 6 is, for example, an attitude angle (hereinafter, referred to as “bucket angle”) around the rotation shaft of the base end corresponding to the connection portion of the bucket 6 with respect to the arm 5. The output of the sensor apparatus S3 (measurement data representing the attitude state of the bucket 6) is taken into the controller 30. Thus, the controller 30 can grasp the attitude state of the bucket 6.

The sensor apparatus S4 measures the attitude state of the body (for example, the upper swivel body 3) of the shovel 100. The sensor apparatus S4 outputs measurement data representing the attitude state of the body of the shovel 100. The attitude state of the body of the shovel 100 is, for example, an inclination state of the body with respect to a predetermined reference plane (e.g., horizontal plane). For example, the sensor apparatus S4 is attached to the upper swivel body 3 and measures an inclination angle (hereinafter, referred to as “front-rear inclination angle” and “left-right inclination angle”) of the shovel 100 around two axes in the front-rear direction and the left-right direction. The output of the sensor apparatus S4 (measurement data representing the attitude state of the body of the shovel 100) is taken into the controller 30. Thus, the controller 30 can grasp the attitude state (inclination state) of the body (upper swivel body 3).

The sensor apparatus S5 is attached to the upper swivel body 3 and measures a turning state of the upper swivel body 3. The sensor apparatus S5 outputs measurement data representing the turning state of the upper swivel body 3. The sensor apparatus S5 measures, for example, the turning angular velocity and the turning angle of the upper swivel body 3. The sensor apparatus S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc. The output of the sensor apparatus S5 (measurement data representing the turning state of the upper swivel body 3) is taken into the controller 30. Thus, the controller 30 can grasp the turning state such as the turning angle of the upper swivel body 3.

For example, the controller 30 can grasp (estimate) the position of the tip (bucket 6) of the attachment AT based on the outputs of the sensor apparatuses S1 to S5. Therefore, the controller 30 can control the operation of the shovel 100 by the automated operation function while grasping the position of the tip of the attachment AT.

When the sensor apparatus S4 includes a gyro sensor, a 6-axis sensor, an IMU, or the like capable of detecting the angular velocities around the three axes, the turning state (for example, turning angular velocity) of the upper swivel body 3 may be detected based on the detection signal of the sensor apparatus S4. In this case, the sensor apparatus S5 may be omitted.

In addition to the sensor apparatuses S1 to S5, the shovel 100 may be provided with a sensor apparatus (positioning apparatus) for measuring the position of the shovel 100. The positioning apparatus may measure the position by using a world (global) coordinate system or may measure the position by using a local coordinate system at the work site. In the former case, the positioning apparatus is, for example, a global navigation satellite system (GNSS) sensor. In the latter case, the positioning apparatus is a transceiver capable of communicating with an apparatus serving as a reference for the position at the work site and outputting a signal corresponding to the position with respect to the reference. The output of the positioning apparatus is taken into the controller 30.

The sensor apparatus S6 is an imaging apparatus for obtaining an image representing a state around the shovel 100. Furthermore, the sensor apparatus S6 may obtain (generate) three-dimensional data (hereinafter, referred to simply as “three-dimensional data of an object”) representing a position and an outer shape of an object around the shovel 100 within an imaging range (angle of view) based on the obtained image and data related to a distance described in the following. The three-dimensional data of the object around the shovel 100 is, for example, data of coordinate information of a point group representing a surface of the object or distance image data.

For example, as shown in FIGS. 1 and 2, the sensor apparatus S6 includes a front camera S6F for capturing an image in front of the upper swivel body 3. The sensor apparatus S6 may include a rear camera S6B for imaging the rear of the upper swivel body 3, a left camera S6L for imaging the left of the upper swivel body 3, a right camera S6R for imaging the right of the upper swivel body 3, and the like. Thus, the sensor apparatus S6 can image all circumferential directions of the shovel 100, that is, a range over an angular direction of 360 degrees, in a top view of the shovel 100. Furthermore, the operator can visually confirm the peripheral images based on the images captured by the left camera S6L, the right camera S6R, and the rear camera S6B through the display of the output apparatus 50 and the remote-operation support apparatus 300, and confirm the left, right, and rear conditions of the upper swivel body 3. Furthermore, the operator can remotely operate the shovel 100 while confirming the operation of the attachment AT including the bucket 6 by visually confirming the peripheral images based on the front camera S6F through the display of the remote-operation support apparatus 300.

The sensor apparatus S6 is, for example, a monocular camera. Furthermore, the sensor apparatus S6 may be capable of obtaining data related to a distance (depth) in addition to a two-dimensional image, such as a stereo camera, a time of flight (TOF) camera, or the like (hereinafter, collectively referred to as “3D camera”).

The output data (for example, image data, three-dimensional data of objects around the shovel 100, and the like) of the sensor apparatus S6 is taken into the controller 30 through a one-to-one basis communication line or an on-vehicle network. Thus, for example, the controller 30 can monitor objects around the shovel 100 based on the output data of the sensor apparatus S6. Furthermore, for example, the controller 30 can determine the surrounding environment of the shovel 100 based on the output data of the sensor apparatus S6. Furthermore, for example, the controller 30 can determine the attitude state of the attachment AT reflected in the captured image based on the output data of the sensor apparatus S6 (front camera). Furthermore, for example, the controller 30 can determine the attitude state of the body of the shovel 100 (upper swivel body 3) based on the output data of the sensor apparatus S6 with respect to the object around the shovel 100.

Furthermore, instead of or in addition to the sensor apparatus S6, the upper swivel body 3 may be provided with a sensor apparatus (distance sensor) capable of measuring the distance between the shovel 100 and the surrounding object. The distance sensor may be attached to the upper part of the upper swivel body 3, for example, and obtain data concerning the distance and direction of the surrounding object with respect to the shovel 100. Furthermore, the distance sensor may obtain (generate) three-dimensional data (for example, data of coordinate information of a point group) of the object around the shovel 100 within a sensing range based on the obtained data. The distance sensor may be, for example, light detection and ranging (LIDAR). Furthermore, the distance sensor may be, for example, a millimeter-wave radar, an ultrasonic sensor, an infrared sensor, or the like.

Depending on the application of the sensor apparatus S6, some of the front camera S6F, rear camera S6B, left camera S6L, and right camera S6R may be omitted. In addition, when remote operation of the shovel 100 or monitoring of objects around the shovel 100 is not performed, the sensor apparatus S6 may be omitted.

Hereinafter, the sensor apparatuses S1 to S6 may be collectively referred to as a sensor apparatus SX or any one of them may be individually referred to as the sensor apparatus SX.

Functional Configuration Concerning Automated Operation of Shovel

Next, a functional configuration concerning automated operation of the shovel 100 will be described with reference to FIG. 6.

FIG. 6 is a functional block diagram illustrating an example of a functional configuration concerning automated operation of the shovel 100.

In the example, an automated operation mode, an intervention operation mode, and a transition mode are prepared as operation modes of the hydraulic actuator HA subject to automated operation when the automated operation function is effective. The automated operation mode is an operation mode in which the hydraulic actuator HA subject to automated operation is automatically operated. The intervention operation mode is an operation mode in which the hydraulic actuator HA subject to automated operation is operated by an operator's operation (hereinafter, referred to as “intervention operation”). The transition mode is a transient operation mode for transitioning from the automated operation mode to the intervention operation mode.

As shown in FIG. 6, the controller 30 includes, as functional parts, a target trajectory generator 301, an automated operation controller 302, an intervention operation controller 303, and an arbitration controller 304. These functions are achieved, for example, by loading a program installed in the auxiliary storage 30A into the memory 30B and executing the program on the CPU 30C.

The target trajectory generator 301 generates a target trajectory of a predetermined portion of the shovel 100 or an accessory (e.g., suspended load, etc.) moving in conjunction with the shovel 100 during automated operation. The target trajectory generator 301 generates, for example, a target trajectory of a distal end portion of the attachment AT, specifically, a working portion of the bucket 6. The working part of the bucket 6 is, for example, a claw of the bucket 6 in excavation work or leveling work, or a back face of the bucket 6 in rolling work. Furthermore, the target trajectory generator 301 may generate a target trajectory of a load suspended from the bucket 6 in crane work. Furthermore, the target trajectory generator 301 may generate a target trajectory of a predetermined part of the crawlers 1CL and 1CR when automatically moving to the next working place along a predetermined arrangement.

For example, the target trajectory generator 301 obtains information about the current topographic shape of the working object based on an output from the sensor apparatus S6 or the like. Furthermore, the target trajectory generator 301 may generate a target trajectory of a working part of the bucket 6 based on information about the current topographic shape of the working object and information about the target shape (target shape information). The target shape information is information about the target construction surface. The information about the target construction surface may be input by the operator through the input apparatus 52 or the remote-operation support apparatus 300, or may be downloaded from an external apparatus through the communicator 60, for example. Specifically, the target trajectory generator 301 may generate a target trajectory of a claw of the bucket 6 for rough excavation when the difference between the current topographic shape and the target construction surface is relatively large with respect to a predetermined reference. In contrast to this, the target trajectory generator 301 may generate a target trajectory for moving a working portion of the bucket 6 along the target construction surface when the difference between the current topographic shape and the target construction surface is relatively small with respect to a predetermined reference.

The automated operation controller 302 controls the automated operation function of the shovel 100. Specifically, the automated operation controller 302 controls the operation of the hydraulic actuator HA to be automatically operated. The automated operation controller 302 controls the hydraulic actuator HA such that the shovel 100 and a predetermined portion of the accessory move along the target trajectory. In the case of semi-automated operation, the automated operation controller 302 operates the hydraulic actuator HA to be automatically operated such that the shovel 100 and a predetermined portion of the accessory move along the target trajectory in a manner linked with the operation of another hydraulic actuator HA operated by an operator. In the case of fully-automated operation, the automated operation controller 302 interlocks a plurality of hydraulic actuators HA to be automatically operated such that the shovel 100 and a predetermined portion of the accessory move along the target trajectory. Specifically, the automated operation controller 302 outputs an operation command to the hydraulic control valve 31 for operating the hydraulic actuator HA to be automatically operated such that the shovel 100 and a predetermined portion of the accessory move along the target trajectory. More specifically, the automated operation controller 302 may measure the position of the shovel 100 and a predetermined portion of the accessory based on the output of the sensor apparatuses S1 to S5 or the like. Then, the automated operation controller 302 may generate and output an operation command to the hydraulic control valve 31 by performing feedback control based on the deviation between the measurement result and the target trajectory. For example, the operation command to the hydraulic control valve 31 is an operation command to the hydraulic control valve 31L in the case of an operation command corresponding to the operation of the double-acting hydraulic actuator HA in the first direction. In contrast to this, the operation command to the hydraulic control valve 31 is an operation command to the hydraulic control valve 31R in the case of an operation command corresponding to the operation of the double-acting hydraulic actuator HA in the second direction.

The intervention operation controller 303 controls the hydraulic actuator HA in accordance with the intervention operation to the hydraulic actuator HA as an automated operation target. Specifically, the intervention operation controller 303 outputs an operation command to the hydraulic control valve 31 corresponding to the contents of the intervention operation to the hydraulic actuator HA as an automated operation target.

The arbitration controller 304 performs arbitration between the output of the automated operation controller 302 and the output of the intervention operation controller 303. Specifically, the arbitration controller 304 selects an operation mode of the hydraulic actuator HA as an automated operation target. When there are a plurality of hydraulic actuators HA as automated operation targets, an operation mode is selected for each of the plurality of hydraulic actuators HA. The arbitration controller 304 performs arbitration between the output of the automated operation controller 302 and the output of the intervention operation controller 303 in accordance with the selected operation mode, and outputs an operation command corresponding to an arbitration result to the hydraulic control valve 31.

When there is no intervention operation, the arbitration controller 304 selects the automated operation mode. In contrast to this, when there is an intervention operation, the arbitration controller 304 selects one operation mode from among the automated operation mode, the intervention operation mode, and the transition mode according to a predetermined condition.

When the arbitration controller 304 selects the automated operation mode, the arbitration controller 304 outputs an operation command output from the automated operation controller 302 to the hydraulic control valve 31.

In contrast to this, when the arbitration controller 304 selects the intervention operation mode, the arbitration controller 304 outputs an operation command output from the intervention operation controller 303 to the hydraulic control valve 31. Additionally, when the arbitration controller 304 selects the intervention operation mode, the arbitration controller 304 sends a command (target trajectory correction command) for correcting the target trajectory to the target trajectory generator 301 with reference to the actual operation state resulting from the intervention operation. This allows the target trajectory generator 301 to correct the target trajectory with reference to the position or trajectory deviated by the intervention operation, even when the position of the shovel 100 or the predetermined portion of the accessory deviates from the target trajectory to some extent by the intervention operation. For example, the target trajectory generator 301 corrects the target trajectory by moving the target trajectory in parallel to pass the actual position of the shovel 100 or the predetermined portion of the accessory. Therefore, when returning to the automated operation mode upon completion of the intervention operation or the like, it is possible to suppress a situation in which a relatively large acceleration or deceleration of the hydraulic actuator HA occurs due to a deviation between the target trajectory and the position of the predetermined portion of the shovel 100 or the predetermined portion of the accessory, resulting in a rattling or vibration of the hydraulic actuator HA. Therefore, the arbitration controller 304 can smoothly return to the automated operation mode from the operation by the intervention operation of the hydraulic actuator HA.

When the transition mode is selected, the arbitration controller 304 generates an operation command for making a transition from the automated operation mode to the intervention operation mode and outputs the operation command to the hydraulic control valve 31 (see FIGS. 8, 10, and 11).

When the transition mode is selected, the arbitration controller 304 may send a target trajectory correction command to the target trajectory generator 301 in the same manner as when the intervention operation mode is selected. This is because the intervention operation may be canceled during the transition mode and the automated operation mode may be returned.

Control Processing Corresponding to the Intervention Operation in the Automated Operation Mode

Next, control processing corresponding to the intervention operation in the automated operation mode executed by the controller 30 will be described with reference to FIG. 7.

FIG. 7 is a flowchart schematically illustrating an example of control processing related to the intervention operation executed during the automated operation mode.

The processing illustrated in the flowchart is executed every predetermined control period when the automated operation mode is selected and the intervention operation is performed. Furthermore, when there are a plurality of hydraulic actuators HA subject to automated operation, the processing illustrated in the flowchart is executed for each of the plurality of hydraulic actuators HA.

As shown in FIG. 7, in step S102, the arbitration controller 304 determines whether or not the current direction of operation of the hydraulic actuator HA subject to automated operation is the same direction as the direction of operation corresponding to the intervention operation. When the current direction of operation of the hydraulic actuator HA subject to automated operation is the same direction as the direction of operation corresponding to the intervention operation, the arbitration controller 304 advances the processing to step S104, and when not in the same direction, advances the processing to step S110.

In step S104, the arbitration controller 304 determines whether or not the operation amount of the intervention operation is equal to or greater than the operation amount corresponding to the current operation state of the hydraulic actuator HA subject to automated operation. For example, the arbitration controller 304 determines whether or not the pilot pressure of the hydraulic control valve 31 corresponding to the operation amount of the intervention operation is equal to or greater than the current pilot pressure of the hydraulic control valve 31. When the operation amount of the intervention operation is equal to or greater than the operation amount corresponding to the current operation state of the hydraulic actuator HA subject to automated operation, the arbitration controller 304 advances the processing to step S106, and otherwise advances the processing to step S108.

In step S106, the arbitration controller 304 selects the intervention operation mode. That is, the arbitration controller 304 shifts the operation mode of the hydraulic actuator HA subject to automated operation from the automated operation mode to the intervention operation mode.

In contrast to this, in step S108, the arbitration controller 304 selects the automated operation mode. That is, the arbitration controller 304 maintains the operation mode of the hydraulic actuator HA subject to automated operation as the automated operation mode.

Furthermore, in step S110, the arbitration controller 304 selects the transition mode. That is, the arbitration controller 304 shifts the operation mode of the hydraulic actuator HA subject to automated operation from the automated operation mode to the transition mode.

When any of the processing in steps S106, S108, and S110 is completed, the controller 30 ends the processing of the present flowchart.

As described above, when the intervention operation in the same direction as the automated operation is started, the arbitration controller 304 can shift the hydraulic actuator HA to the intervention operation mode after waiting for the operation amount of the intervention operation to be equal to or greater than the operation amount corresponding to the automated operation of the hydraulic actuator HA. Therefore, for example, when the intervention operation is started, the hydraulic actuator HA is shifted to the intervention operation mode, and a situation in which the operation of the hydraulic actuator HA is suddenly decelerated and vibration is generated is suppressed, and the hydraulic actuator HA can be smoothly shifted from the automated operation to the operation by the intervention operation.

Control Processing Executed During Transition Mode

Next, the control processing executed by the controller 30 in the transition mode will be described with reference to FIG. 8.

FIG. 8 is a flowchart schematically illustrating an example of the control processing executed in the transition mode.

This flowchart is executed every predetermined control period when the transition mode is selected as the operation mode of the hydraulic actuator HA to be operated automatically.

In the present example, an operation amount corresponding to the operation of the double-acting hydraulic actuator HA in a certain direction (for example, the first direction described above) is defined as a positive operation amount, and an operation amount corresponding to the operation in the opposite direction (for example, the second direction described above) is defined as a negative operation amount. For example, when the operation amount is converted by the pilot pressure on the secondary side of the hydraulic control valve 31, the pilot pressure of the hydraulic control valve 31L corresponding to the operation of the hydraulic actuator HA in the first direction is defined as a positive pilot pressure. In contrast to this, the pilot pressure of the hydraulic control valve 31R corresponding to the operation of the hydraulic actuator HA in the second direction is defined as a negative pilot pressure.

As shown in FIG. 8, in step S202, the arbitration controller 304 determines whether or not the intervention operation continues. For example, when the operation amount of the intervention operation is not zero, the arbitration controller 304 determines that the intervention operation continues. Furthermore, when the operation amount of the intervention operation is not zero continuously in the most recent predetermined period, the arbitration controller 304 may determine that the intervention operation continues. When the intervention operation continues, the arbitration controller 304 advances the processing to step S204, and when the intervention operation does not continue, advances the processing to step S212.

In step S204, the arbitration controller 304 determines whether or not the operation amount of the hydraulic actuator HA subject to automated operation has reached the operation amount of the intervention operation by the previous processing in step S206. For example, the arbitration controller 304 determines whether or not the pilot pressure of the hydraulic control valve 31 has reached the pilot pressure corresponding to the intervention operation by the previous processing in step S206. When the operation amount of the hydraulic actuator HA subject to automated operation has not reached the operation amount of the intervention operation, the arbitration controller 304 advances the processing to step S206, and when the operation amount of the intervention operation is reached, advances the processing to step S210.

In step S206, the arbitration controller 304 changes the operation amount of the hydraulic actuator HA to gradually approach the operation amount of the intervention operation. Specifically, the arbitration controller 304 generates an operation command for changing the pilot pressure of the hydraulic control valve 31 on the secondary side to gradually approach the pilot pressure corresponding to the intervention operation, and outputs the operation command to the hydraulic control valve 31. At this time, when the operation command corresponds to the positive pilot pressure, the operation command is output to the hydraulic control valve 31L, and when the operation command corresponds to the negative pilot pressure, the operation command is output to the hydraulic control valve 31R.

For example, in step S206, the arbitration controller 304 calculates a command value PIout of the pilot pressure by using the following equation (1), and outputs an operation command corresponding to the command value PIout to the hydraulic control valve 31.

PIout = PI_a + Kp · PI_b + Ki · ∫ ( PI_b ) ⁢ dt ( 1 )

A pilot pressure PI_a is a pilot pressure corresponding to the latest output (control command) of the automated operation controller 302. A pilot pressure PI_b is a pilot pressure corresponding to the intervention operation. A proportional gain Kp is a gain of the proportional term (the second term in equation (3)) of the pilot pressure PI_b in the command value PIout. An integral gain Ki is a gain of an integral term (the third term in equation (3)) of the pilot pressure PI_b in the command value PIout. The third term in equation (3) is the integral term of the pilot pressure PI_b starting from the start of the intervention operation.

The absolute value of the integral term (third term) of equation (3) increases with time from the start of the intervention operation. Therefore, the arbitration controller 304 can bring the command value PIout, that is, the operation amount of the hydraulic actuator HA subject to automated operation, closer to the pilot pressure corresponding to the intervention operation with time (gradually).

When the processing of step S206 is completed, the controller 30 advances the processing to step S208.

In step S208, the arbitration controller 304 selects the transition mode. That is, the arbitration controller 304 maintains the operation mode of the hydraulic actuator HA subject to automated operation in the transition mode.

In contrast to this, in step S210, the arbitration controller 304 selects the intervention operation mode. That is, the arbitration controller 304 completes the transition processing from the automated operation mode to the intervention operation mode by shifting the operation mode of the hydraulic actuator HA subject to automated operation from the transition mode to the intervention operation mode.

In step S212, the arbitration controller 304 selects the automated operation mode. That is, the arbitration controller 304 returns the operation mode of the hydraulic actuator HA to the automated operation mode from the transition mode.

When any of the processing in steps S208, S210, and S212 is completed, the controller 30 ends the processing of the current flowchart.

As described above, when the intervention operation in the direction opposite to the automated operation is started, the arbitration controller 304 can control the hydraulic control valve 31 such that the actual operation amount of the hydraulic actuator HA gradually approaches the operation amount of the intervention operation. Therefore, for example, when the intervention operation is started, the operation mode is shifted to the intervention operation mode, and a situation in which the operation of the hydraulic actuator HA is suddenly decelerated and vibration is generated is suppressed, and the operation of the hydraulic actuator HA is smoothly shifted from the automated operation to the operation by the intervention operation.

Control Processing Executed During Intervention Operation Mode

Next, with reference to FIG. 9, control processing executed by the controller 30 during the intervention operation mode will be described.

The processing illustrated in the flowchart of FIG. 9 is executed every predetermined control period when the intervention operation mode is selected as the operation mode of the hydraulic actuator HA to be subjected to automated operation.

FIG. 9 is a flowchart schematically illustrating an example of control processing executed during the intervention operation mode.

As shown in FIG. 9, in step S302, the arbitration controller 304 determines whether or not the direction of the intervention operation is the same as the operation direction of the hydraulic actuator HA corresponding to automated operation. For example, the arbitration controller 304 determines whether or not the operation direction of the hydraulic actuator HA corresponding to the output of the intervention operation controller 303 is the same as the operation direction of the hydraulic actuator HA corresponding to the output of the automated operation controller 302. When the direction of the intervention operation is the same as the operation direction of the hydraulic actuator HA corresponding to automated operation, the arbitration controller 304 advances the processing to step S304, and when not, advances the processing to step S306.

In step S304, the arbitration controller 304 determines whether or not the operation amount of the intervention operation is less than the operation amount corresponding to the current operation state of the hydraulic actuator HA of the automated operation target. When the operation amount of the intervention operation is less than the operation amount corresponding to the current operation state of the hydraulic actuator HA subject to automated operation, the arbitration controller 304 advances the processing to step S308, and otherwise advances the processing to step S310.

In contrast to this, in step S306, the arbitration controller 304 determines whether or not the intervention operation has been completed. For example, when the operation amount of the intervention operation is zero, the arbitration controller 304 determines that the intervention operation has been completed. Alternatively, when the operation amount of the intervention operation is zero for a predetermined length of time or longer, the arbitration controller 304 may determine that the intervention operation has been completed. When the intervention operation is completed, the arbitration controller 304 advances the processing to step S308, and when the intervention operation is not completed, advances the processing to step S310.

In step S308, the arbitration controller 304 selects the automated operation mode. That is, the arbitration controller 304 returns the operation mode of the hydraulic actuator HA to the automated operation mode from the intervention operation mode.

In contrast to this, in step S310, the arbitration controller 304 selects the intervention operation mode. That is, the arbitration controller 304 maintains the operation mode of the hydraulic actuator HA subject to automated operation in the intervention operation mode.

When either of the processing in steps S308 or S310 is completed, the processing of the present flowchart is terminated.

As described above, the arbitration controller 304 can return to the automated operation mode when the operation amount of the intervention operation decreases to less than the operation amount corresponding to automated operation or when the intervention operation is terminated. This is because the controller 30 achieves the operation by the intervention operation while continuing the automated operation function and continuing the control processing by the automated operation controller 302 in parallel. Therefore, for example, in a situation where the operator wants to correct a part of the trajectory of a predetermined part of the shovel 100 or an accessory to deviate from the target trajectory, the controller 30 can continuously transition the operation state of the hydraulic actuator HA in a flow of automated operation→operation by the intervention operation→automated operation. Therefore, the convenience and work efficiency of the operator can be enhanced.

Specific Example of Transition From Automated Operation Mode to Intervention Operation Mode

Next, with reference to FIGS. 10 and 11, a specific example of transition from the automated operation mode to the intervention operation mode for the hydraulic actuator HA subject to automated operation will be described.

First Example

FIG. 10 is a graph illustrating a first example of time variation of pilot pressure at the time of transition from the automated operation mode to the intervention operation mode. Specifically, FIG. 10 shows a specific example of time variation of pilot pressure on the secondary side of the hydraulic control valve 31 at the time of transition from the automated operation mode to the intervention operation mode when the direction of intervention operation is the same as the actual operation direction of the hydraulic actuator HA based on automated operation.

The pilot pressure on the secondary side of the hydraulic control valve 31 corresponds to the pilot pressure acting on the pilot port of the directional control valve 17X.

As shown in FIG. 10, at time t10 in the automated operation mode, the intervention operation is started in the same direction as the operating direction of the hydraulic actuator HA based on the automated operation.

Thereafter, the pilot pressure corresponding to the intervention operation increases in accordance with an increase in the operation amount of the intervention operation, and gradually approaches the pilot pressure corresponding to the automated operation (broken line in the graph), that is, the pilot pressure output from the hydraulic control valve 31 (solid line in the graph). Then, at time t11, the pilot pressure corresponding to the intervention operation reaches the pilot pressure corresponding to the automated operation (YES in step S104 of FIG. 7). Thus, the operation mode of the hydraulic actuator HA subject to the automated operation is shifted from the automated operation mode to the intervention operation mode (step S106 in FIG. 7).

On and after time t11, since the pilot pressure corresponding to the intervention operation continues to be higher than the pilot pressure corresponding to the automated operation (NO in step S304 of FIG. 9), the intervention operation mode is continued (step S310 in FIG. 9).

Thus, in the present example, the shovel 100 shifts to the intervention operation mode after waiting until the pilot pressure of the intervention operation rises to the actual pilot pressure of the hydraulic control valve 31, that is, to be higher than the pilot pressure corresponding to the automated operation. Therefore, the hydraulic actuator HA can shift from the operation state corresponding to the automated operation to the operation state corresponding to the intervention operation while slowly accelerating. Therefore, the shovel 100 can smoothly shift from the automated operation of the hydraulic actuator HA to the operation by the intervention operation.

Second Example

FIG. 11 is a graph illustrating a second example of the time change of the pilot pressure at the time of shifting from the automated operation mode to the intervention operation mode. Specifically, FIG. 11 shows a specific example of the time change of the pilot pressure on the secondary side of the hydraulic control valve 31 at the time of shifting from the automated operation mode to the intervention operation mode when the direction of the intervention operation is opposite to the actual operation direction of the hydraulic actuator HA based on the automated operation.

As shown in FIG. 11, in the present example, in the situation of the automated operation mode, the intervention operation is started in the direction (second direction) opposite to the operation direction (first direction) of the hydraulic actuator HA based on the automated operation (NO in step S102 of FIG. 7) at time t20. As a result, the operation mode of the hydraulic actuator HA shifts from the automated operation mode to the transition mode (step S110 in FIG. 7). The pilot pressure corresponding to the intervention operation (dash-dot line in the graph) increases in the second direction.

On and after time t20, the pilot pressure in the first direction (solid line in the graph) output from the hydraulic control valve 31, that is, the pilot pressure on the secondary side of the hydraulic control valve 31L, gradually decreases and approaches the pilot pressure corresponding to the intervention operation in accordance with the increase in the operation amount (absolute value) of the intervention operation (step S206 in FIG. 8). Then, at time t21, the pilot pressure of the hydraulic control valve 31 reaches zero. Between time t20 and time t21, the hydraulic actuator HA gradually decelerates and stops.

On and after time t21, the pilot pressure in the second direction output from the hydraulic control valve 31, that is, the pilot pressure on the secondary side of the hydraulic control valve 31R, gradually increases and approaches the pilot pressure corresponding to the intervention operation (step S206 in FIG. 8). Then, at time t22, the pilot pressure in the second direction output from the hydraulic control valve 31 reaches the pilot pressure corresponding to the intervention operation (YES in step S204 of FIG. 8). Thus, the operation mode of the hydraulic actuator HA shifts from the transition mode to the intervention operation mode (step S210 in FIG. 8). Between time t21 and time t22, the hydraulic actuator HA gradually accelerates in the opposite direction (second direction) from a stopped state.

Thus, in the present example, the shovel 100 gradually causes the pilot pressure output from the hydraulic control valve 31 to approach the pilot pressure corresponding to the intervention operation. Thus, the shovel 100 can shift to an operation state corresponding to the intervention operation by gradually decelerating and stopping the hydraulic actuator HA and then accelerating the hydraulic actuator HA in the opposite direction. Therefore, the shovel 100 can smoothly shift from the automated operation of the hydraulic actuator HA to the operation by the intervention operation.

Furthermore, as in a comparative example (two-dot chain line in the graph), after the start of the intervention operation, it is also possible to output from the hydraulic control valve 31 the sum of the pilot pressure in the first direction corresponding to the automated operation (positive pilot pressure) and the pilot pressure in the second direction corresponding to the intervention operation (negative pilot pressure). In this case, as the operation amount of the intervention operation increases, the pilot pressure in the first direction output from the hydraulic control valve 31, that is, the pilot pressure on the secondary side of the hydraulic control valve 31L, decreases and approaches the pilot pressure corresponding to the intervention operation. In this case, since the position of the shovel 100 and the predetermined portion of the accessory deviates from the target trajectory with the start of the intervention operation, the automated operation controller 302 increases the pilot pressure corresponding to the automated operation for aligning the shovel 100 and the predetermined portion of the accessory with the target trajectory. As a result, even when the pilot pressure corresponding to the intervention operation increases to the maximum, the pilot pressure corresponding to the automated operation also increases, and there is a possibility that the pilot pressure in the second direction cannot be output from the hydraulic control valve 31.

In addition, the pilot pressure corresponding to the intervention operation can be multiplied by a proportional gain exceeding 1, and then the sum of the pilot pressure and the pilot pressure corresponding to the automated operation is obtained and output from the hydraulic control valve 31. However, in this case, the rate of change of the pilot pressure output from the hydraulic control valve 31 becomes large, and there is a possibility that sudden deceleration or sudden acceleration of the hydraulic actuator HA occurs.

In contrast to this, in the present example, the integral term of the pilot pressure corresponding to the intervention operation is added to the sum of the pilot pressure corresponding to the automated operation and the proportional term of the pilot pressure corresponding to the intervention operation, as shown in the above equation (3). This makes it possible to bring the pilot pressure output from the hydraulic control valve 31 closer to the pilot pressure corresponding to the intervention operation and to suppress sudden deceleration or sudden acceleration of the hydraulic actuator HA due to a change in the pilot pressure output from the hydraulic control valve 31.

Note that when the automated operation controller 302 adopts proportional integral (PI) control as the feedback control, the update of the integral term may be stopped in the transition mode. This makes it possible to suppress an increase in the pilot pressure corresponding to the automated operation when the position of the shovel 100 or a predetermined part of the accessory deviates from the target trajectory with the start of the intervention operation. Therefore, the pilot pressure output from the hydraulic control valve 31 can reach the pilot pressure corresponding to the intervention operation earlier. In other words, the arbitration controller 304 can end the transition mode in a shorter period of time and shift to the intervention operation mode earlier.

Other Embodiments

Next, other embodiments will be described.

The above-described embodiment may be modified or changed as appropriate.

For example, the control method (FIGS. 7 to 9) for switching the operation mode of the actuator of the shovel 100 in the above-described embodiment may be applied to other work machines having an automated operation function. The other work machines are, for example, forklifts, and wheel loaders.

Advantageous Effects

Next, advantageous effects of the work machine according to the present embodiment will be described.

In the present embodiment, when the operation input by the operator to the actuator is started in a state where the actuator is automatically operated, the actual operation state of the actuator and the operation state of the actuator corresponding to the operation input by the operator approach each other with time, and the work machine shifts to a state where the actuator operates in response to the operation input by the operator. The work machine is, for example, the shovel 100 described above. The work machine may also be a forklift, a wheel loader, or the like. The actuator is, for example, the hydraulic actuator HA described above. The actuator may also be an electric actuator.

Thus, even when there is a difference between the operation state of the actuator by automated operation and the operation state of the actuator corresponding to the operation input by the operator when the operation input by the operator is started, the work machine can shift to a state in which the actuator operates in response to the operation input by the operator as the difference narrows with time. Therefore, the work machine can smoothly shift from the automated operation of the actuator to the operation by the operator.

Furthermore, in the present embodiment, when the operation input by the operator is started in a direction opposite to the operation direction of the actuator corresponding to the automated operation in a state in which the actuator is automatically operated, the actuator may accelerate in a direction corresponding to the operation input by the operator after the actuator gradually decelerates and stops.

Thus, when the operation input by the operator is started in the direction opposite to the operation direction of the actuator corresponding to the automated operation, the work machine can smoothly shift from the automated operation of the actuator to the operation by the operator.

Furthermore, in the present embodiment, when the operation input by the operator is started in the direction opposite to the operation direction of the actuator corresponding to the automated operation in the state in which the actuator is automatically operated, the actual operation state of the actuator may be shifted to the operation state corresponding to the operation input by the operator by bringing the actual operation state of the actuator closer with time to the operation state corresponding to the operation input by the operator.

Thus, when the operation input by the operator is started in the direction opposite to the operation direction of the actuator corresponding to the automated operation, the work machine can smoothly shift from the automated operation of the actuator to the operation by the operator.

Furthermore, in the present embodiment, when the operation input by the operator is started in the same direction as the operation direction of the actuator corresponding to the automated operation in the state that the actuator is automatically operated, the operation state of the actuator corresponding to the operation input by the operator approaches the actual operation state with time in accordance with an increase in the operation amount of the operation input by the operator, thereby the actuator may be shifted to a state of being operated in accordance with the operation input by the operator.

Thus, when the operation input by the operator is started in the same direction as the operation direction of the actuator corresponding to the automated operation, the work machine can smoothly shift from the automated operation of the actuator to the operation by the operator.

In the present embodiment, the work machine may include a first control part and a second control part. The first control part is, for example, the above-described automated operation controller 302. The second control part is, for example, the above-described arbitration controller 304. Specifically, the first control part controls the automated operation of the actuator. When the operation input by the operator to the actuator is started while the actuator is being automatically operated by the first control part, the second control part shifts the actuator to a state in which the actuator operates in response to the operation input by the operator. More specifically, the first control part may continue to control the automated operation of the actuator even after the operation input by the operator to the actuator is started. The second control part may shift the actuator to a state in which the actuator operates in response to the operation input by the operator while the control of the automated operation of the actuator by the first control part continues.

Thus, the work machine can shift the actuator to a state in which the actuator operates in response to the operation input by the operator while the control of the automated operation continues. Therefore, for example, even in a situation where the operator starts the operation input, slightly corrects the operation of the actuator, and immediately terminates the operation, the work machine can immediately return to the automated operation state. Therefore, the work machine can achieve the operation of the actuator in a form allowing partial correction of the operation of the actuator by the operation input by the operator on the premise that the actuator operates in the automated operation state.

Furthermore, in the present embodiment, when the operation input by the operator to the actuator is terminated, the actuator may return to the state in which the automated operation of the actuator is performed by the first control part on the basis of the operation state of the actuator until the termination of the operation input by the operator.

Thus, the work machine can return to the automated operation of the actuator on the basis of the operation state of the actuator corrected by the operation input by the operator. Therefore, the work machine can smoothly return to the automated operation of the actuator from the operation of the actuator by the operation input by the operator.

Furthermore, in the present embodiment, when the operation input by the remote operation of the operator to the actuator is started in the state in which the actuator is automatically operated, the actuator may be shifted to the state in which the actuator is operated in response to the operation input by the operator by causing the actual operation state of the actuator and the operation state of the actuator corresponding to the operation input by the remote operation of the operator to approach each other with time.

Thus, the work machine can be smoothly shifted from the automated operation of the actuator to the operation by the remote operation of the operator in accordance with the start of the operation input by the remote operation of the operator.

According to the above embodiment, the work machine can be smoothly shifted from an automated operation of the actuator to an operation by operation by the operator.

Although the embodiments have been described in detail above, the present disclosure is not limited to these particular embodiments, and various modifications and changes are possible within the scope of the claims.