Excavator, Remote Operation Support Device

Abstract

The present invention provides a technology capable of suppressing a reduction in the working efficiency of an excavator when a plurality of actuators operate in conjunction. An excavator (100) according to one embodiment of the present invention comprises: an upper rotating body (3), a boom (4), an arm (5), and a bucket (6); and a rotary hydraulic motor (2A), a boom cylinder (7), an arm cylinder (8), and a bucket cylinder (9) for driving each of the upper rotating body (3), the boom (4), the arm (5), and the bucket (6). When a portion of the hydraulic actuators of the rotary hydraulic motor (2A), the boom cylinder (7), the arm cylinder (8), and the bucket cylinder (9) operate in conjunction, the operation of other hydraulic actuators different from the portion of the actuators is prohibited.

Description

Technical Field

[0001] The present invention relates to an excavator or the like. Background Art

[0002] Conventionally, the following technique has been known: in an excavator, when multiple actuators are interlocked, if an operation of another actuator is performed, the action of the other actuator is prioritized (for example, refer to Patent Document 1).

[0003] In Patent Document 1, the following technique is disclosed: when controlling a device that automatically interlocks the raising and lowering of an arm in response to an operation of at least one of a boom and a bucket for excavation, if a swing operation is performed, the function of automatically interlocking the arm is aborted.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2018-172858 Summary of the Invention

[0007] Technical Problem to be Solved by the Invention

[0008] However, when multiple actuators perform operations in an interlocked manner, if the action of another actuator is prioritized, the work efficiency of the excavator may be reduced.

[0009] Therefore, in view of the above problems, an object of the present invention is to provide a technique capable of suppressing a reduction in the work efficiency of an excavator when multiple actuators perform operations in an interlocked manner.

[0010] Means for Solving the Technical Problem

[0011] To achieve the above object, in one embodiment of the present invention, there is provided an excavator including:

[0012] Multiple driven elements;

[0013] Multiple actuators for driving each of the multiple driven elements,

[0014] When a part of the multiple actuators are interlocked, the action of other actuators different from the part of the actuators among the multiple actuators is prohibited.

[0015] Moreover, in another embodiment of the present invention, there is provided a remote operation support device including:

[0016] An operation unit for remotely operating the multiple actuators of an excavator, the excavator including multiple driven elements and multiple actuators for driving each of the multiple driven elements;

[0017] A communication unit that, according to the operation of an operation unit, sends operation instructions related to the plurality of actuators to the excavator; and

[0018] A control unit that prohibits the operation of other actuators among the plurality of actuators that are different from the part of the actuators.

[0019] Advantages of the Invention

[0020] According to the above-described embodiment, it is possible to suppress a reduction in the work efficiency of the excavator when the plurality of actuators perform operations in a linked manner. Description of the Drawings

[0021] Figure 1 It is a side view showing an example of an excavator.

[0022] Figure 2 It is a top view showing an example of an excavator.

[0023] Figure 3 It is a diagram showing an example of an excavator management system.

[0024] Figure 4 It is a block diagram showing an example of the structure of an excavator.

[0025] Figure 5 It is a block diagram showing another example of the structure of an excavator.

[0026] Figure 6 It is a diagram showing an example of the structure of the operating system of an excavator.

[0027] Figure 7 It is a diagram showing another example of the structure of the operating system of an excavator.

[0028] Figure 8 It is a diagram showing an example of the excavation operation along the target construction surface of the excavator.

[0029] Figure 9 It is a diagram showing an example of the trimming operation along the target construction surface of the excavator.

[0030] Figure 10 It is a diagram showing an example of the rolling operation along the target construction surface of the excavator.

[0031] Figure 11 It is a diagram explaining the loading operation of the excavator.

[0032] Figure 12 It is a diagram showing an example of the control process based on a controller.

[0033] Figure 13 It is a diagram explaining the actuator groups that are linked in terms of the content of each operation of the excavator and the actuators whose operation is prohibited.

[0034] Figure 14 This is a diagram showing another example of control processing based on a controller.

[0035] Figure 15 This is a diagram showing yet another example of control processing based on a controller.

[0036] Figure 16 This is a diagram showing an example of the slope construction operation of an excavator.

[0037] Figure 17 This is a diagram illustrating the construction operation of the groove surface of an excavator.

[0038] Figure 18 This is a diagram illustrating a group of actuators in linkage during a specific operation and an actuator whose operation is prohibited. Detailed implementation mode

[0039] Hereinafter, the implementation mode will be described with reference to the accompanying drawings.

[0040] [Outline of excavator]

[0041] First, with reference to Figures 1 to 3 , the outline of the excavator 100 according to the present implementation mode will be described.

[0042] Figure 1 This is a side view showing an example of the excavator 100 according to the present implementation mode. Figure 2 This is a top view showing an example of the excavator 100 according to the present implementation mode. Figure 3 This is a diagram showing an example of an excavator management system SYS including the excavator 100 according to the present implementation mode.

[0043] As Figure 1 , Figure 2 shown, the excavator 100 according to the present implementation mode includes: a lower traveling body 1; an upper revolving body 3 that is rotatably mounted on the lower traveling body 1 via a slewing mechanism 2; an attachment device AT that is mounted on the upper revolving body 3; and a cab 10 that is mounted on the upper revolving body 3.

[0044] The lower traveling body 1 includes a pair of left and right crawlers 1C, that is, a left crawler 1CL and a right crawler 1CR. In the lower traveling body 1, the left crawler 1CL and the right crawler 1CR are hydraulically driven by traveling hydraulic motors 1M, that is, a left-side traveling hydraulic motor 1ML and a right-side traveling hydraulic motor 1MR, respectively, thereby causing the excavator 100 to travel. That is, the traveling hydraulic motors 1ML and 1MR as driving components drive the driven components of the crawlers 1CL and 1CR, respectively.

[0045] The upper slewing body 3 is hydraulically driven by a slewing hydraulic motor 2A (an example of a slewing motor) and slews relative to the lower traveling body 1. That is, the slewing hydraulic motor 2A as a driving component drives the upper slewing body 3 as a driven component.

[0046] However, the upper slewing body 3 can also be electrically driven by an electric motor (hereinafter, "slewing electric motor") instead of the slewing hydraulic motor 2A. In this case, the slewing electric motor as a driving component drives the upper slewing body 3 as a driven component in the same manner as the slewing hydraulic motor 2A.

[0047] The attachment device AT includes an arm 4, a boom 5, and a bucket 6.

[0048] The arm 4 is pivotally mounted at the front center of the upper slewing body 3 so as to be able to pitch. The boom 5 is rotatably mounted at the front end of the arm 4 so as to be able to move up and down, and the bucket 6 as an end attachment is rotatably mounted at the front end of the boom 5 so as to be able to move up and down. The arm 4, the boom 5, and the bucket 6 are respectively hydraulically driven by an arm cylinder 7, a boom cylinder 8, and a bucket cylinder 9 as hydraulic actuators.

[0049] The bucket 6 is an example of an end attachment, and other end attachments can be mounted at the front end of the boom 5 instead of the bucket 6 according to the work content and the like. For example, a bucket for slope, a bucket for dredging, a breaker, etc. can be mounted at the front end of the boom 5.

[0050] The cab 10 is a driver's cab for an operator to board. The cab 10 is mounted, for example, on the front left side of the upper slewing body 3.

[0051] The excavator 100 operates driven components such as the lower traveling body 1 (tracks 1CL, 1CR), the upper slewing body 3, the arm 4, the boom 5, and the bucket 6 according to the operation of the operator boarding the cab 10.

[0052] Moreover, the excavator 100 is configured to be operable by the operator boarding the cab 10 or, in addition, can be configured to be remotely operable (remote operation) from the outside of the excavator. When the excavator 100 is remotely operated, the inside of the cab 10 can be in an unmanned state. Hereinafter, it is assumed that the operation by the operator includes at least one of the operation of the operator in the cab 10 with respect to the operating device 26 and the remote operation by the operator of the external device.

[0053] Remote operation includes, for example, operating the excavator 100 by means of operation input related to the actuator of the excavator 100 performed in a specified external device. At this time, the excavator 100 can, for example, send the image information (captured image) output by the imaging device included in the space recognition device 70 described later to the external device, and display the image information on the display device provided in the external device (hereinafter referred to as the "display device for remote operation"). In addition, various information images (information screens) displayed on the display device D1 inside the cab 10 of the excavator 100 can also be displayed on the display device for remote operation of the external device. Thus, the operator of the external device can, for example, remotely operate the excavator 100 while confirming the display content such as the captured image or information screen indicating the state around the excavator 100 displayed on the display device for remote operation. In addition, the excavator 100 can cause the actuator to operate according to the remote operation signal indicating the content of the remote operation received from the external device through the communication device T1 described later, thereby driving the driven components such as the lower traveling body 1 (tracks 1CL, 1CR), the upper revolving body 3, the boom 4, the arm 5, and the bucket 6.

[0054] For example, as Figure 3 shown, the excavator 100 is connected as a structural component of the excavator management system SYS in a manner capable of communicating with the management device 200, and can be remotely operated through the management device 200.

[0055] However, the number of excavators 100 included in the excavator management system SYS can be one or more. Similarly, the number of management devices 200 included in the excavator management system SYS can also be one or more. That is, a plurality of management devices 200 can separately perform processing related to the excavator management system SYS. For example, a plurality of management devices 200 can communicate with each other among a part of the excavators 100 in charge of them, and perform processing targeted at that part of the excavators 100.

[0056] The management device 200 can be, for example, a cloud server or a local server such as a management center located outside the work site where the excavator 100 operates. In addition, the management device 200 can be an edge server configured inside the work site where the excavator 100 operates or at a position relatively close to the work site (for example, the office of a communication operator or a base station, etc.). In addition, the management device 200 can be a fixed terminal device or a portable (movable) terminal device (portable terminal) such as a management office inside the work site of the excavator 100. The fixed terminal device can include, for example, a desktop computer terminal. In addition, the portable terminal device can include, for example, a smart phone, a tablet terminal, a notebook computer terminal, etc.

[0057] As Figure 2 shown, the management device 200 includes a control device 210, a communication device 220, an input device 230, and an output device 240.

[0058] The control device 210 performs various controls related to the management device 200. The functions of the control device 210 can be implemented by any hardware, or any combination of hardware and software, etc. The control device 210 is configured, for example, around a computer, which includes: a CPU (Central Processing Unit), memory devices such as RAM (Random Access Memory), non-volatile auxiliary storage devices such as ROM (Read Only Memory), and input / output interface devices, etc. The control device 210 realizes various functions, for example, by executing a program installed in the auxiliary storage device on the CPU.

[0059] For example, the control device 210 performs controls related to the remote operation of the excavator 100. The control device 210 can input an input signal related to the remote operation of the excavator 100 received by the remote operation device, and use the communication device 220 to send the content of the operation input, that is, a remote operation signal representing the content of the remote operation of the excavator 100, to the excavator 100.

[0060] The communication device 220 is connected to the communication line NW and communicates with the outside of the management device 200 (for example, the excavator 100).

[0061] Regarding the communication line NW, the communication line NW includes, for example, a wide area network (WAN: Wide Area Network). The wide area network can include, for example, a mobile communication network with a base station as a terminal. And, the wide area network can include, for example, a satellite communication network using a communication satellite over the excavator 100. And, the wide area network can include, for example, the Internet. And, the communication line NW can include, for example, a local area network (LAN: Local Area Network) of a facility where the management device 200 is installed, etc. The local area network can be a wireless line, a wired line, or a line including both. And, the communication line NW can include, for example, a short-range communication line based on a specified wireless communication method such as WiFi or Bluetooth (registered trademark).

[0062] The input device 230 receives an input from a manager or an operator, etc. of the management device 200, and outputs a signal representing the content of the input (for example, operation input, voice input, gesture input, etc.). The signal representing the content of the input is input to the control device 210.

[0063] The input device 230 includes, for example, a remote operation device 231. Thus, an operator of the management device 200 can use the remote operation device 231 to remotely operate the excavator 100.

[0064] The output device 240 outputs various types of information to the user of the management device 200.

[0065] The output device 240 includes, for example, an illumination device or a display device that outputs various types of information to the user of the management device 200 in a visual manner. The illumination device includes, for example, a warning light or the like. The display device includes, for example, a liquid crystal display or an organic EL (Electroluminescence) display or the like. Also, the output device 240 includes a sound output device that outputs various types of information to the user of the management device 200 in an auditory manner. The sound output device includes, for example, a buzzer or a speaker or the like.

[0066] The display device displays various information images related to the management device 200. The display device may include, for example, a display device for remote operation. In the display device for remote operation, under the control of the control device 210, image information (surrounding image) around the excavator 100 loaded from the excavator 100 can be displayed. Thus, the user (operator) of the management device 200 can remotely operate the excavator 100 while confirming the image information around the excavator 100 displayed on the display device for remote operation.

[0067] Also, during remote operation, for example, there may be a method of operating the excavator 100 by voice input or gesture input from a person (e.g., an operator) around the excavator 100 from the outside. Specifically, the excavator 100 recognizes voice emitted by a surrounding operator or the like or gestures made by an operator or the like through a voice input device (e.g., a microphone) or a gesture input device (e.g., a camera device) mounted on the excavator 100. And the excavator 100 can actuate an actuator according to the recognized voice or gesture content to drive driven components such as the lower traveling body 1 (tracks 1CL, 1CR), the upper swing body 3, the boom 4, the arm 5, and the bucket 6.

[0068] Also, the excavator 100 can actuate the actuator automatically regardless of the operation content of the operator. Thus, a function (so-called "automatic operation function" or "machine control function") is realized in which the excavator 100 automatically actuates at least a part of the driven components such as the lower traveling body 1 (tracks 1CL, 1CR), the upper swing body 3, the boom 4, the arm 5, and the bucket 6.

[0069] The automatic operation function may include a function (so-called "semi-automatic operation function") that causes a driven component (hydraulic actuator) other than the driven component (hydraulic actuator) of the operation target to automatically operate according to the operation of the operator relative to the operation device 26 or remote operation. Also, the automatic operation function may include a function (so-called "fully automatic operation function") that causes at least a part of a plurality of driven components (hydraulic actuators) to automatically operate on the premise that the operator does not perform an operation or remote operation relative to the operation device 26. In the excavator 100, when the fully automatic operation function is effective, the inside of the cab 10 may be in an unmanned state. Also, in the semi-automatic operation function or the fully automatic operation function, etc., the operation content of the driven component (hydraulic actuator) that is the object of automatic operation may be automatically determined according to a pre-specified rule. Also, in the semi-automatic operation function or the fully automatic operation function, etc., a method (so-called "autonomous operation function") in which the excavator 100 makes various judgments autonomously and determines the operation content of the driven component (hydraulic actuator) that is the object of automatic operation according to the judgment result may also be included.

[0070] [Structure of Excavator]

[0071] Next, in addition to Figures 1 to 3 also refer to Figure 4 、 Figure 5 , the detailed structure of the excavator 100 according to the present embodiment will be described.

[0072] Figure 4 、 Figure 5 are block diagrams showing an example and another example of the structure of the excavator 100 according to the present embodiment, respectively.

[0073] In Figure 4 、 Figure 5 , the mechanical power system, the working oil pipeline, the pilot pipeline, and the electrical control system are shown by double lines, solid lines, dotted lines, and dashed lines, respectively. Hereinafter, the same applies to Figure 6 、 Figure 7 .

[0074] <Hydraulic Drive System>

[0075] As Figure 4 、 Figure 5As shown, the hydraulic drive system of the excavator 100 according to this embodiment includes a plurality of hydraulic actuators that drive each of a plurality of driven components (such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6). Among the plurality of hydraulic actuators, there are a traveling hydraulic motor 1ML, 1MR that drive the lower traveling body 1 (the crawlers 1CL, 1CR), the slewing hydraulic motor 2A that drives the upper slewing body 3, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that drive the boom 4, the arm 5, and the bucket 6 respectively. And, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0076] The engine 11 is the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine fueled by diesel. The engine 11 is, for example, mounted on the rear part of the upper slewing body 3. The engine 11 rotates at a constant preset target speed under the direct or indirect control of the controller 30 described later, and drives the main pump 14 and the pilot pump 15.

[0077] The regulator 13 controls (regulates) the discharge flow rate of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle (deflection angle) of the swash plate of the main pump 14 according to the control instruction from the controller 30.

[0078] The main pump 14 (an example of a hydraulic pump) supplies working oil to the control valve 17 through a high-pressure hydraulic pipeline. The main pump 14 is, for example, mounted on the rear part of the upper slewing body 3 in the same way as the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable-capacity hydraulic pump. As described above, under the control of the controller 30, by adjusting the deflection angle of the swash plate by the regulator 13, the stroke length of the piston is adjusted, thereby controlling the discharge flow rate (discharge pressure).

[0079] The control valve 17 is a hydraulic control device that controls the hydraulic drive system according to the operation of the operator or the operation instruction corresponding to the automatic operation function of the excavator 100. The control valve 17 is, for example, mounted on the central part of the upper slewing body 3. The control valve 17 selectively supplies the working oil supplied from the main pump 14 to the plurality of hydraulic actuators according to the content of the operation of the operating device 26 or the remote operation, or the content of the operation instruction based on the automatic operation function of the excavator 100. The control valve 17 includes a plurality of control valves (also called direction switching valves) 17A that control the flow rate and the flow direction of the working oil supplied from the main pump 14 to each of the plurality of hydraulic actuators (refer to Figure 6 、 Figure 7 ).

[0080] <Operating System>

[0081] As Figure 4 、Figure 5 As shown, the operating system of the excavator 100 according to this embodiment includes a pilot pump 15, an operating device 26, a controller 30, and a hydraulic control valve 31. And, as Figure 4 shown, when the operating device 26 is a hydraulic pilot type, the operating system of the excavator 100 according to this embodiment includes a shuttle valve 32 and a hydraulic control valve 33.

[0082] The pilot pump 15 supplies pilot pressure to various hydraulic devices via a pilot pipeline 25. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump and is driven by the engine 11 as described above. The pilot pump 15 is mounted on the rear part of the upper swing body 3, for example, in the same manner as the engine 11.

[0083] The operating device 26 is provided near the operator's seat in the cab 10 and is used to enable the operator to operate various driven components (such as the crawlers 1CL, 1CR, the upper swing body 3, the boom 4, the arm 5, the bucket 6, etc.) of the excavator 100. In other words, the operating device 26 is used to enable the operator to operate the hydraulic actuators that drive each driven component, that is, the travel hydraulic motors 1ML, 1MR, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc. The operating device 26 includes, for example, joystick devices 26A for operating the left and right crawlers 1CL, 1CR (that is, the travel hydraulic motors 1ML, 1MR), the upper swing body 3 (that is, the swing hydraulic motor 2A), the boom 4 (that is, the boom cylinder 7), the arm 5 (that is, the arm cylinder 8), and the bucket 6 (that is, the bucket cylinder 9) (refer to Figure 6 、 Figure 7 ).

[0084] As Figure 4 shown, the operating device 26 is, for example, a hydraulic pilot type. Specifically, the operating device 26 uses the working oil supplied from the pilot pump 15 through the pilot pipeline 25 and the branched pilot pipeline 25A to output a pilot pressure corresponding to the operation content to the secondary pilot pipeline 27A. The pilot pipeline 27A is connected to the inlet port of the shuttle valve 32 and is connected to the control valve 17 via a pilot pipeline 27 connected to the outlet port of the shuttle valve 32. Thus, a pilot pressure corresponding to the operation content related to various driven components (that is, hydraulic actuators) in the operating device 26 can be input to the control valve 17 via the shuttle valve 32. Therefore, the control valve 17 can drive each hydraulic actuator according to the operation content of the operator or the like with respect to the operating device 26.

[0085] And, as Figure 5As shown, the operating device 26 is, for example, an electric type. Specifically, the operating device 26 inputs an electric signal (hereinafter referred to as "operation signal") corresponding to the operation content, and the operation signal is input to the controller 30. Further, the controller 30 outputs a control command corresponding to the content of the operation signal to the hydraulic control valve 31, that is, a control signal corresponding to the operation content of the operating device 26. Thereby, a pilot pressure corresponding to the operation content of the operating device 26 can be input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 drives each hydraulic actuator according to the operation content of the operating device 26.

[0086] Moreover, the control valve 17A (direction switching valve) that drives each hydraulic actuator and is built in the control valve 17 may be an electromagnetic solenoid type. At this time, the operation signal output from the operating device 26 or the control command from the controller 30 can be directly input to the control valve 17, that is, the electromagnetic solenoid type control valve 17A.

[0087] The hydraulic control valve 31 is provided for each driven component (hydraulic actuator) of the operation object of the operating device 26. That is, the hydraulic control valve 31 is provided, for example, for each crawler 1CL (travel hydraulic motor 1ML), crawler 1CR (travel hydraulic motor 1MR), upper swing body 3 (swing hydraulic motor 2A), boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), and bucket 6 (bucket cylinder 9). The hydraulic control valve 31 is provided, for example, in the pilot pipe line 25B between the pilot pump 15 and the control valve 17. The hydraulic control valve 31 can be configured, for example, to be able to change its flow path area (that is, the cross-sectional area through which the working oil can flow). Thereby, the hydraulic control valve 31 can use the working oil of the pilot pump 15 supplied through the pilot pipe line 25B to output a prescribed pilot pressure to the secondary side pilot pipe line 27B. Therefore, as Figure 4 shown, the hydraulic control valve 31 can indirectly apply a prescribed pilot pressure corresponding to the control signal from the controller 30 to the control valve 17 through the check valve 32 between the pilot pipe line 27B and the pilot pipe line 27. And, as Figure 5 shown, different from the Figure 4 case, the pilot pipe line 27A and the check valve 32 are omitted, and the hydraulic control valve 31 can directly apply a prescribed pilot pressure corresponding to the control signal from the controller 30 to the control valve 17 through the pilot pipe line 27B and the pilot pipe line 27. Thereby, the controller 30 can supply a pilot pressure corresponding to the operation content of the electric type operating device 26 from the hydraulic control valve 31 to the control valve 17, thereby realizing the operation of the excavator 100 based on the operation of the operator.

[0088] Further, the controller 30 can control, for example, the hydraulic control valve 31 to achieve remote operation of the excavator 100. Specifically, the controller 30 outputs a control signal corresponding to the content of the remote operation specified by a remote operation signal received from an external device or the like to the hydraulic control valve 31. Thereby, the controller 30 can supply a pilot pressure corresponding to the content of the remote operation from the hydraulic control valve 31 to the control valve 17, so as to achieve the operation of the excavator 100 based on the remote operation by the operator.

[0089] In addition, the controller 30 can control, for example, the hydraulic control valve 31 to achieve an automatic operation function. Specifically, regardless of whether there is an operation or a remote operation on the operation device 26, the controller 30 outputs a control signal corresponding to an operation instruction related to the automatic operation function to the hydraulic control valve 31. Thereby, the controller 30 can supply a pilot pressure corresponding to the operation instruction related to the automatic operation function from the hydraulic control valve 31 to the control valve 17, so as to achieve the operation of the excavator 100 based on the automatic operation function.

[0090] The hydraulic control valve 31 includes, for example, hydraulic control valves 31L and 31R as described later.

[0091] As Figure 4As shown, the reciprocating valve 32 has two inlet ports and one outlet port, and outputs the working oil with the higher pilot pressure among the pilot pressures input to the two inlet ports to the outlet port. The reciprocating valve 32 is provided in each driven component (hydraulic actuator) of the operation target of the operating device 26. That is, the reciprocating valve 32 is provided, for example, in each crawler 1CL (traveling hydraulic motor 1ML), crawler 1CR (traveling hydraulic motor 1MR), upper swing body 3 (swing hydraulic motor 2A), boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), and bucket 6 (bucket cylinder 9). In the reciprocating valve 32, one of the two inlet ports is connected to the secondary pilot pipe 27A of the operating device 26 (specifically, the joystick device 26A etc. included in the operating device 26), and the other is connected to the secondary pilot pipe 27B of the hydraulic control valve 31. The outlet port of the reciprocating valve 32 is connected to the pilot port of the corresponding control valve 17A of the control valve 17 through the pilot pipe 27. The corresponding control valve 17A is the control valve 17A that drives the hydraulic actuator which is the operation target of the joystick device 26A connected to one of the inlet ports of the reciprocating valve 32. Therefore, these reciprocating valves 32 can respectively apply the higher one of the pilot pressure in the secondary pilot pipe 27A of the operating device 26 (joystick device 26A) and the pilot pressure in the secondary pilot pipe 27B of the hydraulic control valve 31 to the pilot port of the corresponding control valve 17A. That is, the controller 30 can control the corresponding control valve 17A regardless of the operation of the operator with respect to the operating device z6 by outputting a pilot pressure higher than the pilot pressure in the secondary pilot pipe 27A of the operating device 26 from the hydraulic control valve 31. Thereby, the controller 30 can control the operation of the driven components (crawlers 1CL, 1CR, upper swing body 3, boom 4, arm 5, and bucket 6) regardless of the operation state of the operator with respect to the operating device 26, and realize the automatic operation function or remote operation function of the excavator 100.

[0092] The reciprocating valve 32 includes, for example, reciprocating valves 32L and 32R as described later.

[0093] As Figure 4As shown, the hydraulic control valve 33 is provided in the pilot pipe line 27A connecting the operating device 26 and the reciprocating valve 32. The hydraulic control valve 33 is configured to be able to change its flow path area, for example. The hydraulic control valve 33 operates according to the control signal input from the controller 30. Thus, when the operator operates the operating device 26, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26. Therefore, even when the operating device 26 is operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. And, for example, even when the operating device 26 is operated, the controller 30 can reduce the pilot pressure output from the operating device 26 and make it lower than the pilot pressure output from the hydraulic control valve 31. Therefore, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the control valve 17A in the control valve 17 regardless of the operation content of the operating device 26 by controlling the hydraulic control valve 31 and the hydraulic control valve 33. Thus, the controller 30 can more reliably realize the automatic operation function or the remote operation function of the excavator 100 by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31.

[0094] The hydraulic control valve 33 includes, for example, hydraulic control valves 33L and 33R as described later.

[0095] However, the hydraulic control valve 33 can also be omitted. And, for example, Figure 4 the hydraulic control valve 33 can also be provided in Figure 5 the pilot pipe line 27B. Thus, when the operator operates the operating device 26, the controller 30 can forcibly reduce the pilot pressure output from the hydraulic control valve 31. Therefore, even when the pilot pressure corresponding to the operation content of the operating device 26 is output from the hydraulic control valve 31, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26.

[0096] <Control System>

[0097] As Figure 4 , Figure 5 shown, the control system of the excavator 100 according to the present embodiment includes a controller 30, a space recognition device 70, an orientation detection device 71, an input device 72, and a positioning device 73. And, the control system of the excavator 100 according to the present embodiment includes a display device D1, a sound output device D2, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a swing state sensor S5, and a communication device T1. And, as Figure 4 shown, when the operating device 26 is a hydraulic pilot type, the control system of the excavator 100 according to the present embodiment includes an operation pressure sensor 29.

[0098] The controller 30 is disposed, for example, in the cab 10 and performs various controls related to the excavator 100. The functions of the controller 30 can be implemented by any hardware or any combination of hardware and software, etc. For example, the controller 30 is centered around a computer including a memory device such as a CPU and a RAM, a non-volatile auxiliary storage device such as a ROM, and an interface device related to external input and output. And, for example, the controller 30 may include a high-speed arithmetic circuit such as a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array) linked to the CPU. The controller 30 realizes various functions by executing various programs installed on the auxiliary storage device on the CPU, for example.

[0099] For example, as described above, the controller 30 controls the hydraulic control valve 31 and the like as the control object, and performs control related to the remote operation function of the excavator 100.

[0100] And, for example, the controller 30 recognizes the situation around the excavator 100 based on the output of the space recognition device 70. The situation around the excavator 100 includes the position and shape of the objects around the excavator 100. The objects around the excavator 100 may include, for example, the ground, sand, suspended objects, utility poles, fences, traffic cones, temporary offices and other buildings, construction machinery, work vehicles, etc.

[0101] And, for example, the controller 30 calculates (generates) the target trajectory (hereinafter, referred to as "target trajectory") of a specified working part of the attachment of the excavator 100 realized by the automatic operation function. The working part is, for example, the tip of the bucket 6, the back of the bucket 6, etc.

[0102] And, for example, the controller 30 generates an operation instruction related to the automatic operation function. Specifically, the controller 30 generates an operation instruction for moving the working part of the attachment along the target trajectory while grasping the position of the working part of the attachment based on the output of the sensors S1 to S5 or the space recognition device 70, and outputs it to the controller 30.

[0103] And, for example, the controller 30 controls the hydraulic control valve 31 based on the operation instruction related to the automatic operation function. Thereby, the controller 30 can automatically control at least one of the attachment, the lower traveling body 1, and the upper swing body 3 to move the working part of the attachment along the target trajectory, thereby realizing the automatic operation function.

[0104] In addition, part of the functions of the controller 30 can also be implemented by other controllers (control devices). That is, the functions of the controller 30 can be dispersed and implemented by multiple controllers. For example, the function of recognizing the situation around the excavator 100, the function of generating the target trajectory of the working part of the attachment device, the function of generating operation instructions related to the automatic operation function, etc. can be implemented by dedicated controllers (control devices) different from the controller 30.

[0105] The space recognition device 70 recognizes the objects in the three-dimensional space around the excavator 100, and acquires information for measuring (calculating) the positional relationship such as the distance from the space recognition device 70 or the excavator 100 to the recognized objects. And, the space recognition device 70 can, based on the acquired information, perform the recognition of the objects around the excavator 100 and the measurement of the positional relationship between the recognized objects and the space recognition device 70 or the excavator 100 itself. The space recognition device 70 can include, for example, ultrasonic sensors, millimeter-wave radars, monocular cameras, stereo cameras, LIDAR (Light Detecting and Ranging), distance image sensors, infrared sensors, etc. The space recognition device 70 includes a front recognition sensor 70F, a rear recognition sensor 70B, a left recognition sensor 70L, and a right recognition sensor 70R.

[0106] The front recognition sensor 70F is installed, for example, at the front end of the upper surface of the cab 10, and acquires information related to the objects in the front space of the excavator 100 (upper swing body 3).

[0107] The rear recognition sensor 70B is installed, for example, at the rear end of the upper surface of the upper swing body 3 (accommodation part), and acquires information related to the objects in the rear space of the excavator 100 (upper swing body 3).

[0108] The left recognition sensor 70L is installed, for example, at the left end of the upper surface of the upper swing body 3 (accommodation part), and acquires information related to the objects in the left space of the excavator 100 (upper swing body 3).

[0109] The right recognition sensor 70R is installed, for example, at the right end of the upper surface of the upper swing body 3 (accommodation part), and acquires information related to the objects in the right space of the excavator 100 (upper swing body 3).

[0110] And, an upper recognition sensor can be provided, which acquires information related to the objects in the upper space of the excavator 100 (upper swing body 3).

[0111] The orientation detection device 71 detects information related to the relative relationship between the orientation of the upper revolving body 3 and the orientation of the lower traveling body 1 (for example, the revolving angle of the upper revolving body 3 relative to the lower traveling body 1).

[0112] The orientation detection device 71 may include, for example, a combination of a geomagnetic sensor mounted on the lower traveling body 1 and a geomagnetic sensor mounted on the upper revolving body 3. Also, the orientation detection device 71 may include a combination of a GNSS (Global Navigation Satellite System) receiver mounted on the lower traveling body 1 and a GNSS receiver mounted on the upper revolving body 3. And the orientation detection device 71 may include a rotary encoder or a rotary position sensor or the like that can detect the relative revolving angle of the upper revolving body 3 with respect to the lower traveling body 1, that is, the above-described revolving state sensor S5. For example, it may also be mounted on a centre joint associated with the revolving mechanism 2 that realizes the relative rotation between the lower traveling body 1 and the upper revolving body 3. And the orientation detection device 71 may include a imaging device mounted on the upper revolving body 3. At this time, the orientation detection device 71 detects the image of the lower traveling body 1 included in the input image by performing known image processing on the image (input image) captured by the imaging device mounted on the upper revolving body 3. And the orientation detection device 71 may determine the longitudinal direction of the lower traveling body 1 and obtain the angle between the direction of the front-rear axis formed on the upper revolving body 3 and the longitudinal direction of the lower traveling body 1. At this time, the direction of the front-rear axis of the upper revolving body 3 is judged based on the mounting position of the camera. In particular, since the crawler 1C protrudes from the upper revolving body 3, the orientation detection device 71 can determine the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C.

[0113] Also, in the case of a structure in which the upper revolving body 3 is rotationally driven by a rotary electric motor instead of the rotary hydraulic motor 2A, the orientation detection device 71 may be a resolver.

[0114] The input device 72 is arranged within the reach of an operator sitting in the cockpit 10, receives various inputs from the operator, and outputs a signal corresponding to the input to the controller 30. For example, the input device 72 includes an operation input device that receives operation inputs from the operator. The operation input device may include, for example, a touch panel installed on the display of the display device D1. Also, the operation input device may include, for example, a touchpad, a button switch, a joystick, a toggle key, etc., arranged around the display device D1. Further, the operation input device may include, for example, a rotary switch provided at the tip of the operation device 26 (joystick device 26A). Additionally, for example, the input device 72 may include a voice input device or a gesture input device that receives voice inputs or gesture inputs from the operator. The voice input device includes a microphone, for example. The gesture input device includes a camera device that captures the operator within the cockpit 10, for example. A signal corresponding to the input content with respect to the input device 72 is input to the controller 30.

[0115] The positioning device 73 measures the position and orientation of the upper revolving body 3. The positioning device 73 is, for example, a GNSS compass that detects the position and orientation of the upper revolving body 3, and a detection signal corresponding to the position and orientation of the upper revolving body 3 is input to the controller 30. Also, the function of the positioning device 73 that detects the orientation of the upper revolving body 3 may be replaced by an azimuth sensor installed on the upper revolving body 3.

[0116] The display device D1 is arranged at a position where it is easily visually recognizable by an operator sitting in the cockpit 10 and displays various information images under the control of the controller 30. The display device D1 is, for example, a liquid crystal display or an organic EL display, etc. Thus, the display device D1 can notify the operator of visual information. The display device D1 displays, for example, an image (hereinafter referred to as "surrounding image") representing the state of the surroundings of the excavator 100 based on the output (image information) of the camera device included in the space recognition device 70. The surrounding image may be the image information itself of the surroundings of the excavator 100 captured by the camera device, or a processed image generated by performing known image processing (for example, line-of-sight direction conversion processing) on the image information.

[0117] The sound output device D2 is arranged, for example, within the cockpit 10 and outputs a prescribed sound under the control of the controller 30. The sound output device D2 is, for example, a speaker or a buzzer, etc. Thus, the sound output device D2 can notify the operator of visual information.

[0118] The boom angle sensor S1 is installed on the boom 4 to detect the posture angle of the boom 4. For example, the pitch angle of the boom 4 relative to the upper slewing body 3 (hereinafter referred to as "boom angle") θ1. The boom angle sensor S1 can include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 can include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle θ1, and the like. Hereinafter, the same applies to the arm angle sensor S2 and the bucket angle sensor S3. The detection signal corresponding to the boom angle θ1 based on the boom angle sensor S1 is input to the controller 30.

[0119] The arm angle sensor S2 is installed on the arm 5 to detect the posture angle of the arm 5. For example, the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle") θ2. The detection signal corresponding to the arm angle θ2 based on the arm angle sensor S2 is input to the controller 30.

[0120] The bucket angle sensor S3 is installed on the bucket 6 to detect the posture angle of the bucket 6. For example, the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as "bucket angle") θ3. The detection signal corresponding to the bucket angle θ3 based on the bucket angle sensor S3 is input to the controller 30.

[0121] The machine body tilt sensor S4 detects, for example, the tilt state of the machine body (upper slewing body 3 or lower traveling body 1) relative to the horizontal plane. The machine body tilt sensor S4 is installed on the upper slewing body 3, for example, to detect the tilt angles (hereinafter referred to as "front-back tilt angle" and "left-right tilt angle") of the upper slewing body 3 about two axes in the front-back direction and the left-right direction. The machine body tilt sensor S4 can include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU, etc. The detection signal corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) based on the machine body tilt sensor S4 is input to the controller 30.

[0122] The slewing state sensor S5 is installed on the upper slewing body 3 and outputs detection information related to the slewing state of the upper slewing body 3. The slewing state sensor S5 detects, for example, the slewing angular velocity or the slewing angle of the upper slewing body 3. The slewing state sensor S5 can include, for example, a gyro sensor, a resolver, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU, etc.

[0123] In addition, when the body tilt sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc. that can detect the angular velocity around three axes, the rotation state (e.g., rotational angular velocity) of the upper rotating body 3 can also be detected based on the detection signal of the body tilt sensor S4. In this case, the rotation state sensor S5 can be omitted.

[0124] The communication device T1 is connected to a specified communication line and communicates with an external device. The specified communication line may include, for example, a mobile communication network terminated by a base station. And, the specified communication line may include, for example, a satellite communication network using communication satellites. And, the specified communication line may include the Internet, etc. And, the specified communication line may include, for example, a short-range communication line based on a communication method related to short-range communication such as WiFi or Bluetooth (registered trademark).

[0125] The operation pressure sensor 29 detects the operation state of the operation device 26 in the form of pilot pressure (hereinafter, referred to as "operation pressure"). Specifically, the operation pressure sensor 29 detects the pilot pressure on the secondary side of the operation device 26. A detection signal corresponding to the operation pressure detected by the operation pressure sensor 29 is input to the controller 30. Thereby, the controller 30 can grasp the operation state of the operation device 26.

[0126] [Details of the structure of the operating system]

[0127] Next, referring to Figure 6 、 Figure 7 , the details of the structure of the operating system of the excavator 100 will be described.

[0128] <An example of the structure of the operating system>

[0129] Figure 6 is a diagram showing an example of the structure of the operating system of the excavator 100. Specifically, Figure 6 corresponding to Figure 4 of the excavator 100, is a diagram showing the supply of working oil to the hydraulic actuator HA and the pilot circuit of the control valve 17A to which a specified pilot pressure is applied for discharging the working oil discharged from the hydraulic actuator HA.

[0130] As described above, the hydraulic actuator HA (an example of an actuator) corresponds to one of the traveling hydraulic motors 1ML, 1MR, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.

[0131] The control valve 17A (an example of a spool valve) is a spool valve that supplies the working oil supplied from the main pump 14 to the hydraulic actuator HA through the oil passage OL1 or the oil passage OL2, and discharges the working oil discharged from the hydraulic actuator HA to the working oil tank.

[0132] The joystick device 26A is configured to be tiltable by the operator in two opposite directions (e.g., the front-rear direction or the left-right direction). Thereby, the operator can move the hydraulic actuator HA (i.e., the driven component driven by the hydraulic actuator HA) in one of the two opposite directions. For example, the operator can operate the boom 4 in the raising direction and the lowering direction through the joystick device 26A corresponding to the boom 4 (boom cylinder 7). The joystick device 26A outputs a pilot pressure corresponding to the operation contents in the two opposite directions to the secondary pilot pipe lines corresponding to the respective operation directions.

[0133] The operation pressure sensor 29 detects the operation contents of the operator on the joystick device 26A in two opposite directions in the form of a pilot pressure (operation pressure), and a detection signal corresponding to the detected pressure is output to the controller 30. Thereby, the controller 30 can grasp the operation contents of the joystick device 26A.

[0134] The two inlet ports of the reciprocating valve 32L are respectively connected to the secondary pilot pipe line corresponding to the tilting operation of the joystick device 26A in the first direction and the secondary pilot pipe line of the hydraulic control valve 31L. The outlet port of the reciprocating valve 32L is connected to the left pilot port of the control valve 17A.

[0135] The two inlet ports of the reciprocating valve 32R are respectively connected to the secondary pilot pipe line corresponding to the tilting operation of the joystick device 26A in the second direction and the secondary pilot pipe line of the hydraulic control valve 31R. The outlet port of the reciprocating valve 32R is connected to the right pilot port of the control valve 17A.

[0136] The hydraulic control valve 31L operates according to the control signal (control current) input from the controller 30. Specifically, the hydraulic control valve 31L uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other inlet port of the reciprocating valve 32L. Thereby, the hydraulic control valve 31L can adjust the pilot pressure acting on the left pilot port of the control valve 17A via the reciprocating valve 32L.

[0137] The hydraulic control valve 31R operates according to the control signal (control current) input from the controller 30. Specifically, the hydraulic control valve 31R uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other inlet port of the reciprocating valve 32R. Thereby, the hydraulic control valve 31R can adjust the pilot pressure acting on the right pilot port of the control valve 17A via the reciprocating valve 32R.

[0138] Accordingly, the hydraulic control valves 31L and 31R can adjust the pilot pressure output to the secondary side regardless of the operation state of the joystick device 26A, so that the control valve 17A can stop at an arbitrary valve position.

[0139] The hydraulic control valve 33L operates according to the control signal (control current) input from the controller 30. Specifically, when no control current is input from the controller 30, the hydraulic control valve 33L directly outputs the pilot pressure corresponding to the tilting operation of the joystick device 26A in the first direction to the secondary side. On the other hand, when the control current is input from the controller 30, the hydraulic control valve 33L reduces the pilot pressure of the pilot pipe line on the secondary side corresponding to the tilting operation of the joystick device 26A in the first direction to a level corresponding to the control current, and outputs the reduced pilot pressure to one of the inlet ports of the shuttle valve 32L. Accordingly, even when the tilting operation in the first direction is performed by the joystick device 26A, if necessary, the hydraulic control valve 33L can forcibly suppress or stop the operation of the hydraulic actuator HA (i.e., the driven component driven by the hydraulic actuator HA) in the first direction. Also, even when the tilting operation in the first direction is performed by the joystick device 26A, the hydraulic control valve 33L can make the pilot pressure acting on one of the inlet ports of the shuttle valve 32L lower than the pilot pressure acting on the other inlet port of the shuttle valve 32L from the hydraulic control valve 31L. Therefore, the controller 30 can control the hydraulic control valve 31L and the hydraulic control valve 33L, and make the desired pilot pressure reliably act on the left pilot port of the control valve 17A.

[0140] The hydraulic control valve 33R operates according to the control signal (control current) input from the controller 30. Specifically, when no control current is input from the controller 30, the hydraulic control valve 33R directly outputs the pilot pressure corresponding to the tilting operation of the joystick device 26A in the second direction to the secondary side. On the other hand, when a control current is input from the controller 30, the hydraulic control valve 33R reduces the pilot pressure in the pilot pipe line on the secondary side corresponding to the tilting operation of the joystick device 26A in the second direction to a level corresponding to the control current, and outputs the reduced pilot pressure to one of the inlet ports of the shuttle valve 32R. Thus, even when the joystick device 26A performs a tilting operation in the second direction, if necessary, the hydraulic control valve 33R can forcibly suppress or stop the operation of the hydraulic actuator HA (i.e., the driven component driven by the hydraulic actuator HA) in the second direction. Also, even when the joystick device 26A performs a tilting operation in the second direction, the hydraulic control valve 33R can make the pilot pressure acting on one of the inlet ports of the shuttle valve 32R lower than the pilot pressure acting on the other inlet port of the shuttle valve 32R from the hydraulic control valve 31R. Therefore, the controller 30 can control the hydraulic control valve 31R and the hydraulic control valve 33R, and make the desired pilot pressure reliably act on the pilot port on the right side of the control valve 17A.

[0141] Thus, the hydraulic control valves 33L, 33R can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation state of the joystick device 26A. Also, the hydraulic control valves 33L, 33R can reduce the pilot pressure acting on one of the inlet ports of the shuttle valves 32L, 32R, and assist the pilot pressure of the hydraulic control valves 31L, 31R to reliably act on the pilot ports of the control valve 17A through the shuttle valves 32L, 32R.

[0142] Further, by controlling the hydraulic control valve 31R instead of the hydraulic control valve 33L, the controller 30 can forcibly suppress or stop the movement of the boom cylinder 7 corresponding to the tilting operation of the joystick device 26A in the first direction. For example, when the joystick device 26A performs a tilting operation in the first direction, the controller 30 can control the hydraulic control valve 31R so that a specified pilot pressure acts on the right pilot port of the control valve 17A via the reciprocating valve 32R from the hydraulic control valve 31R. Thus, the pilot pressure acts on the right pilot port of the control valve 17A in a form that opposes the pilot pressure acting on the left pilot port of the control valve 17A from the joystick device 26A via the reciprocating valve 32L. Therefore, the controller 30 can forcibly move the control valve 17A closer to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA corresponding to the tilting operation of the joystick device 26A in the first direction. Similarly, by controlling the hydraulic control valve 31L instead of the hydraulic control valve 33R, the controller 30 can forcibly suppress or stop the movement of the hydraulic actuator HA corresponding to the tilting operation of the joystick device 26A in the second direction in the second direction. At this time, the hydraulic control valves 33L and 33R can also be omitted.

[0143] The controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 17A via the hydraulic control valve 31L and the reciprocating valve 32L regardless of the operation of the operator on the joystick device 26A in the first direction. And the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 17A via the hydraulic control valve 31R and the reciprocating valve 32R regardless of the operation of the operator on the joystick device 26A in the second direction.

[0144] Thereby, the controller 30 can automatically control the operation of the hydraulic actuator in two opposite directions, thereby realizing the automatic operation function or remote operation function of the excavator 100.

[0145] <Another example of the structure of the operating system>

[0146] Figure 7 is a diagram showing another example of the structure of the operating system of the excavator 100. Specifically, Figure 7 corresponding to Figure 5 of the excavator 100, is a diagram showing a pilot circuit that supplies working oil to the hydraulic actuator HA and causes a specified pilot pressure to act on the control valve 17A that discharges the working oil from the hydraulic actuator HA. Hereinafter, the description will be centered on the parts different from the above example ( Figure 6 ).

[0147] The joystick device 26A is configured to be tiltable by the operator in two opposite directions (e.g., the front-rear direction or the left-right direction). The joystick device 26A outputs an electrical signal (operation signal) corresponding to the operation content in two opposite directions, and inputs the output operation signal to the controller 30.

[0148] In the controller 30, a correspondence relationship between the control signal (control current) to the hydraulic control valves 31L and 31R corresponding to the operation amount of the operation device 26 (e.g., the tilt angle of the joystick device 26A) is preset in advance. The hydraulic control valves 31L and 31R corresponding to each joystick device 26A are controlled based on the set correspondence relationship.

[0149] The hydraulic control valve 31L operates according to the control signal (control current) input from the controller 30. Specifically, the hydraulic control valve 31L uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the left pilot port of the control valve 17A. Thereby, the hydraulic control valve 31L can adjust the pilot pressure acting on the left pilot port of the control valve 17A. For example, by inputting a control current corresponding to the tilt operation of the joystick device 26A in the first direction from the controller 30, the hydraulic control valve 31L can make the pilot pressure corresponding to the operation content (operation amount) in the joystick device 26A act on the left pilot port of the control valve 17A. And by inputting a specified control current from the controller 30 regardless of the operation content of the joystick device 26A, the hydraulic control valve 31L can make the pilot pressure act on the left pilot port of the control valve 17A regardless of the operation content of the joystick device 26A.

[0150] The hydraulic control valve 31R operates according to the control signal (control current) input from the controller 30. Specifically, the hydraulic control valve 31R uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the right pilot port of the control valve 17A. Thereby, the hydraulic control valve 31R can adjust the pilot pressure acting on the right pilot port of the control valve 17A. For example, by inputting a control current corresponding to the tilt operation of the joystick device 26A in the second direction from the controller 30, the hydraulic control valve 31R can make the pilot pressure corresponding to the operation content (operation amount) in the joystick device 26A act on the right pilot port of the control valve 17A. And by inputting a specified control current from the controller 30 regardless of the operation content of the joystick device 26A, the hydraulic control valve 31R can make the pilot pressure act on the right pilot port of the control valve 17A regardless of the operation content of the joystick device 26A.

[0151] Accordingly, the hydraulic control valves 31L and 31R can, under the control of the controller 30, adjust the pilot pressure output to the secondary side according to the operation state of the joystick device 26A, so that the control valve 17A can stop at an arbitrary valve position. Also, the hydraulic control valves 31L and 31R can, under the control of the controller 30, adjust the pilot pressure output to the secondary side regardless of the operation of the joystick device 26A, so that the control valve 17A can stop at an arbitrary valve position.

[0152] The controller 30 controls the hydraulic control valve 31L according to an operation signal corresponding to the operation of the hydraulic actuator HA by the operator in the first direction, a remote operation signal, etc. Accordingly, the controller 30 can supply the pilot pressure corresponding to the operation content (operation amount) of the hydraulic actuator HA by the operator in the first direction to the left pilot port of the control valve 17A. Also, the controller 30 controls the hydraulic control valve 31R according to an operation signal corresponding to the operation of the operator, a remote operation signal, etc. Accordingly, the controller 30 can supply the pilot pressure corresponding to the operation content (operation amount) of the hydraulic actuator HA by the operator in the second direction to the right pilot port of the control valve 17A.

[0153] Accordingly, the controller 30 can control the hydraulic control valves 31L and 31R according to the operation signal output from the joystick device 26A or the remote operation signal received by the communication device T1, thereby realizing the operation of the hydraulic actuator HA corresponding to the operation content of the operator.

[0154] Also, the controller 30 can control the hydraulic control valve 31L regardless of the operation of the hydraulic actuator HA by the operator in the first direction, and supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 17A. Also, the controller 30 can control the hydraulic control valve 31R regardless of the operation of the hydraulic actuator HA by the operator in the second direction, and supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 17A.

[0155] Accordingly, the controller 30 can automatically control the operation of the hydraulic actuator in two opposite directions, thereby realizing the automatic operation function, remote operation function, etc. of the excavator 100.

[0156] Moreover, in a state where the operator operates the hydraulic actuator HA in the first direction, when it is determined that a braking operation for decelerating or stopping the hydraulic actuator HA is required, the controller 30 can control the hydraulic control valve 31R. Specifically, in a state where the hydraulic actuator HA is operated in the first direction, the controller 30 can cause a prescribed pilot pressure to act on the right pilot port of the control valve 17A from the hydraulic control valve 31R. Thus, corresponding to the operation of the hydraulic actuator HA in the first direction, the pilot pressure acts on the right pilot port of the control valve 17A in a form that counteracts the pilot pressure acting on the left pilot port of the control valve 17A from the hydraulic control valve 31L. Therefore, the controller 30 can forcibly move the valve stem of the control valve 17A closer to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA corresponding to the operation of the hydraulic actuator HA in the first direction by the operator. Similarly, in a state where the operator operates the hydraulic actuator HA in the second direction, when it is determined that a braking operation for decelerating or stopping the hydraulic actuator HA is required, the controller 30 can control the hydraulic control valve 31L. Thereby, the controller 30 can forcibly move the valve stem of the control valve 17A closer to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA corresponding to the operation of the hydraulic actuator HA in the second direction by the operator.

[0157] Moreover, as described above, the hydraulic control valves 33L and 33R can be provided in the pilot pipes between each of the hydraulic control valves 31L and 31R and the pilot ports of the control valve 17A as described above.

[0158] The hydraulic control valve 33L is disposed, for example, in the pilot pipe between the hydraulic control valve 31L and the left pilot port of the control valve 17A. For example, in a state where the operator operates the hydraulic actuator HA in the first direction, when it is determined that a braking operation for decelerating or stopping the hydraulic actuator HA is required, the controller 30 controls the hydraulic control valve 33L. Specifically, the controller 30 discharges the working oil in the pilot pipe between the hydraulic control valve 31L and the left pilot port of the control valve 17A to the oil tank through the hydraulic control valve 33L, thereby reducing the pilot pressure. Thereby, the valve stem of the control valve 17A can be moved in the neutral direction regardless of the state of the hydraulic control valve 31L. Therefore, the hydraulic control valve 33L can improve the braking characteristics of the operation of the hydraulic actuator HA in the first direction.

[0159] The hydraulic control valve 33R is disposed, for example, in the pilot pipe line between the hydraulic control valve 31R and the pilot port on the right side of the control valve 17A. For example, in a state where the operator operates the hydraulic actuator HA in the second direction, when it is determined that a braking operation for decelerating or stopping the hydraulic actuator HA is required, the controller 30 controls the hydraulic control valve 33R. Specifically, the controller 30 discharges the working oil in the pilot pipe line between the hydraulic control valve 31R and the pilot port on the right side of the control valve 17A to the oil tank through the hydraulic control valve 33R, thereby reducing the pressure in the pilot pipe line. As a result, the valve stem of the control valve 17A can be moved in the neutral direction regardless of the state of the hydraulic control valve 31R. Therefore, the hydraulic control valve 33R can improve the braking characteristics of the operation of the hydraulic actuator HA in the second direction.

[0160] [Specific Example of Automatic Operation Function of Excavator]

[0161] Next, with reference to Figures 8 to 11 , a specific example of the automatic operation function (equipment control function) of the excavator 100 will be described.

[0162] Figure 8 is a diagram showing an example of an excavation operation along the target construction surface of the excavator 100. Figure 9 is a diagram showing an example of a finishing operation along the target construction surface of the excavator 100. Figure 10 is a diagram showing an example of a compaction operation along the target construction surface of the excavator 100. Figure 11 is a diagram for explaining the loading operation of the excavator 100.

[0163] The controller 30 provides a semi-automatic operation function of the excavator 100 that supports the manual operation of the excavator 100 by the operator by automatically operating the actuator that drives the driven components of the excavator 100. Specifically, as described above, the controller 30 controls the hydraulic control valve 31 and automatically adjusts the pilot pressure acting on the control valve 17A in the control valve 17 corresponding to the plurality of hydraulic actuators, respectively. Thus, the controller 30 can automatically operate each hydraulic actuator according to the operation of the operator.

[0164] Controls related to the semi-automatic operation function based on the controller 30 can be executed, for example, when a specified switch included in the input device 72 is pressed. The specified switch can be, for example, a knob switch NS provided at the front end of the grip portion of the joystick device 26A corresponding to the operation of the arm 5. Also, even when the excavator 100 is remotely operated, the equipment control function (semi-automatic operation function) can be made effective in such a way that the operation of the remote operation device is performed while the same knob switch provided on the remote operation device used by the operator is pressed. Hereinafter, it will be described on the premise that the semi-automatic operation function of the excavator 100 is effective when the knob switch NS of the joystick device 26A or the knob switch of the remote operation device (hereinafter, for convenience, the MC (Machine Control) switch) is pressed.

[0165] For example, the controller 30 can be used for automatic operation functions such as supporting the excavation operation, finishing operation, compaction operation, etc. of the excavator 100 based on the operator's operation. Specifically, the controller 30 can cause at least one of the boom cylinder 7 and the bucket cylinder 9 to automatically operate (extend and retract) corresponding to the operation (extension and retraction) of the arm cylinder 8 based on the operator's operation. For example, when the operator manually performs the closing operation of the arm 5 (hereinafter, referred to as the "arm closing operation"), the controller 30 can cause at least one of the boom cylinder 7 and the bucket cylinder 9 to automatically extend and retract (linkage) so that a preset target construction surface coincides with the working portion of the bucket 6 (for example, the cutting edge or the back surface). Thus, by only performing the arm closing operation, the operator can make at least a part of the boom 4, the arm 5, and the bucket 6 link while making the cutting edge or the back surface of the bucket 6 coincide with the target construction surface. For example, as Figure 8 shown, the excavator 100 performs an excavation action in the following form: Under the control of the controller 30, at least a part of the boom 4, the arm 5, and the bucket 6 is linked, and the cutting edge of the bucket 6 is moved along the target construction surface in a state where the cutting edge stands upright with respect to the ground. And, for example, as Figure 9 shown, the excavator 100 performs a finishing action in the following form: Under the control of the controller 30, at least a part of the boom 4, the arm 5, and the bucket 6 is linked, and the cutting edge of the bucket 6 is moved along the target construction surface in a state where the cutting edge of the bucket 6 is inclined. And, for example, as Figure 10As shown, the excavator 100 performs the following operations: under the control of the controller 30, at least a part of the boom 4, the arm 5, and the bucket 6 are linked, and a compaction operation is performed in such a form that the back surface of the bucket (in this example, the curved surface part in the side view) moves along the target construction surface. Therefore, the excavator 100 can, according to the operation of the arm cylinder 8 based on the operator's manual operation, link at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, so as to perform an excavation operation, a trimming operation, a compaction operation, etc. for constructing the target construction surface. Similarly, for example, when the operator manually performs an opening operation of the arm 5 (hereinafter referred to as "arm opening operation"), the controller 30 can automatically extend and retract (link) at least one of the boom cylinder 7 and the bucket cylinder 9 so that the target construction surface coincides with the working part (for example, the back surface) of the bucket 6. Thus, by only performing the arm opening operation, the operator can make at least a part of the boom 4, the arm 5, and the bucket 6 linked while making the tip or the back surface of the bucket 6 coincide with the target construction surface. Therefore, the excavator 100 can, according to the operation of the arm cylinder 8 based on the operator, link at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, so as to perform a trimming operation, a compaction operation, etc. for constructing the target construction surface.

[0166] Data related to the target construction surface is, for example, pre-stored (logged) in an internal memory of the controller 30 (for example, a non-volatile auxiliary storage device) or an external storage device that can be read by the controller 30, etc. The data related to the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the center of the earth's gravity as the origin, the X-axis as the direction of the intersection of the Greenwich meridian and the equator, the Y-axis as the direction of 90 degrees east longitude, and the Z-axis as the direction of the North Pole. Regarding the target construction surface, for example, any point at the construction site can be determined as a reference point according to the input from the operator through the input device 72, etc., and set by the relative position relationship with the reference point. And, regarding the data related to the target construction surface, it can be downloaded from a specified external device through the communication device T1.

[0167] And, for example, the controller 30 can operate an automatic operation function for supporting the loading operation of the excavator 100 based on the operator's operation. Specifically, in each operation process (refer to Figure 11 ) of the excavation operation, the boom lifting and slewing operation, the soil discharging (dumping) operation, and the boom lowering and slewing operation included in the loading operation, the controller 30 can make other actuators automatically linked corresponding to the operation of one hydraulic actuator.

[0168] For example, in the digging operation process of the loading operation, the controller 30 can, corresponding to the operation (extension and retraction) of the arm cylinder 8 based on the operator's operation, automatically operate (extend and retract) at least one of the boom cylinder 7 and the bucket cylinder 9. For example, during the period from when the start condition of the digging operation process is satisfied until the end condition is satisfied, it can be determined that the controller 30 is in the digging operation process of the excavator 100. The start condition of the digging operation process can be, for example, "starting the closing operation of the arm 5 in a state where the working part (e.g., the tip of the bucket) of the bucket 6 is at a specified digging start position (range)". The end condition of the digging operation process can be, for example, "after the bucket 6 performs a soil shoveling action and leaves the ground". For example, when the operator manually performs the closing operation of the arm, the controller 30 can automatically extend and retract (link) at least one of the boom cylinder 7 and the bucket cylinder 9 so that the pre-generated target trajectory coincides with the working part (e.g., the tip of the bucket) of the bucket 6. The target trajectory is the target of the trajectory of the working part of the bucket 6 for shoveling soil from the sand pile. The controller 30 can, for example, identify the sand pile based on the output of the space recognition device 70, etc., and generate the target trajectory considering the amount of sand in the sand pile, etc. Thereby, the operator can, by only performing the closing operation of the arm, make at least a part of the boom 4, the arm 5, and the bucket 6 link so that the bucket 6 shovels soil from the sand pile. Therefore, the excavator 100 can, according to the operation of the operator on the arm cylinder 8, make at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 link, thereby performing a digging operation for shoveling soil from the sand pile.

[0169] Furthermore, for example, during the boom-lift and rotation operation process of the loading operation, the controller 30 can automatically operate (extend) the boom cylinder 7 in response to the rotation operation of the upper rotating body 3 based on the operator's operation. For example, during the period from when the start conditions of the boom-lift and rotation operation process are met to when the end conditions are met, it can be determined that the controller 30 is in the boom-lift and rotation operation process of the excavator 100. The start conditions of the boom-lift and rotation operation process can be, for example, "the end conditions of the excavation operation process are met, and the operation of the upper rotating body 3 (hereinafter referred to as "rotation operation") is started." The end conditions of the boom-lift and rotation operation process can be, for example, "the specified working part of the bucket 6 (for example, the blade tip or back) reaches a specified range directly above the truck compartment of the sand loading object." For example, when the operator manually performs the rotation operation, the controller 30 can automatically operate (extend) the boom cylinder 7 so that the pre-generated target trajectory matches the working part of the bucket 6. The target trajectory is a target trajectory for the bucket 6 to move to the working part of the bucket 6 on the truck compartment without contacting the truck compartment or the like. The controller 30 can, for example, identify the position or shape of the truck based on the output of the space recognition device 70, and generate a target trajectory for the working part of the bucket 6 to the truck compartment. Thus, the operator can interlock the upper rotating body 3 and the boom 4 to move the bucket 6 to the truck compartment by simply performing a rotation operation. Therefore, the excavator 100 can interlock the rotary hydraulic motor 2A and the boom cylinder 7 based on the operator's operation of the rotary hydraulic motor 2A, thereby performing a boom lifting and rotating action to move the sand and soil scooped by the bucket 6 to the truck compartment.

[0170] Also, for example, in the dumping operation process of the loading operation, the controller 30 can automatically operate (contract) the arm cylinder 8 corresponding to the operation of the bucket 6 based on the operation of the operator. And the controller 30, corresponding to the operation of the bucket 6, can not only automatically link the arm cylinder 8 but also automatically link the boom cylinder 7. For example, during the period from the establishment of the start condition of the dumping operation process to the establishment of the end condition, it can be determined that the controller 30 is in the dumping operation process of the excavator 100. The start condition of the dumping operation process can be, for example, "the end condition of the boom lifting and slewing operation process is established, and the opening operation of the bucket 6 (hereinafter, referred to as 'bucket opening operation')" and so on. The end condition of the dumping operation process can be "the bucket opening operation ends" and so on. For example, when the operator manually performs the bucket opening operation, the controller 30 can automatically operate (contract) the arm cylinder 8 to make the pre-generated target trajectory coincide with the working part of the bucket 6 (such as the bucket tip or the back surface, etc.). The target trajectory is the target of the trajectory of the working part of the bucket 6 for discharging the sandy soil in the bucket 6 to a specified position in the truck carriage. The controller 30 can, for example, identify the shape of the truck carriage or the shape of the sandy soil on the carriage, etc., based on the output of the space recognition device 70, and generate the target trajectory of the working part of the bucket 6. Thus, the operator can make the arm 5 and the bucket 6 link by only performing the bucket opening operation, so that the sandy soil contained in the bucket 6 is discharged to a specified position in the truck carriage. Therefore, the excavator 100 can, according to the operation of the operator on the bucket cylinder 9, link the arm cylinder 8 and the bucket cylinder 9, etc., to perform the dumping operation for discharging the sandy soil contained in the bucket 6 to the truck carriage.

[0171] Furthermore, for example, in the boom-lowering rotation operation process of the loading operation, the controller 30 can automatically operate (retract) the boom cylinder 7 in response to the rotation operation of the upper rotating body 3 based on the operator's operation. For example, during the period from when the start condition of the boom-lowering rotation operation process is satisfied to when the end condition is satisfied, it can be determined that the controller 30 is in the boom-lowering rotation operation process of the excavator 100. The start condition of the boom-lifting rotation operation process may be, for example, "the end condition of the soil discharge operation process is satisfied, and the operation of the upper rotating body 3 (hereinafter referred to as "rotation operation") is started". The end condition of the boom-lowering rotation operation process may be "the specified working part (for example, the shovel tip) of the bucket 6 reaches the excavation start position (range)". For example, when the operator manually performs the rotation operation, the controller 30 can automatically operate (retract) the boom cylinder 7 so that the pre-generated target track is consistent with the working part of the bucket 6. The target trajectory is a target trajectory of the working part of the bucket 6 for moving the bucket 6 from the truck compartment to the excavation start position without the bucket 6 contacting the truck compartment or the like. The controller 30 can, for example, identify the position and shape of the truck or the position and shape of the sand pile based on the output of the space recognition device 70, and generate a target trajectory of the working part of the bucket 6 from the truck compartment to the excavation start position. Thus, the operator can interlock the upper rotating body 3 and the boom 4 by simply performing a rotation operation to move the bucket 6 from the truck compartment to the excavation start position. Therefore, the excavator 100 can interlock the rotary hydraulic motor 2A and the boom cylinder 7 based on the operator's operation on the rotary hydraulic motor 2A, thereby performing a boom lowering rotation action for moving the bucket 6 to the excavation start position.

[0172] [Control processing by the controller]

[0173] Next, refer to Figures 12 to 18 , the control processing of the controller 30 is explained.

[0174] <An example of controller control processing>

[0175] Figure 12 1 is a diagram showing an example of control processing by the controller 30 . Figure 13 This is a diagram illustrating the actuator group that is linked to each action content of the shovel 100, and the actuator that prohibits the action. This flowchart is repeatedly executed at predetermined time intervals from the start (for example, the key switch is turned on) to the stop (for example, the key switch is turned off) of the shovel 100. Figure 14 、 Figure 15 Same.

[0176] In step S102, the controller 30 determines whether a part (two or more) of the plurality of hydraulic actuators of the excavator 100 are linked.

[0177] For example, when the excavator 100 performs excavation operations, finishing operations, compaction operations, etc. by manual operation of the operator in such a manner that the bucket 6 moves along the extension direction of the attachment AT in a top view, the controller 30 may determine that a part of the hydraulic actuators are linked. At this time, at least two or more of the part of the hydraulic actuators are the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. The controller 30 can grasp the operation content (excavation operation, finishing operation, compaction operation, etc.) of the excavator 100 based on the operation content of the operator, the output of the space recognition device 70, the outputs of the sensors S1 to S5, and the like.

[0178] And, for example, when the excavator 100 performs a boom lifting and slewing operation or a boom lowering and slewing operation by manual operation of the operator, the controller 30 may determine that a part of the hydraulic actuators are linked. At this time, a part of the hydraulic actuators are the slewing hydraulic motor 2A and the boom cylinder 7. The controller 30 can grasp the operation content (boom lifting and slewing operation) of the excavator 100 based on the operation content of the operator, the output of the space recognition device 70, the outputs of the sensors S1 to S5, and the like.

[0179] And, for example, when the excavator 100 performs a soil discharging operation by manual operation of the operator, the controller 30 may determine that a part of the hydraulic actuators are linked. At this time, a part of the hydraulic actuators are the arm cylinder 8 and the bucket cylinder 9. The controller 30 can grasp the operation content (soil discharging operation) of the excavator 100 based on the operation content of the operator, the output of the space recognition device 70, the outputs of the sensors S1 to S5, and the like.

[0180] And, for example, as described above, when the excavator 100 performs excavation operations, finishing operations, compaction operations, etc. by the semi-automatic operation function based on the operator's arm operation, the controller 30 may determine that a part of the hydraulic actuators are linked. At this time, at least two or more of the part of the hydraulic actuators are the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. The controller 30 can grasp the excavation operation, etc. of the excavator 100 based on the semi-automatic operation function based on whether the MC switch is pressed and whether there is an operator's arm operation.

[0181] Further, for example, as described above, when the excavator 100 performs a boom hoisting swing operation or a boom lowering swing operation by means of the semi-automatic operation function based on the operator's swing operation, the controller 30 may determine that a part of the hydraulic actuators are interlocked. At this time, a part of the hydraulic actuators are the swing hydraulic motor 2A and the boom cylinder 7. The controller 30 can grasp the boom hoisting swing operation or the boom lowering swing operation of the excavator 100 based on the semi-automatic operation function based on whether the MC switch is pressed and the operator's swing operation or the like.

[0182] Further, for example, as described above, when the excavator 100 performs a soil discharging operation by means of the semi-automatic operation function based on the operation of the bucket 6 by the operator, the controller 30 may determine that a part of the hydraulic actuators are interlocked. At this time, a part of the hydraulic actuators are the arm cylinder 8 and the bucket cylinder 9 and the like. The controller 30 can grasp the soil discharging operation of the excavator 100 based on the semi-automatic operation function based on whether the MC switch is pressed and the operation of the bucket 6 by the operator or the like.

[0183] When a part of the hydraulic actuators are interlocked, the controller 30 proceeds to step S104. In other cases, the processing of this flowchart for this time is ended.

[0184] Further, in step S102, the controller 30 may determine whether there is a possibility of interlock of a part (two or more) of the plurality of hydraulic actuators of the excavator 100. That is, in step S102, the controller 30 may determine whether the excavator 100 is in a state where a part of the hydraulic actuators are interlocked or a state where there is a possibility of interlock. For example, when there is a possibility that the excavator 100 moves during the above various operations (excavation operation, finishing operation, compaction operation, boom hoisting swing operation, boom lowering swing operation, soil discharging operation, etc.), the controller 30 may determine that there is a possibility of interlock of a part of the hydraulic actuators. At this time, when a part of the hydraulic actuators are interlocked or there is a possibility of interlock of a part of the hydraulic actuators, the controller 30 proceeds to step S104. When a part of the hydraulic actuators are not interlocked and there is no possibility of interlock, the processing of this flowchart for this time is ended. Hereinafter, regarding the Figure 15 The same applies to the following cases.

[0185] In step S104, the controller 30 prohibits the operation of other actuators different from a part of the hydraulic actuators.

[0186] For example, as Figure 13As shown, when the shovel 100 is performing an excavation operation, for example, by coordinating at least a portion of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, the controller 30 can inhibit the operation of the swing hydraulic motor 2A. Furthermore, the controller 30 can also inhibit the operation of the crawler tracks 1CL and 1CR. Thus, even if the operator mistakenly performs a swing operation when the shovel 100 is performing an excavation operation, such as in a straight line along the extension direction of the attachment AT when viewed from above, the controller 30 can prevent the upper swing body 3 from rotating. Consequently, the controller 30 can prevent the creation of unnecessary excavation marks on the construction surface caused by the rotation of the upper swing body 3 during excavation, finishing, or rolling operations of the shovel 100. Furthermore, the controller 30 can prevent the shovel 100 from becoming unstable due to lateral external forces acting on the bucket 6 caused by the rotation of the upper swing body 3 during excavation, finishing, or rolling operations. Thus, the controller 30 can suppress a decrease in work efficiency, work quality, safety, etc. due to an operator's erroneous operation during an excavation operation or the like.

[0187] And, for example, Figure 13 As shown, when the shovel 100 performs a boom raising (lowering) swing operation by linking the swing hydraulic motor 2A and the boom cylinder 7, the controller 30 can inhibit the operation of at least one of the arm cylinder 8 and the bucket cylinder 9. Furthermore, the controller 30 can also inhibit the operation of the crawler tracks 1CL and 1CR. Thus, even if the operator mistakenly operates the arm 5 or bucket 6 during the boom raising and swinging operation of the shovel 100, the controller 30 can prevent the arm 5 or bucket 6 from moving. Consequently, the controller 30 can prevent the sand and soil contained in the bucket 6 from spilling out due to the movement of the arm 5 or bucket 6 during the boom raising and swinging operation of the shovel 100. Furthermore, the controller 30 can prevent the attachment AT from approaching surrounding objects due to the movement of the arm 5 or bucket 6 during the boom raising (lowering) and swinging operation of the shovel 100. Thus, the controller 30 can prevent a decrease in the operating efficiency or safety of the shovel 100 during the boom raising (lowering) and swinging operation of the shovel 100.

[0188] And, for example, Figure 13As shown, when the shovel 100 performs a soil discharge operation by coordinating the arm cylinder 8 and the bucket cylinder 9, the controller 30 can also inhibit the operation of at least one of the swing hydraulic motor 2A and the boom cylinder 7. Furthermore, the controller 30 can also inhibit the operation of the crawler tracks 1CL and 1CR. Thus, even if the operator performs a swing operation or operates the boom 4 during the soil discharge operation of the shovel 100, the controller 30 can prevent the upper swing body 3 or boom 4 from operating. Therefore, the controller 30 can prevent soil from spilling out of the truck bed due to the movement of the upper swing body 3 or boom 4 during the soil discharge operation of the shovel 100. Furthermore, the controller 30 can prevent the attachment AT from approaching the truck bed due to the movement of the upper swing body 3 or boom 4 during the soil discharge operation of the shovel 100. Thus, the controller 30 can prevent a decrease in the operating efficiency or safety of the shovel 100 during the soil discharge operation.

[0189] For example, even if other hydraulic actuators are being operated, the controller 30 can disable their operation by disabling their operation. Specifically, if the joystick device 26A is electrical, even if the controller 30 receives an operation signal related to the other actuator from the joystick device 26A, it can prevent the controller 30 from outputting the control signal corresponding to the operation signal to the hydraulic control valves 31L and 31R. Furthermore, if the joystick device 26A is hydraulically piloted and is used to operate other hydraulic actuators, the controller 30 can suppress the operation of either of the hydraulic control valves 33L and 33R corresponding to the operation of the other hydraulic actuator. This reduces the pilot pressure in the pilot line on the secondary side of the joystick device 26A and disables the operation of the joystick device 26A related to the other hydraulic actuator. Furthermore, even if the controller 30 receives a remote operation signal related to the other hydraulic actuator, it can prevent the controller 30 from outputting the control signal corresponding to the remote operation signal to the hydraulic control valves 31L and 31R.

[0190] Also, for example, when operating other hydraulic actuators, the controller 30 can cause the pilot pressure to act on the pilot port of the control valve 17A corresponding to the operation direction opposite to the operation direction, thereby prohibiting the operation of other hydraulic actuators. Specifically, when other hydraulic actuators are operated in the first direction, the controller 30 can control the hydraulic control valve 31R so that the pilot pressure acts on the pilot port on the right side of the control valve 17A from the hydraulic control valve 31R. Thus, the pilot pressure can act on the pilot port on the right side of the control valve 17A from the hydraulic control valve 31R in a form that counteracts the pilot pressure acting on the pilot port on the left side of the control valve 17A according to the operation of other hydraulic actuators in the first direction. Therefore, as described above, the valve stem of the control valve 17A corresponding to other hydraulic actuators can be made to approach the neutral state so that other hydraulic actuators do not operate. Similarly, when other hydraulic actuators are operated in the second direction, the controller 30 can control the hydraulic control valve 31L so that the pilot pressure acts on the pilot port on the left side of the control valve 17A from the hydraulic control valve 31L.

[0191] When prohibiting the operation of other actuators, the controller 30 can notify the operator in the cockpit 10 of this situation through the display device D1 or the sound output device D2, etc. Also, when remotely operating the excavator 100, the controller 30 can send a signal containing notification information indicating the prohibition of the operation of other actuators to an external device through the communication device T1. Thus, the operator in the cockpit 10 or the operator of the external device can recognize the situation where the operation of other actuators is prohibited.

[0192] Also, when prohibiting the operation of other actuators, when an operation of other actuators is performed, the controller 30 can notify the operator in the cockpit 10 or the operator of the external device of this situation. Thus, the controller 30 can notify this situation only when it is necessary to notify the operator that the operation of other actuators is prohibited. Therefore, the annoyance felt by the operator can be suppressed.

[0193] When the processing of step S104 ends, the controller 30 proceeds to step S106.

[0194] In step S106, the controller 30 determines whether there is a possibility that a part of the hydraulic actuators transitions from a linked operation to other operations.

[0195] For example, when at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are linked to perform an excavation operation or the like, the controller 30 can determine that there is a possibility of transitioning to other operations when these operations are completed. Specifically, corresponding to the excavation operation of the excavator 100, when the bucket 6 moves toward the front (the upper swing body 3) and the bucket 6 leaves the ground (moves away from the ground), the controller 30 can determine that the current excavation operation is completed and there is a possibility of transitioning to other operations.

[0196] Also, for example, when a part of the hydraulic actuators are linked by the semi-automatic operation function, when the semi-automatic operation function is released, the controller 30 can determine that there is a possibility of transitioning to other operations. Specifically, when the pressing of the MC switch is released from the state where the MC switch is pressed, the controller 30 can determine that there is a possibility of transitioning to other operations.

[0197] When there is a possibility of transitioning from an operation where a part of the hydraulic actuators are linked to other operations, the controller 30 proceeds to step S108. In other cases, the process of step S106 is repeated.

[0198] In step S108, the controller 30 releases the prohibition of the operations of other hydraulic actuators and ends the processing of the current flowchart.

[0199] Thus, in this example, when a part of the hydraulic actuators among the multiple hydraulic actuators are linked, the controller 30 can prevent other hydraulic actuators from operating.

[0200] <Another example of the control process of the controller>

[0201] Figure 14 It is a diagram showing another example of the control process based on the controller 30.

[0202] As Figure 14 shown, in step 202, the controller 30 determines whether the operation mode of the excavator 100 is set to the "operation lock mode". The operation lock mode is an operation mode of the excavator 100 that prohibits the operation of a specific hydraulic actuator among multiple hydraulic actuators and restricts the operation of the hydraulic actuator so that it does not operate even if an operation related to the hydraulic actuator is performed.

[0203] The motion lock mode can be set, for example, based on a predetermined input by the operator into the input device 72. Furthermore, when the shovel 100 is remotely operated, the motion lock mode can be set based on a predetermined input by the operator into an external device. In this case, the external device transmits a signal requesting the setting of the motion lock mode to the shovel 100 based on the predetermined input by the operator into the external device. Upon receiving this signal, the controller 30 can set the motion lock mode of the shovel 100 to the motion lock mode.

[0204] The specific actuators whose operation is prohibited in the operation lock mode may be fixed in advance. Alternatively, the specific actuators whose operation is prohibited in the operation lock mode may be set (changed) based on a predetermined input by the operator via the input device 72 or the like.

[0205] For example, the operator can set the operation mode of the shovel 100 to an operation lock mode that prohibits the operation of the swing hydraulic motor 2A via the input device 72. This prevents the upper swing body 3 from being rotated due to an operator error when the operator causes the shovel 100 to perform an excavation operation, such as an excavation operation, which coordinates at least a portion of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Consequently, the controller 30 can prevent degradation of work efficiency, work quality, and safety due to operator error during an excavation operation.

[0206] When the operation mode of the shovel 100 is the operation lock mode, the controller 30 proceeds to step S204 . When the operation mode of the shovel 100 is not the operation lock mode, the controller 30 ends the current processing.

[0207] In step S204, the controller 30 prohibits the operation of the specific hydraulic actuator. The method of prohibiting the operation of the specific hydraulic actuator can be the same as the above example ( Figure 12 ) is the same as the method of prohibiting the action of other hydraulic actuators in step S104.

[0208] When the process of step S204 ends, the controller 30 proceeds to step S206 .

[0209] In step S206, the controller 30 determines whether the motion lock mode has been released. For example, if a predetermined input for releasing the motion lock mode is received via the input device 72, the controller 30 determines that the motion lock mode has been released. Furthermore, for example, when the shovel 100 is remotely operated, if a signal requesting release of the received motion lock mode is received from an external device, the controller 30 determines that the motion lock mode has been released. In this case, if the operator of the external device performs the predetermined input for releasing the motion lock mode, the external device transmits a signal requesting release of the motion lock mode to the shovel 100.

[0210] When the operation lock mode is released, the controller 30 proceeds to step S208. When the operation lock mode is not released, the process of step S206 is repeated.

[0211] In step S208, the controller 30 releases the prohibition of the operation of a specific hydraulic actuator and ends the processing of the present flowchart.

[0212] Thus, in this example, when the operation mode of the excavator 100 is set to the operation lock mode according to a specified input by the operator, the controller 30 can prevent a specific hydraulic actuator from operating.

[0213] <Another example of the control process of the controller>

[0214] Figure 15 FIG. is a diagram showing another example of the control process based on the controller 30. Figure 16 FIG. is a diagram showing an example of the slope construction work of the excavator 100. Specifically, Figure 16 FIG. is a diagram showing an example of the compaction work on the slope of the excavator 100. Figure 17 FIG. is a diagram for explaining the construction work of the groove of the excavator 100. Specifically, Figure 17 FIG. is a diagram showing an example of the excavation work of the groove of the excavator 100. Figure 18 FIG. is a diagram for explaining the linked actuator group and the prohibited actuator during a specific operation.

[0215] As Figure 15 shown, the process of step S302 is the same as step S102 of Figure 12 , so its description is omitted.

[0216] When the determination condition of step S302 is satisfied, the controller 30 proceeds to step S304.

[0217] In step S304, the controller 30 determines whether the operation content condition is satisfied. The operation content condition is a condition related to the operation content of the excavator 100 for prohibiting the operation of other hydraulic actuators. This is because, depending on the operation content, there may be cases where it is best to prohibit the operation of other hydraulic actuators different from a part of the linked hydraulic actuators, and cases where it is not necessary to prohibit.

[0218] For example, the operation content condition may include "performing a finishing operation on the construction object surface by linking at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9" (hereinafter, referred to as "the first operation content condition"). This is because, in the finishing operation (refer to Figure 9), if the upper slewing body 3 rotates, it may damage the construction target surface, thereby having a relatively greater impact on the construction quality compared to excavation operations. In this case, the controller 30 can determine whether the first work content condition is met based on the operation content related to the attachment AT (for example, the operation content related to the boom cylinder 8 in the semi-automatic operation function), the output of the space recognition device 70, the output of the sensors S1 to S5, etc.

[0219] Furthermore, for example, the work content condition may include "making at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 work in conjunction to perform a finishing operation on the construction target surface based on the data related to the target construction surface specified by the two-dimensional straight line" (hereinafter referred to as the "second work content condition"). This is because, when the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are made to work in conjunction along the target construction surface specified by the two-dimensional straight line, if the upper rotating body 3 moves, it is possible to affect the shape in the width direction that is not specified as data. At this time, the data related to the target construction surface can be used in a semi-automatic operation function or in a manner of providing information (for example, equipment guidance) to the operator through the display device D1. The controller 30 can determine whether the second work content condition is met based on the content of the data related to the logged in (set) target construction surface, the operation content related to the attachment AT, the output of the space recognition device 70, the output of the sensors S1 to S5, etc. For example, when at least a portion of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are linked, and data related to the target construction surface is specified by a two-dimensional straight line, and the excavator 100 is facing the straight line, and the operation amount related to the attachment AT is relatively small, the controller 30 can determine that the second work content condition is met.

[0220] Furthermore, for example, the work content condition may include "making at least a part of the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 work in conjunction with each other to perform slope construction work (refer to Figure 16)”(hereinafter referred to as the “third working content condition”). This is because, in the slope construction work carried out with the excavator 100 facing the slope, if the upper swing body 3 swings, the position of the specified part of the bucket 6 deviates from the slope defined as the target construction surface, which may greatly affect the construction quality. At this time, the controller 30 can determine whether the third working content condition is satisfied based on the content of the data related to the logged (set) target construction surface, the operation content related to the attachment device AT, the output of the space recognition device 70, the output of the sensors S1 to S5, etc. For example, when at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are interlocked, the data related to the target construction surface is the slope shape, the excavator 100 is facing the slope (target construction surface), and the operation amount related to the attachment device AT is relatively small, the controller 30 can determine that the third working content condition is satisfied.

[0221] Moreover, for example, the working content condition may include “performing the construction work of the groove by interlocking at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 (refer to Figure 17 )”(hereinafter referred to as the “fourth working content condition”). Moreover, for example, the working content condition may include “performing the construction work (excavation work, finishing work, etc.) at one end in the width direction of the groove by interlocking at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9”(hereinafter referred to as the “fifth working content condition”). This is because, when at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are interlocked in the extending direction of the groove so as to perform the construction work in the extending direction of the groove, if the upper swing body 3 moves, the bucket 6 may come into contact with the wall of the groove. At this time, the controller 30 can determine whether the fourth working content condition or the fifth working content condition is satisfied based on the content of the data related to the logged (set) target construction surface, the operation content related to the attachment device AT, the output of the space recognition device 70, the output of the sensors S1 to S5, etc. For example, when at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are interlocked, the data related to the target construction surface is the groove shape, the excavator is facing the extending direction of the groove, and the operation amount related to the attachment device AT is relatively small, the controller 30 can determine that the fourth working content condition is satisfied. Moreover, for example, when at least a part of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are interlocked, the data related to the target construction surface is the groove shape, the excavator 100 is facing the extending direction of the groove, the bucket 6 is located at the end of the groove, and the operation amount related to the attachment device AT is relatively small, the controller 30 can determine that the fifth working content condition is satisfied.

[0222] When the job content condition (in the case of multiple job content conditions, any one of them) is satisfied, the controller 30 proceeds to step S306. Otherwise, the processing of this flowchart for this time is ended.

[0223] In step S306, the controller 30 prohibits the operation of actuators other than a part of the hydraulic actuators. The method of prohibiting the operation of other actuators is the same as that in step S104 of the above example ( Figure 12 ).

[0224] For example, as Figure 18 shown, when any one of the above first to fifth job content conditions is satisfied, the controller 30 prohibits the operation of the swing hydraulic motor 2A. Moreover, the controller 30 may also prohibit the operation of the crawlers 1CL and 1CR.

[0225] And, for example, when the above fifth job content condition is satisfied, the controller 30 may only prohibit the operation of the swing hydraulic motor 2A in the direction in which the bucket 6 faces the wall surface at one end of the groove and the direction away from it among the operations of the swing hydraulic motor 2A of the bucket 6. Thereby, the excavator 100 can permit the swing operation of the upper swing body 3 in the direction away from the wall surface of the groove by the bucket 6, thus improving the operation freedom of the operator.

[0226] When the processing of step S306 ends, the controller 30 proceeds to step S308.

[0227] Regarding the processing of steps S308 and S310, since it is the same as that of Figure 12 steps S106 and S108, the description is omitted.

[0228] Thus, in this example, when a part of the hydraulic actuators among the multiple hydraulic actuators are interlocked, the controller 30 can prohibit the operation of other hydraulic actuators different from a part of the hydraulic actuators according to the job content of the excavator 100.

[0229] [Modification · Change]

[0230] The above has described the embodiment in detail, but the present invention is not limited to this specific embodiment, and various modifications and changes can be made within the scope of the gist described in the technical solution.

[0231] For example, in the above-described embodiment, when remotely operating the excavator 100, the operation of some of the plurality of hydraulic actuators can be prohibited by the control device 210 of the management device 200 instead of the controller 30 of the excavator 100. At this time, even if the control device 210 (an example of a control unit) of the management device 200 (an example of a remote operation support device) receives an operation input related to some of the hydraulic actuators whose operations are prohibited from the remote operation device 231 (an example of an operation unit), it can invalidate the input.

[0232] Also, for example, in the above-described embodiment or the like, the operation of other actuators can be prohibited during the operation of some actuators without depending on the linkage of some actuators.

[0233] For example, the excavator 100 can, according to an input from the user, set to prohibit the operation of a specific actuator during the operation of some actuators. Specifically, a setting screen can be displayed on the display device D1 so that the setting state of allowing or prohibiting the operation of the plurality of actuators can be visually recognized. And the controller 30 can perform the setting of allowing or prohibiting the operation of each of the plurality of actuators according to the setting input from the operator or the like through the input device 72 (for example, as described above, a touch panel or the like) on the setting screen.

[0234] For example, in a situation such as the operation of loading sand onto a dump truck, when the excavator 100 moves due to a misoperation of the travel hydraulic motors 1A and 1B caused by carelessness or the like in a situation where the travel operation of the excavator 100 is not required, problems may occur in terms of safety or work efficiency.

[0235] In contrast, by previously setting to prohibit the operation of the travel hydraulic motor 1M (travel hydraulic motors 1ML and 1MR), such a situation can be suppressed.

[0236] Also, for example, in a situation such as a suspension operation, when the bucket 6 moves due to a misoperation of the bucket cylinder 9 caused by carelessness or the like in a situation where the operation of the bucket 6 is not required, problems may occur in terms of safety or work efficiency in the contact between the rope for the suspension operation and the back surface of the bucket 6 or the like.

[0237] In contrast, by previously setting to prohibit the operation of the bucket cylinder 9, such a situation can be suppressed.

[0238] Also, for example, it may be necessary for the operator to enter the range reachable by the attachment of the excavator 100 (including the range accompanied by the movement of the upper swing body 3) or below the attachment to perform an operation.

[0239] In this case, by setting the boom cylinder 7 to be inoperative within a range that does not interfere with the operation, it is possible to suppress a reduction in the safety of the work site including the excavator 100.

[0240] Moreover, for example, in the above-described embodiment and the like, the excavator 100 has a structure in which a plurality of driven components such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 are all hydraulically driven, but it may also be a structure in which a part or all of them are electrically driven. For example, as described above, the upper swing body 3 may be electrically driven by a swing electric motor (an example of an actuator or a swing motor) instead of being hydraulically driven by the swing hydraulic motor 2A. That is, the structures and the like disclosed in the above-described embodiment can be applied to hybrid excavators or electric excavators.

[0241] Finally, this application claims the priority based on Japanese Patent Application No. 2020-003806 filed on January 14, 2020, and the entire contents of the Japanese patent application are incorporated herein by reference.

[0242] Reference Signs

[0243] 1 - Lower traveling body, 1C, 1CL, 1CR - Crawler, 1M, 1ML, 1MR - Traveling hydraulic motor (actuator), 2A - Swing hydraulic motor (actuator, swing motor), 3 - Upper swing body, 4 - Boom, 5 - Arm, 6 - Bucket, 7 - Boom cylinder (actuator), 8 - Arm cylinder (actuator), 9 - Bucket cylinder (actuator), 14 - Main pump (hydraulic pump), 17 - Control valve, 17A - Control valve (spool valve), 26 - Operating device, 26A - Joystick device, 30 - Controller, 31, 31L, 31R - Hydraulic control valve, 32, 32L, 32R - Check valve, 3

Claims

1. An excavator, comprising: A plurality of driven components; A plurality of actuators for driving each of the plurality of driven components; and An electromagnetic proportional valve for controlling the supply of pressure oil to the actuators, The multiple driven elements include: An upper slewing body rotatably mounted on a lower traveling body; a boom mounted on the upper slewing body; An arm mounted at the front end of the boom; And a bucket mounted at the front end of the arm, The plurality of actuators include: a slewing motor for driving the upper slewing body; a boom cylinder for driving the boom; an arm cylinder for driving the arm; and a bucket cylinder for driving the bucket, When a part of the plurality of actuators are linked, the electromagnetic proportional valve is controlled in the following manner to prohibit the operation of other actuators different from the part of the actuators among the plurality of actuators, Even if an operation signal is input, a control signal corresponding to the operation signal is not output to the electromagnetic proportional valve corresponding to the other actuators; the electromagnetic proportional valve corresponding to the other hydraulic actuators is controlled and the pilot pressure is reduced; even if a remote operation signal is received, a control signal corresponding to the remote operation signal is not output to the electromagnetic proportional valve; or a pilot pressure opposing the operation direction of the other hydraulic actuators is applied.

2. The excavator according to claim 1, wherein, When a part of the plurality of actuators are linked, according to the operation content of the excavator, the operation of other actuators different from the part of the actuators among the plurality of actuators is prohibited.

3. The excavator according to claim 2, wherein, When a part or all of the boom cylinder, the arm cylinder and the bucket cylinder among the plurality of actuators are linked to perform a ground finishing operation, the operation of the slewing motor is prohibited.

4. The excavator according to claim 2, wherein, When a part or all of the boom cylinder, the arm cylinder and the bucket cylinder among the plurality of actuators are linked to perform a slope construction operation, the operation of the slewing motor is prohibited.

5. The excavator according to claim 2, wherein, When a part or all of the boom cylinder, the arm cylinder and the bucket cylinder among the plurality of actuators are linked to perform a trench construction operation, the operation of the slewing motor is prohibited.

6. The excavator according to claim 5, wherein, When a part or all of the boom cylinder, the arm cylinder and the bucket cylinder among the plurality of actuators are linked to perform a construction operation at one end in the width direction of the trench, the operation of the slewing motor in the direction of the wall surface of the trench at the one end is prohibited.

7. The excavator according to any one of claims 1 to 6, wherein, According to the operation related to one actuator among the part of the actuators, when the part of the actuators are automatically linked, the operation of the other actuators is prohibited.

8. The excavator according to claim 7, wherein, Based on the operation related to the arm cylinder, when a part or all of the boom cylinder, the arm cylinder, and the bucket cylinder are automatically linked, the operation of the swing motor is prohibited.

9. The excavator according to claim 7, wherein, Based on the operation related to the swing motor, when the swing motor and the boom cylinder among the plurality of actuators are automatically linked, the operation of at least one of the arm cylinder and the bucket cylinder is prohibited.

10. The excavator according to claim 7, wherein, Based on the operation related to the bucket cylinder, when the arm cylinder and the bucket cylinder among the plurality of actuators are automatically linked, the operation of at least one of the boom cylinder and the swing motor is prohibited.

11. The excavator according to any one of claims 1 to 3, comprising: A hydraulic pump; and A plurality of spool valves, which input signals corresponding to the content of the operation according to the operation related to each of the plurality of actuators, and supply the working oil discharged from the hydraulic pump to one of the two ports of each of the plurality of hydraulic actuators by moving the spool in one of the two opposite directions, and discharge the working oil from the other of the two ports of each of the plurality of hydraulic actuators. When a part of the actuators are linked, if an operation related to the other actuator for moving one spool valve corresponding to the other actuator among the plurality of spool valves in one of the two directions is performed, a signal for moving the one spool valve in the other of the two directions is input to the one spool valve.

12. The excavator according to any one of claims 1 to 3, wherein, When the operation of the other actuator is prohibited, the operator is notified.

13. A remote operation support device, comprising: An operation unit for remotely operating a plurality of actuators of an excavator, the excavator having a plurality of driven components and the plurality of actuators for driving each of the plurality of driven components; A communication unit that sends an operation instruction related to the plurality of actuators to the excavator according to the operation of the operation unit; And A control unit, when a part of the actuators among the plurality of actuators are linked, prohibits the operation of other actuators different from the part of the actuators among the plurality of actuators by controlling the electro-hydraulic proportional valve in the following manner, that is, even if an operation signal is input, a control signal corresponding to the operation signal is not output to the electro-hydraulic proportional valve corresponding to the other actuators; controls the electro-hydraulic proportional valve corresponding to the other hydraulic actuators and reduces the pilot pressure; even if a remote operation signal is received, a control signal corresponding to the remote operation signal is not output to the electro-hydraulic proportional valve; Or makes a pilot pressure acting against the operation direction of the other hydraulic actuator act. The plurality of driven components include: an upper swing body rotatably mounted on a lower traveling body; a boom mounted on the upper swing body; an arm mounted at the front end of the boom; and a bucket mounted at the front end of the arm. The plurality of actuators includes: a swing motor that drives the upper swing body; an arm cylinder that drives the arm; a boom cylinder that drives the boom; and a bucket cylinder that drives the bucket.

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