Work machine and remote support system

Abstract

A work machine includes a lower traveling body; an upper turning body configured to turn with respect to the lower traveling body; an attachment attached to the upper turning body and including at least a boom or an arm; an operation device including one operation lever and another operation lever; and a control part, wherein the control part controls the attachment in a first control mode when the one operation lever is operated, and the control part controls the attachment in a second control mode when the other operation lever is operated.

What is claimed is: 
     
         1 . A work machine comprising:
 a lower traveling body;   an upper turning body configured to turn with respect to the lower traveling body;   an attachment attached to the upper turning body and including at least a boom or an arm;   an operation device including one operation lever and another operation lever; and   a control part, wherein   the control part controls the attachment in a first control mode when the one operation lever is operated, and   the control part controls the attachment in a second control mode when the other operation lever is operated.   
     
     
         2 . The work machine according to  claim 1 , wherein
 the one operation lever is configured to operate the arm,   the other operation lever is configured to operate the boom,   in the first control mode, when the one operation lever is operated to operate the arm, the boom is automatically operated, and   in the second control mode, when the other operation lever is operated to operate the boom, the arm is automatically operated.   
     
     
         3 . The work machine according to  claim 2 , wherein
 in the first control mode, when the one operation lever is operated, a reference position of the attachment is moved in a horizontal direction, and   in the second control mode, when the other operation lever is operated, the reference position of the attachment is moved in a vertical direction.   
     
     
         4 . The work machine according to  claim 3 , wherein
 the attachment further includes a bucket, and   the reference position is a position of a claw tip of the bucket.   
     
     
         5 . The work machine according to  claim 4 , wherein
 in the first control mode, in a case where an angle between the horizontal direction and a bottom surface of the bucket is within a predetermined first range, when the one operation lever is operated, the angle of the bottom surface of the bucket with respect to the horizontal direction is maintained and the reference position of the attachment is moved in the horizontal direction, and   in the second control mode, in a case where an angle between the vertical direction and the bottom surface of the bucket is within a predetermined second range, when the other operation lever is operated, the angle of the bottom surface of the bucket with respect to the vertical direction is maintained and the reference position of the attachment is moved in the vertical direction.   
     
     
         6 . The work machine according to  claim 3 , wherein the reference position is a suspending position for suspending a suspended load. 
     
     
         7 . The work machine according to  claim 1 , wherein
 the operation device further includes a switch,   the control part controls the attachment in the first control mode when the switch is operated and the one operation lever is operated, and   the control part controls the attachment in the second control mode when the switch is operated and the other operation lever is operated.   
     
     
         8 . The work machine according to  claim 7 , wherein
 the switch includes:
 a first switch provided on the one operation lever; and 
 a second switch provided on the other operation lever, 
   the control part controls the attachment in the first control mode when the first switch is operated and the one operation lever is operated, and   the control part controls the attachment in the second control mode when the second switch is operated and the other operation lever is operated.   
     
     
         9 . The work machine according to  claim 1 , wherein
 the operation device further includes a switch,   the control part controls the attachment in the first control mode when the switch is operated and the one operation lever is operated in a first direction,   the control part controls the attachment in the second control mode when the switch is operated and the other operation lever is operated, and   the control part controls the attachment in a third control mode when the switch is operated and the one operation lever is operated in a second direction orthogonal to the first direction.   
     
     
         10 . The work machine according to  claim 9 , wherein in the third control mode, the reference position of the attachment is moved in a transverse direction when the one control lever is operated in the second direction. 
     
     
         11 . The work machine according to  claim 1 , wherein the control part stores at least one of an initial position for the first control mode or an initial position for the second control mode. 
     
     
         12 . The work machine according to  claim 11 , wherein
 the control part is configured to execute:
 a fourth control mode of controlling the attachment to move to the initial position with respect to the first control mode based on a predetermined first operation; and 
 a fifth control mode of controlling the attachment to move to the initial position with respect to the second control mode based on a predetermined second operation. 
   
     
     
         13 . The work machine according to  claim 11 , wherein
 the control part stores the initial position with respect to the first control mode when controlling the attachment in the first control mode, and   the control part stores the initial position with respect to the second control mode when controlling the attachment in the second control mode.   
     
     
         14 . The work machine according to  claim 11 , wherein the control part does not reset at least one of the initial position with respect to the first control mode or the initial position with respect to the second control mode even when the lower traveling body travels. 
     
     
         15 . A remote support system that remotely operates a work machine, the remote support system comprising:
 the work machine including:
 a lower traveling body; 
 an upper turning body configured to turn with respect to the lower traveling body; and 
 an attachment attached to the upper turning body and including at least a boom or an arm; 
   a remote operation room including an operation device including one operation lever and another operation lever; and   a control part; wherein   the control part controls the attachment in a first control mode when the one operation lever is operated, and   the control part controls the attachment in a second control mode when the other operation lever is operated.