Work machine
A controller mounted in a hydraulic excavator includes: a state transition section that performs switchover between two types of control that are manual control and semiautomatic control, on the basis of input of a state switching signal; and a velocity transition section that changes a rate of change with time in a velocity of a boom cylinder from a first rate of change I 1 to a second rate of change I 2 greater than the first rate of change I 1 in a case in which input to an operation lever changes since the state transition section switches over between the two types of control until the velocity of the boom cylinder changes to a velocity Vo(t) specified by the control after the switchover between the two types of control.
1. A work machine comprising:
a work device;
an actuator that drives the work device;
an operation device for operating the actuator; and
a controller that controls the actuator by any of two types of control that are first control to control the actuator on a basis of input to the operation device and second control to control the actuator on a basis of a distance between a predetermined design surface and the work device while the operation device is operated, wherein
the controller
sets a limiting value for a rate of change with time in a velocity of the actuator to a first rate of change in case that switchover between the two types of control is performed on a basis of input of a state switching signal and the velocity of the actuator changes from a velocity specified by the control before the switchover out of the two types of control to a velocity specified by the control after the switchover, and
changes the rate of change with time in the velocity of the actuator from the first rate of change to a second rate of change greater than the first rate of change in a case in which input to the operation device changes since the switchover between the two types of control is performed on the basis of the input of the state switching signal until the velocity of the actuator changes to the velocity specified by the control after the switchover.
2. The work machine according to claim 1 , wherein
the controller changes the rate of change with time in the velocity of the actuator from the first rate of change to the second rate of change in a case in which a rate of change with time of the input to the operation device is equal to or higher than a predetermined threshold since the switchover between the two types of control is performed on the basis of the input of the state switching signal until the velocity of the actuator changes to the velocity specified by the control after the switchover.
3. The work machine according to claim 1 , wherein
types of the input to the operation device include a positive input value that is an input value in a case of operating the actuator in a first direction, a negative input value that is an input value in a case of operating the actuator in a second direction, and a zero input value that is an input value in a case of not operating the actuator in any of the first direction and the second direction, and
the controller changes the rate of change with time in the velocity of the actuator from the first rate of change to the second rate of change in either a case in which the input to the operation device changes from any of the positive input value and the negative input value to the zero input value or a case in which the input to the operation device changes from the zero input value to any of the positive input value and the negative input value since the switchover between the two types of control is performed on the basis of the input of the state switching signal until the velocity of the actuator changes to the velocity specified by the control after the switchover.
4. The work machine according to claim 1 , wherein
the controller
determines whether an abnormality occurs in hardware and software necessary to control the actuator by the second control, and
outputs the state switching signal in a case of determining that the abnormality occurs while the actuator is controlled by the second control.
5. The work machine according to claim 4 , wherein
the controller
determines whether the work device is present in a region where the design surface is present, and
outputs the state switching signal in a case of determining that the work device is present out of the region where the design surface is present while the actuator is controlled by the second control.
6. The work machine according to claim 4 , wherein
the controller
determines whether an abnormality occurs in any of a posture sensor for the work device and a position sensor for the work machine, and
outputs the state switching signal in a case of determining that the abnormality occurs in any of the posture sensor and the position sensor while the actuator is controlled by the second control.
7. The work machine according to claim 4 , further comprising:
a control valve that generates a pilot pressure to be output to a directional control valve of the actuator at a time of the second control, on a basis of a control signal output from the controller; and
a pressure sensor that detects the pilot pressure, wherein
the controller
determines whether an abnormality occurs in the control valve by comparing a pressure value specified by the control signal with a pressure value detected by the pressure sensor, and
outputs the state switching signal in a case of determining that the abnormality occurs in the control valve while the actuator is controlled by the second control.
8. The work machine according to claim 2 , wherein
the predetermined threshold is a value greater than the first rate of change.