Shovel and control device for shovel

Abstract

Possess: lower walking body (1); Upper rotary body (3), rotatably carried on lower walking body (1); Auxiliary device (AT), installed on upper rotary body (3); Posture detection device, detect the posture of auxiliary device (AT), the posture detection device includes boom angle sensor (S1), arm angle sensor (S2), bucket angle sensor (S3), body posture sensor (S4) and rotation angle sensor (S5);And controller (30), calculate the target angle related to the working angle, the working angle is formed by the surface or line determined according to the shape of the bucket (6) included in auxiliary device (AT) and target surface. The controller (30) changes the target angle according to the posture of auxiliary device (AT) and the information related to the target surface.

Description

Technical Field

[0001] This invention relates to an excavator as an excavator and a control device for the excavator. Background Technology

[0002] Previously, a hydraulic excavator was known that, during excavation operations, maintained the angle of the bucket relative to the target surface (design surface) at a certain angle (for example, see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-159049

[0006] Patent Document 2: International Publication No. 2019 / 009341 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, if the angle between the bucket and the target surface is maintained at a certain angle, the bucket tip will have difficulty penetrating the ground when there is a large amount of sand remaining on the design surface, which may hinder smooth excavation operations.

[0009] Therefore, it is preferable to provide an excavator that can achieve smoother operation.

[0010] Methods for solving problems

[0011] An excavator according to embodiments of the present invention includes: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; an auxiliary device installed on the upper rotating body; a posture detection device for detecting the posture of the auxiliary device; and a control device for calculating a target angle related to an operating angle, the operating angle being formed by a surface or line determined according to the shape of the bucket included in the auxiliary device and a target surface, the control device changing the target angle based on the posture of the auxiliary device and information related to the target surface.

[0012] Invention Effects

[0013] The above method provides an excavator that can achieve smoother operation. Attached Figure Description

[0014] Figure 1 This is a side view of the excavator according to an embodiment of the present invention.

[0015] Figure 2 yes Figure 1 A top view of an excavator.

[0016] Figure 3 It means that it is carried on Figure 1 A diagram illustrating the structure of the hydraulic system of an excavator.

[0017] Figure 4A This is a diagram of a part of the hydraulic system related to the operation of the boom cylinder.

[0018] Figure 4B This is a diagram of a part of the hydraulic system associated with the boom cylinder.

[0019] Figure 4C This is a diagram of a part of the hydraulic system associated with the bucket cylinder.

[0020] Figure 4D This is a diagram of a part of a hydraulic system associated with a rotary hydraulic motor.

[0021] Figure 5 This is a diagram illustrating an example of the controller's structure.

[0022] Figure 6A This is a side view of the bucket.

[0023] Figure 6B It is a chart showing the relationship between the target angle, action speed, and separation distance of the working angle.

[0024] Figure 7A This is a side view of the bucket, positioned higher than the design plane.

[0025] Figure 7B This is a side view of the bucket, positioned higher than the design plane.

[0026] Figure 7C This is a side view of the bucket, positioned higher than the design plane.

[0027] Figure 7D This is a side view of the bucket, positioned higher than the design plane.

[0028] Figure 8A This is a side view of the bucket, positioned higher than the design plane.

[0029] Figure 8B This is a side view of the bucket, positioned higher than the design plane.

[0030] Figure 9A This is a side view of the bucket, positioned lower than the design plane.

[0031] Figure 9B This is a side view of the bucket, positioned lower than the design plane.

[0032] Figure 9C This is a side view of the bucket, positioned lower than the design plane.

[0033] Figure 9D This is a side view of the bucket, positioned lower than the design plane.

[0034] Figure 10 This is a diagram illustrating an example of the structure of an excavator's control system.

[0035] Figure 11 This is a function block diagram representing an example of a functional structure related to the equipment control functions of an excavator.

[0036] Figure 12 This is another example of a function block diagram representing a function structure related to the equipment control functions of an excavator.

[0037] Figure 13 This is a diagram illustrating an example of parameters related to the trajectory of the bucket tip during excavation.

[0038] Figure 14 This is a diagram showing an example of table information related to the parameters of each work site. Detailed Implementation

[0039] First, refer to Figure 1 and Figure 2 The excavator 100, which is an excavator according to an embodiment of the present invention, will be described. Figure 1 This is a side view of excavator 100. Figure 2 This is a top view of excavator 100.

[0040] In this embodiment, the lower traveling body 1 of the excavator 100 includes tracks 1C. Tracks 1C are driven by a travel hydraulic motor 2M mounted on the lower traveling body 1, which serves as a travel actuator. Specifically, tracks 1C include a left track 1CL and a right track 1CR. The left track 1CL is driven by a left travel hydraulic motor 2ML, and the right track 1CR is driven by a right travel hydraulic motor 2MR.

[0041] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2 is driven by a rotary hydraulic motor 2A mounted on the upper rotating body 3, which serves as a rotary actuator. However, the rotary actuator can also be a rotary electric generator, which serves as an electric actuator.

[0042] A boom 4 is mounted on the upper rotating body 3. A stick 5 is mounted at the front end of the boom 4, and a bucket 6, serving as an end-connection device, is mounted at the front end of the stick 5. The boom 4, stick 5, and bucket 6 constitute an excavation auxiliary device, an example of an auxiliary device AT. The boom 4 is driven by a boom cylinder 7, the stick 5 by a stick cylinder 8, and the bucket 6 by a bucket cylinder 9. The boom cylinder 7, stick cylinder 8, and bucket cylinder 9 constitute the actuator of the auxiliary device. The bucket 6 can be, for example, an inclined bucket. Furthermore, the bucket 6 can be equipped with a bucket tilting mechanism.

[0043] The boom 4 is supported by the upper rotating body 3, which can rotate vertically. Furthermore, a boom angle sensor S1 is mounted on the boom 4. The boom angle sensor S1 can detect the rotation angle of the boom 4, i.e., the boom angle α1. The boom angle α1 is, for example, the upward angle from the state where the boom 4 is at its maximum lowered position. Therefore, the boom angle α1 is at its maximum when the boom 4 is at its maximum raised position.

[0044] The boom 5 is rotatably supported by the passive boom 4. Furthermore, a boom angle sensor S2 is mounted on the boom 5. The boom angle sensor S2 can detect the rotation angle of the boom 5, i.e., the boom angle α2. The boom angle α2 is, for example, the opening angle from the state of the boom 5 being retracted to its maximum extent. Therefore, the boom angle α2 is at its maximum when the boom 5 is fully extended.

[0045] The bucket 6 is rotatably supported by the boom 5. Furthermore, a bucket angle sensor S3 is installed on the bucket 6. The bucket angle sensor S3 can detect the rotation angle of the bucket 6, i.e., the bucket angle α3. The bucket angle α3 is the opening angle from the state where the bucket 6 is retracted to its maximum extent. Therefore, the bucket angle α3 is at its maximum when the bucket 6 is fully extended.

[0046] exist Figure 1 In this embodiment, the boom angle sensor S1, stick angle sensor S2, and bucket angle sensor S3 are each composed of a combination of an accelerometer and a gyroscope sensor. However, they may also be composed of only an accelerometer. Furthermore, the boom angle sensor S1 can be a stroke sensor installed on the boom cylinder 7, or it can be a rotary encoder, potentiometer, or inertial measurement device, etc. The same applies to the stick angle sensor S2 and the bucket angle sensor S3.

[0047] A cockpit 10, serving as the flight deck, is mounted on the upper rotating body 3 and is equipped with a power source such as an engine 11. Furthermore, a spatial recognition device 70, an orientation detection device 71, a positioning device 73, a fuselage attitude sensor S4, and a rotation angle sensor S5 are installed on the upper rotating body 3. Inside the cockpit 10 are an operating device 26, a controller 30, an input device 72, a display device D1, and a sound output device D2. Additionally, for convenience, in this specification, the side of the upper rotating body 3 where the auxiliary device AT is installed is designated as the front, and the side where the counterweight is installed is designated as the rear.

[0048] The spatial recognition device 70 is configured to identify objects existing in the three-dimensional space surrounding the excavator 100. Furthermore, the spatial recognition device 70 can also be configured to calculate the distance from the spatial recognition device 70 or the excavator 100 to the identified object. The spatial recognition device 70 may include, for example, an ultrasonic sensor, millimeter-wave radar, a camera device, a LiDAR, a distance image sensor, an infrared sensor, or any combination thereof. The camera device may be, for example, a monocular camera or a stereo camera. In this embodiment, the spatial recognition device 70 includes a front sensor 70F mounted on the front end of the upper surface of the cab 10, a rear sensor 70B mounted on the rear end of the upper surface of the upper rotating body 3, a left sensor 70L mounted on the left end of the upper surface of the upper rotating body 3, and a right sensor 70R mounted on the right end of the upper surface of the upper rotating body 3. An upper sensor for identifying objects existing in the space above the upper rotating body 3 may also be mounted on the excavator 100.

[0049] The spatial recognition device 70 can be configured to detect defined objects within a specified area surrounding the excavator 100. That is, the spatial recognition device 70 can be configured to identify at least one of the following: object type, location, and shape. For example, the spatial recognition device 70 can also be configured to distinguish between people and objects other than people. Furthermore, the spatial recognition device 70 can also be configured to determine the type of terrain surrounding the excavator 100. Terrain types include, for example, ground surfaces, pits, slopes, or rivers. Furthermore, the spatial recognition device 70 can also be configured to determine the type of obstacles. Obstacle types include, for example, power lines, utility poles, people, animals, vehicles, construction equipment, construction machinery, buildings, or fences. Furthermore, the spatial recognition device 70 can also be configured to determine the type or size of a dump truck, for example, a vehicle. Furthermore, the spatial recognition device 70 can also be configured to detect people by recognizing helmets, safety vests, or work clothes, or by recognizing specified markings on helmets, safety vests, or work clothes. Furthermore, the spatial recognition device 70 can also be configured to recognize the condition of the road surface. Specifically, the spatial recognition device 70 may also be configured to determine the types of objects present on the road surface. Examples of objects present on the road surface include cigarettes, cans, plastic bottles, or stones. Furthermore, the aforementioned functions of the spatial recognition device 70 can also be implemented by a controller 30 that receives the output of the spatial recognition device 70.

[0050] The orientation detection device 71 is configured to detect information related to the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1. The orientation detection device 71 may, for example, be a combination of a geomagnetic sensor mounted on the lower traveling body 1 and a geomagnetic sensor mounted on the upper rotating body 3. Alternatively, the orientation detection device 71 may be a combination of a GNSS receiver mounted on the lower traveling body 1 and a GNSS receiver mounted on the upper rotating body 3. The orientation detection device 71 may be a rotary encoder, a rotary position sensor, or any combination thereof. In a structure where the upper rotating body 3 is driven by a rotary electric generator, the orientation detection device 71 may also be a rotary transformer. The orientation detection device 71 may, for example, be mounted at a central joint associated with a rotary mechanism 2, which enables relative rotation between the lower traveling body 1 and the upper rotating body 3.

[0051] The orientation detection device 71 can also be composed of a camera mounted on the upper rotating body 3. In this case, the orientation detection device 71 performs known image processing on the image (input image) captured by the camera mounted on the upper rotating body 3 to detect the image of the lower traveling body 1 included in the input image. Furthermore, the orientation detection device 71 determines the length direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 using known image recognition technology. It also derives the angle formed between the direction of the front-rear axis of the upper rotating body 3 and the length direction of the lower traveling body 1. The direction of the front-rear axis of the upper rotating body 3 is derived according to the mounting position of the camera. In particular, since the track 1C protrudes from the upper rotating body 3, the orientation detection device 71 can determine the length direction of the lower traveling body 1 by detecting the image of the track 1C. In this case, the orientation detection device 71 can be integrated into the controller 30. Furthermore, the camera can be a spatial recognition device 70.

[0052] The input device 72 is configured to allow the excavator operator to input information to the controller 30. In this embodiment, the input device 72 is a switch panel located near the display unit of the display device D1. However, the input device 72 can be a touch panel located on the display unit of the display device D1, or it can be a voice input device such as a microphone located in the cab 10. Furthermore, the input device 72 can be a communication device for acquiring information from the outside.

[0053] The positioning device 73 is configured to determine the position of the upper rotating body 3. In this embodiment, the positioning device 73 is a GNSS receiver that detects the position of the upper rotating body 3 and outputs the detected value to the controller 30. The positioning device 73 can also be a GNSS compass. In this case, the positioning device 73 can detect the position and orientation of the upper rotating body 3, and therefore also functions as an orientation detection device 71.

[0054] The fuselage attitude sensor S4 detects the tilt angle of the upper rotating body 3 relative to a predetermined plane. In this embodiment, the fuselage attitude sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 relative to the horizontal plane about the front and rear axes and the tilt angle about the left and right axes. The front and rear axes and the left and right axes of the upper rotating body 3 are, for example, orthogonal to each other and pass through a point on the rotation axis of the excavator 100, namely the center point of the excavator.

[0055] The rotation angle sensor S5 detects the rotation angle of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyroscope sensor. It can also be a rotary transformer, a rotary encoder, or any combination thereof. The rotation angle sensor S5 can detect rotation speed or rotation angular velocity. The rotation speed can be calculated based on the rotation angular velocity.

[0056] Hereinafter, at least one of the boom angle sensor S1, stick angle sensor S2, bucket angle sensor S3, body posture sensor S4, and slewing angle sensor S5 will also be referred to as a posture detection device. The posture of the auxiliary device AT is detected, for example, based on the outputs of the boom angle sensor S1, stick angle sensor S2, and bucket angle sensor S3 respectively.

[0057] Display device D1 is a device for displaying information. In this embodiment, display device D1 is a liquid crystal display installed in the driver's cab 10. However, display device D1 may also be a display of a mobile terminal such as a smartphone.

[0058] The sound output device D2 is a device for outputting sound. The sound output device D2 includes at least one of a device for outputting sound to the operator inside the cab 10 and a device for outputting sound to workers outside the cab 10. It can also be a speaker for a mobile terminal.

[0059] The operating device 26 is a means for an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0060] The controller 30 is a control device for controlling the excavator 100. In this embodiment, the controller 30 is composed of a computer equipped with a CPU, volatile memory, and non-volatile memory. The controller 30 reads programs corresponding to various functions from the non-volatile memory and loads them into the volatile memory, and then causes the CPU to execute the corresponding processing. These functions include, for example, a device guidance function that guides the operator in manual operation of the excavator 100, and a device control function that supports manual operation of the excavator 100 or enables the excavator 100 to operate automatically or autonomously. The controller 30 may include a contact avoidance function that enables the excavator 100 to operate automatically or autonomously, or to stop the excavator 100, to avoid contact with objects within the monitoring range surrounding the excavator 100. Monitoring of objects around the excavator 100 is performed not only within the monitoring range but also outside the monitoring range.

[0061] Next, refer to Figure 3 An example of the structure of the hydraulic system mounted on the excavator 100 will be described. Figure 3 This is a diagram illustrating a structural example of the hydraulic system mounted on an excavator 100. Figure 3 The mechanical power transmission system, working oil pipeline, pilot line and electrical control system are represented by double lines, solid lines, dashed lines and dotted lines respectively.

[0062] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, an output pressure sensor 28, an operating sensor 29, and a controller 30.

[0063] exist Figure 3 In this system, the hydraulic system is configured to circulate working oil from the main pump 14 driven by the engine 11 through the intermediate bypass oil passage 40 or the parallel oil passage 42 to the working oil tank.

[0064] Engine 11 is the drive source for excavator 100. In this embodiment, engine 11 is, for example, a diesel engine that operates at a specified speed. The output shaft of engine 11 is connected to the input shafts of main pump 14 and pilot pump 15, respectively.

[0065] The main pump 14 is configured to supply working oil to the control valve unit 17 via a working oil line. In this embodiment, the main pump 14 is a swashplate variable capacity hydraulic pump.

[0066] The regulator 13 is configured to control the discharge volume of the main pump 14. In this embodiment, the regulator 13 controls the discharge volume of the main pump 14 by adjusting the swashplate deflection angle of the main pump 14 according to the control command from the controller 30.

[0067] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply working oil to hydraulic control equipment via pilot lines. In this embodiment, the pilot pump 15 is a fixed-capacity hydraulic pump. However, the pilot pressure generating device can be implemented by the main pump 14. That is, in addition to supplying working oil to the control valve unit 17 via working oil lines, the main pump 14 can also supply working oil to various hydraulic control devices via pilot lines. In this case, the pilot pump 15 can be omitted.

[0068] The control valve unit 17 is a hydraulic control device for controlling the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. Control valve 175 includes control valve 175L and control valve 175R, and control valve 176 includes control valve 176L and control valve 176R. The control valve unit 17 is configured to selectively supply working oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. For example, the control valves 171 to 176 control the flow rate of working oil from the main pump 14 to the hydraulic actuators and the flow rate of working oil from the hydraulic actuators to the working oil tank. The hydraulic actuators include a boom cylinder 7, a stick cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0069] The operating device 26 is configured to allow an operator to operate the actuator. In this embodiment, the operating device 26 includes a hydraulic actuator operating device, which is configured to allow an operator to operate the hydraulic actuator. Specifically, the hydraulic actuator operating device is configured to supply working oil discharged from the pilot pump 15 via pilot lines to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the working oil supplied to each pilot port (pilot pressure) is a pressure corresponding to the operating direction and operating amount of the operating device 26 corresponding to each hydraulic actuator.

[0070] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0071] The operation sensor 29 is configured to detect the operation performed by the operator on the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values ​​to the controller 30.

[0072] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the working oil to the working oil tank via the left intermediate bypass oil line 40L or the left parallel oil line 42L, and the right main pump 14R circulates the working oil to the working oil tank via the right intermediate bypass oil line 40R or the right parallel oil line 42R.

[0073] The left middle bypass oil passage 40L is a working oil line that passes through control valves 171, 173, 175L and 176L configured in control valve unit 17. The right middle bypass oil passage 40R is a working oil line that passes through control valves 172, 174, 175R and 176R configured in control valve unit 17.

[0074] Control valve 171 is a slide valve that switches the flow of working oil by supplying working oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and discharging working oil discharged from the left travel hydraulic motor 2ML to the working oil tank.

[0075] Control valve 172 is a slide valve that switches the flow of working oil by supplying working oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and discharging working oil discharged from the right travel hydraulic motor 2MR to the working oil tank.

[0076] Control valve 173 is a spool valve that switches the flow of working oil by supplying working oil discharged from the left main pump 14L to the rotary hydraulic motor 2A and discharging working oil discharged from the rotary hydraulic motor 2A to the working oil tank.

[0077] Control valve 174 is a slide valve used to switch the flow of working oil by supplying working oil discharged from the right main pump 14R to the bucket cylinder 9 and discharging working oil from the bucket cylinder 9 to the working oil tank.

[0078] Control valve 175L is a slide valve that switches the flow of working oil by supplying working oil discharged from the left main pump 14L to the boom cylinder 7. Control valve 175R is a slide valve that switches the flow of working oil by supplying working oil discharged from the right main pump 14R to the boom cylinder 7 and discharging the working oil in the boom cylinder 7 to the working oil tank.

[0079] The control valve 176L is a slide valve used to switch the flow of working oil by supplying the working oil discharged from the left main pump 14L to the boom cylinder 8 and discharging the working oil in the boom cylinder 8 to the working oil tank.

[0080] Control valve 176R is a slide valve used to switch the flow of working oil by supplying working oil discharged from the right main pump 14R to the boom cylinder 8 and discharging the working oil in the boom cylinder 8 to the working oil tank.

[0081] The left parallel oil line 42L is a working oil line connected in parallel with the left intermediate bypass oil line 40L. When the flow of working oil through the left intermediate bypass oil line 40L is restricted or cut off by one of the control valves 171, 173, and 175L, the left parallel oil line 42L can supply working oil to a more downstream control valve. The right parallel oil line 42R is a working oil line connected in parallel with the right intermediate bypass oil line 40R. When the flow of working oil through the right intermediate bypass oil line 40R is restricted or cut off by one of the control valves 172, 174, and 175R, the right parallel oil line 42R can supply working oil to a more downstream control valve.

[0082] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the output of the left main pump 14L by adjusting the swashplate deflection angle of the left main pump 14L according to the output pressure of the left main pump 14L. Specifically, the left regulator 13L, for example, adjusts the swashplate deflection angle of the left main pump 14L to reduce the output, based on an increase in the output pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the absorbed power (absorbed horsepower) of the main pump 14, represented by the product of the output pressure and the output, does not exceed the output power (output horsepower) of the engine 11.

[0083] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0084] The left operating lever 26L is used for rotation and operation of the boom 5. When operating in the forward / backward direction, the left operating lever 26L uses the working oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. Furthermore, when operating in the left / right direction, the working oil discharged from the pilot pump 15 uses the control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0085] Specifically, when the boom is retracted, the left operating lever 26L directs working oil to the right pilot port of control valve 176L and to the left pilot port of control valve 176R. Similarly, when the boom is extended, the left operating lever 26L directs working oil to the left pilot port of control valve 176L and to the right pilot port of control valve 176R. Furthermore, when the boom is turned to the left, the left operating lever 26L directs working oil to the left pilot port of control valve 173, and when the boom is turned to the right, the left operating lever 26L directs working oil to the right pilot port of control valve 173.

[0086] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When operating in the forward / backward direction, the right operating lever 26R uses the working oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. Furthermore, when operating in the left / right direction, the working oil discharged from the pilot pump 15 uses the control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0087] Specifically, when operating in the boom lowering direction, the right operating lever 26R introduces working fluid into the left pilot port of control valve 175R. Furthermore, when operating in the boom raising direction, the right operating lever 26R introduces working fluid into the right pilot port of control valve 175L and the left pilot port of control valve 175R. Moreover, when operating in the bucket retraction direction, the right operating lever 26R introduces working fluid into the right pilot port of control valve 174, and when operating in the bucket opening direction, the right operating lever 26R introduces working fluid into the left pilot port of control valve 174.

[0088] The travel lever 26D is used to operate the track 1C. Specifically, the left travel lever 26DL is used to operate the left track 1CL. It can also be configured to be linked with the left travel pedal. When operating in the forward or backward direction, the left travel lever 26DL uses the working oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right track 1CR. It can also be configured to be linked with the right travel pedal. When operating in the forward or backward direction, the right travel lever 26DR uses the working oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0089] The discharge pressure sensor 28 includes a left discharge pressure sensor 28L and a right discharge pressure sensor 28R. The left discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.

[0090] The operation sensors 29 include operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. Operation sensor 29LA detects the operator's actions on the left operating lever 26L in the forward / backward direction and outputs the detected value to the controller 30. The actions may include, for example, the lever's operating direction and the amount of lever operation (lever operating angle).

[0091] Similarly, operation sensor 29LB detects the operator's actions on the left control lever 26L in the left-right direction and outputs the detected value to controller 30. Operation sensor 29RA detects the operator's actions on the right control lever 26R in the forward-backward direction and outputs the detected value to controller 30. Operation sensor 29RB detects the operator's actions on the right control lever 26R in the left-right direction and outputs the detected value to controller 30. Operation sensor 29DL detects the operator's actions on the left travel lever 26DL in the forward-backward direction and outputs the detected value to controller 30. Operation sensor 29DR detects the operator's actions on the right travel lever 26DR in the forward-backward direction and outputs the detected value to controller 30.

[0092] The controller 30 receives the output of the operation sensor 29 and outputs control commands to the regulator 13 as needed to change the discharge volume of the main pump 14. Furthermore, the controller 30 receives the output of the control pressure sensor 19 located upstream of the throttle 18 and outputs control commands to the regulator 13 as needed to change the discharge volume of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0093] In the left intermediate bypass oil passage 40L, a left throttle 18L is positioned between the downstream control valve 176L and the working oil tank. Therefore, the flow of working oil discharged from the left main pump 14L is restricted by the left throttle 18L. Furthermore, the left throttle 18L generates a control pressure for controlling the left regulator 13L. A left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge volume of the left main pump 14L by adjusting the swashplate deflection angle of the left main pump 14L according to this control pressure. The controller 30 is configured such that the higher the control pressure, the lower the discharge volume of the left main pump 14L; conversely, the lower the control pressure, the higher the discharge volume of the left main pump 14L. The discharge volume of the right main pump 14R is similarly controlled.

[0094] Specifically, such as Figure 3 As shown, in the standby state where none of the hydraulic actuators in the excavator 100 are operated, the working oil discharged from the left main pump 14L reaches the left throttle 18L through the left intermediate bypass oil passage 40L. Furthermore, the flow of the working oil discharged from the left main pump 14L increases the control pressure upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, thereby suppressing pressure loss (pumping loss) when the discharged working oil passes through the left intermediate bypass oil passage 40L. On the other hand, when a particular hydraulic actuator is operated, the working oil discharged from the left main pump 14L flows into the hydraulic actuator corresponding to the operated actuator via the control valve. Furthermore, the flow of the working oil discharged from the left main pump 14L reduces or eliminates the amount reaching the left throttle 18L, thereby reducing the control pressure upstream of the left throttle 18L. As a result, controller 30 increases the output of the left main pump 14L to ensure sufficient working oil circulation to the hydraulic actuator of the workpiece, thereby ensuring the actuation of the hydraulic actuator. Similarly, controller 30 also controls the output of the right main pump 14R.

[0095] Based on the above structure, Figure 3 The hydraulic system can suppress unnecessary energy consumption in the main pump 14 in standby mode. Unnecessary energy consumption includes pumping losses caused by the working oil discharged from the main pump 14 in the intermediate bypass oil passage 40. Furthermore, when the hydraulic actuator is activated, Figure 3 The hydraulic system is able to reliably supply the required amount of working oil from the main pump 14 to the hydraulic actuator of the work object.

[0096] Next, refer to Figures 4A to 4D The structure used by the controller 30 to operate the actuator through the device control function is described. Figures 4A to 4D This is a diagram showing a portion of the hydraulic system extracted. Specifically, Figure 4AThis diagram shows the hydraulic system components related to the operation of the boom cylinder 8. Figure 4B This is a diagram showing the hydraulic system components related to the operation of boom cylinder 7. Figure 4C This diagram shows the hydraulic system components related to the operation of the bucket cylinder 9. Figure 4D This is a diagram showing the hydraulic system components related to the operation of the rotary hydraulic motor 2A.

[0097] like Figures 4A to 4D As shown, the hydraulic system includes a proportional valve 31. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

[0098] The proportional valve 31 functions as a control valve for equipment control. The proportional valve 31 is located in the oil passage connecting the pilot pump 15 and the pilot port of the corresponding control valve within the control valve unit 17, and is configured to change the flow area of ​​this oil passage. In this embodiment, the proportional valve 31 operates according to a control command output by the controller 30. Therefore, the controller 30 can supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve within the control valve unit 17 via the proportional valve 31, independent of the operator's operation of the operating device 26. Furthermore, the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

[0099] With this structure, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when no operation is performed on the specific operating device 26. Furthermore, even when the specific operating device 26 is operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26.

[0100] For example, such as Figure 4A As shown, the left operating lever 26L is used to operate the boom 5. Specifically, the left operating lever 26L uses the working oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the forward / backward direction to the pilot port of the control valve 176. More specifically, when the operation is performed in the boom retraction direction (rearward direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Furthermore, when the operation is performed in the boom opening direction (forward direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0101] A switch NS is provided on the left operating lever 26L. In this embodiment, the switch NS is a push-button switch located at the front end of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS can also be located on the right operating lever 26R, or in other locations within the cab 10.

[0102] The operation sensor 29LA detects the operation performed by the operator on the left operating lever 26L in the forward and backward direction, and outputs the detected value to the controller 30.

[0103] Proportional valve 31AL operates according to a control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31AL to the right pilot port of control valve 176L and the left pilot port of control valve 176R. Proportional valve 31AR operates according to a control command (current command) output by controller 30. It also adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31AR to the left pilot port of control valve 176L and the right pilot port of control valve 176R. Proportional valve 31AL can adjust the pilot pressure in a way that allows control valves 176L and 176R to be stopped at any valve position. Similarly, proportional valve 31AR can adjust the pilot pressure in a way that allows control valves 176L and 176R to be stopped at any valve position.

[0104] With this structure, the controller 30 can supply working oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, based on the stick retraction operation performed by the operator. Furthermore, the controller 30 can supply working oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the stick retraction operation performed by the operator. That is, the controller 30 can retract the stick 5 either based on the stick retraction operation performed by the operator or regardless of the stick retraction operation performed by the operator.

[0105] Furthermore, the controller 30 can supply working oil discharged from the pilot pump 15 via the proportional valve 31AR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R according to the boom opening operation performed by the operator. Also, the controller 30 can supply working oil discharged from the pilot pump 15 via the proportional valve 31AR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R independently of the boom opening operation performed by the operator. That is, the controller 30 can open the boom 5 either according to the boom opening operation performed by the operator or independently of the boom opening operation performed by the operator.

[0106] Furthermore, through this structure, even when the operator performs the boom retraction operation, the controller 30 can reduce the pilot pressure acting on the closed-side pilot port of the control valve 176 (the left pilot port of control valve 176L and the right pilot port of control valve 176R) as needed, forcibly stopping the boom 5 retraction action. The same applies to the case where the boom 5 is forcibly stopped when the operator performs the boom opening operation.

[0107] Alternatively, even when the operator retracts the stick, the controller 30 can, as needed, control the proportional valve 31AR to increase the pilot pressure acting on the open pilot port of the control valve 176 (the right pilot port of control valve 176L and the left pilot port of control valve 176R), located on the side opposite to the closed pilot port of control valve 176, forcibly returning control valve 176 to the neutral position, thereby forcibly stopping the retraction of the stick 5. The same applies to the case where the stick opening operation is forcibly stopped when the operator opens the stick.

[0108] Furthermore, the following references are omitted. Figures 4B to 4D The explanation provided is the same, but the situations regarding forcibly stopping the movement of boom 4 when the operator performs boom raising or lowering operations, forcibly stopping the movement of bucket 6 when the operator performs bucket retraction or opening operations, and forcibly stopping the rotation of the upper slewing body 3 when the operator performs slewing operations are also the same. Furthermore, the situations regarding forcibly stopping the movement of the lower traveling body 1 when the operator performs traveling operations are also the same.

[0109] And, as Figure 4B As shown, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses the working oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the forward / backward direction to the pilot port of the control valve 175. More specifically, when the operation is performed in the boom lifting direction (rearward direction), the right operating lever 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Furthermore, when the operation is performed in the boom lowering direction (forward direction), the right operating lever 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0110] The operation sensor 29RA detects the operation performed by the operator on the right operating lever 26R in the forward and backward direction, and outputs the detected value to the controller 30.

[0111] Proportional valve 31BL operates according to the control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31BL to the right pilot port of control valve 175L and the left pilot port of control valve 175R. Proportional valve 31BR operates according to the control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31BR to the right pilot port of control valve 175R. Proportional valve 31BL can adjust the pilot pressure in a way that allows control valves 175L and 175R to be stopped at any valve position. Proportional valve 31BR can adjust the pilot pressure in a way that allows control valve 175R to be stopped at any valve position.

[0112] With this structure, the controller 30 can supply working oil discharged from the pilot pump 15 via the proportional valve 31BL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R according to the boom lifting operation performed by the operator. Furthermore, the controller 30 can supply working oil discharged from the pilot pump 15 via the proportional valve 31BL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R independently of the boom lifting operation performed by the operator. That is, the controller 30 can lift the boom 4 either according to the boom lifting operation performed by the operator or independently of the boom lifting operation performed by the operator.

[0113] Furthermore, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR according to the boom lowering operation performed by the operator. Also, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR regardless of the boom lowering operation performed by the operator. That is, the controller 30 can lower the boom 4 either according to the boom lowering operation performed by the operator or regardless of the boom lowering operation performed by the operator.

[0114] And, as Figure 4C As shown, the right operating lever 26R is used to operate the bucket 6. Specifically, the right operating lever 26R uses the working oil discharged by the pilot pump 15 to apply pilot pressure corresponding to the operation in the left and right directions to the pilot port of the control valve 174. More specifically, when the operation is performed in the bucket retraction direction (left direction), the right operating lever 26R applies pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174. And, when the operation is performed in the bucket opening direction (right direction), the right operating lever 26R applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174.

[0115] The operation sensor 29RB detects the operation performed by the operator on the right operating lever 26R in the left and right directions, and outputs the detected value to the controller 30.

[0116] Proportional valve 31CL operates according to the control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31CL to the left pilot port of control valve 174. Proportional valve 31CR operates according to the control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31CR to the right pilot port of control valve 174. Proportional valve 31CL can adjust the pilot pressure in a way that allows control valve 174 to stop at any valve position. Similarly, proportional valve 31CR can adjust the pilot pressure in a way that allows control valve 174 to stop at any valve position.

[0117] With this structure, the controller 30 can supply working oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL according to the bucket retraction operation performed by the operator. Furthermore, the controller 30 can supply working oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL regardless of the bucket retraction operation performed by the operator. That is, the controller 30 can retract the bucket 6 either according to the bucket retraction operation performed by the operator or without the bucket retraction operation performed by the operator.

[0118] Furthermore, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR according to the bucket opening operation performed by the operator. Also, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR regardless of the bucket opening operation performed by the operator. That is, the controller 30 can open the bucket 6 either according to the bucket opening operation performed by the operator or regardless of the bucket opening operation performed by the operator.

[0119] And, as Figure 4D As shown, the left operating lever 26L is also used to operate the rotary mechanism 2. Specifically, the left operating lever 26L uses the working oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left and right directions to the pilot port of the control valve 173. More specifically, when the operation is performed in the left rotary direction (left direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. And, when the operation is performed in the right rotary direction (right direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0120] The operation sensor 29LB detects the operation performed by the operator on the left and right control lever 26L and outputs the detected value to the controller 30.

[0121] Proportional valve 31DL operates according to the control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31DL to the left pilot port of control valve 173. Proportional valve 31DR operates according to the control command (current command) output by controller 30. It adjusts the pilot pressure generated by the working oil introduced from pilot pump 15 via proportional valve 31DR to the right pilot port of control valve 173. Proportional valve 31DL can adjust the pilot pressure in a way that allows control valve 173 to stop at any valve position. Similarly, proportional valve 31DR can adjust the pilot pressure in a way that allows control valve 173 to stop at any valve position.

[0122] With this structure, the controller 30 can supply working oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL according to the left turn operation performed by the operator. Furthermore, the controller 30 can supply working oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL regardless of the left turn operation performed by the operator. That is, the controller 30 can cause the slewing mechanism 2 to rotate leftward either according to the left turn operation performed by the operator or without the left turn operation performed by the operator.

[0123] Furthermore, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR based on the right turn operation performed by the operator. Also, the controller 30 can supply working oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR regardless of the right turn operation performed by the operator. In other words, the controller 30 can cause the slewing mechanism 2 to rotate to the right either based on or without the right turn operation performed by the operator.

[0124] The excavator 100 may have a structure that enables the lower traveling body 1 to move forward and backward automatically. In this case, the hydraulic system parts related to the operation of the left travel hydraulic motor 2ML and the hydraulic system parts related to the operation of the right travel hydraulic motor 2MR may be configured to be the same as the hydraulic system parts related to the operation of the boom cylinder 7.

[0125] Furthermore, the excavator 100 may have a structure that enables the bucket tilting mechanism to operate automatically. In this case, the hydraulic system components related to the bucket tilting cylinder constituting the bucket tilting mechanism may be configured to be the same as the hydraulic system components related to the operation of the boom cylinder 7.

[0126] Furthermore, while an electric operating lever (operating device 26) has been described, a hydraulic operating lever can also be used instead of an electric one. In this case, the lever operation amount of the hydraulic operating lever can be detected in pressure form by a pressure sensor and input to the controller 30. Additionally, a solenoid valve can be configured between the operating device 26 (hydraulic operating lever) and the pilot port of each control valve. The solenoid valve is configured to operate based on an electrical signal from the controller 30. With this configuration, if manual operation is performed using the operating device 26 (hydraulic operating lever), the operating device 26 increases or decreases the pilot pressure according to the lever operation amount, thereby moving each control valve. Furthermore, each control valve can be configured as a solenoid spool valve. In this case, the solenoid spool valve operates based on an electrical signal from the controller 30 corresponding to the lever operation amount of the electric operating lever.

[0127] Next, refer to Figure 5 The functions of controller 30 are explained. Figure 5 This is a functional block diagram of controller 30. Figure 5 In the example, the controller 30 is configured to receive signals output by at least one of the information acquisition device E1 and the switch NS to perform various operations and output control commands to the proportional valve 31, etc.

[0128] Information acquisition device E1 detects information related to excavator 100. In this embodiment, information acquisition device E1 includes at least one of the following: boom angle sensor S1, stick angle sensor S2, bucket angle sensor S3, body posture sensor S4, slewing angle sensor S5, boom rod pressure sensor, boom bottom pressure sensor, stick rod pressure sensor, stick bottom pressure sensor, bucket rod pressure sensor, bucket bottom pressure sensor, boom cylinder stroke sensor, stick cylinder stroke sensor, bucket cylinder stroke sensor, ejection pressure sensor 28, operation sensor 29, spatial recognition device 70, orientation detection device 71, input device 72, positioning device 73, and communication device T1. The information acquisition device E1 acquires, for example, at least one of the following information related to the excavator 100: boom angle, stick angle, bucket angle, body tilt angle, slewing angular velocity, boom stick pressure, boom bottom pressure, stick stick pressure, stick bottom pressure, bucket stick pressure, bucket bottom pressure, boom travel, stick travel, bucket travel, discharge pressure of the main pump 14, operation amount of the operating device 26, information related to objects existing in the three-dimensional space around the excavator 100, information related to the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1, information input to the controller 30, and information related to the current position. Furthermore, the information acquisition device E1 can also acquire information from other machinery (construction machinery or flying objects used for on-site information acquisition, etc.).

[0129] The controller 30 has a position calculation unit 30A, a track acquisition unit 30B, and an automatic control unit 30C as functional components. Each functional component can be constructed by hardware or software. For ease of explanation, the position calculation unit 30A, track acquisition unit 30B, automatic control unit 30C, and working angle control unit 30D are shown separately, but they do not need to be physically distinguished and can also be constructed by software or hardware components that are generally applicable as a whole or in parts.

[0130] The position calculation unit 30A is configured to calculate the position of the object being measured. In this embodiment, the position calculation unit 30A calculates the coordinates of a specified part of the auxiliary device AT in a reference coordinate system. The specified part is, for example, the tip of the bucket 6. Specifically, the tip of the bucket 6 is the tip of the central claw among the plurality of claws mounted on the front end of the bucket 6. However, the tip of the bucket 6 may also be the tip of the left claw among the plurality of claws mounted on the front end of the bucket 6, or it may be the tip of the right claw among the plurality of claws mounted on the front end of the bucket 6. The origin of the reference coordinate system is, for example, the intersection of the rotation axis and the ground contact surface of the excavator 100. The reference coordinate system is, for example, an XYZ rectangular coordinate system, and has an X-axis parallel to the front-rear axis of the excavator 100, a Y-axis parallel to the left-right axis of the excavator 100, and a Z-axis parallel to the rotation axis of the excavator 100. The position calculation unit 30A calculates the coordinates of the tip of the bucket 6 based on the rotation angles of the boom 4, stick 5, and bucket 6, for example. The position calculation unit 30A can calculate not only the coordinates of the tip of the central claw, but also the coordinates of the tips of the left and right claws. In this case, the position calculation unit 30A can utilize the output of the machine posture sensor S4. Furthermore, the specified location can be a point on the bottom surface of the bucket 6 or a point on the opening surface of the bucket 6.

[0131] The track acquisition unit 30B is configured to acquire the target track, which is the track followed by a predetermined part of the auxiliary device AT when the excavator 100 is automatically operated. In this embodiment, the track acquisition unit 30B acquires the target track used by the automatic control unit 30C when the excavator 100 is automatically operated. Specifically, the track acquisition unit 30B derives the target track based on data related to the design surface stored in a non-volatile storage device. The track acquisition unit 30B may also derive the target track based on information related to the terrain around the excavator 100 identified by the spatial recognition device 70. Alternatively, the track acquisition unit 30B may derive information related to the past trajectory of the tip of the bucket 6 based on past outputs of the posture detection device stored in a volatile storage device, and derive the target track based on this information. Alternatively, the track acquisition unit 30B may derive the target track based on the current position of a predetermined part of the auxiliary device AT and data related to the design surface.

[0132] The automatic control unit 30C is configured to enable the excavator 100 to operate automatically. In this embodiment, the automatic control unit 30C is configured to move a predetermined part of the auxiliary device AT along a target track acquired by the track acquisition unit 30B when predetermined start conditions are met. Specifically, when the operating device 26 is operated while the switch NS is pressed, the excavator 100 is automatically operated to move the predetermined part along the target track.

[0133] In this embodiment, the automatic control unit 30C is configured to support manual operation of the excavator 100 by automatically operating the actuators. For example, when the operator manually retracts the boom while pressing the switch NS, the automatic control unit 30C can automatically extend or retract at least one of the boom cylinder 7, boom cylinder 8, and bucket cylinder 9 to align the target track with the tip of the bucket 6. At this time, the operator can retract the boom 5 simultaneously by operating the left operating lever 26L in the boom retraction direction, for example, aligning the tip of the bucket 6 with the target track.

[0134] In this embodiment, the automatic control unit 30C applies a control command (current command) to the proportional valve 31 to individually adjust the pilot pressure acting on the control valve corresponding to each actuator, thereby enabling each actuator to operate automatically. For example, regardless of whether the right operating lever 26R is tilted, at least one of the boom cylinder 7 and bucket cylinder 9 can be actuated.

[0135] The working angle control unit 30D is configured to control the working angle θ. The working angle θ is the angle formed by a surface or line determined according to the shape of the bucket 6 and the design surface. In this embodiment, the working angle control unit 30D is configured to perform control that makes the working angle θ follow the target angle θT.

[0136] Here, for reference Figure 6A and Figure 6B The working angle θ is explained. Figure 6A and Figure 6B This is a graph showing the relationship between the working angle θ, the movement speed V, and the separation distance L. Specifically, Figure 6A This is a side view of bucket 6 as seen from the -Y side. Figure 6B It is a graph showing the relationship between the target angle θT of the working angle θ, the action speed V, and the separation distance L.

[0137] The operating angle θ is the angle formed by the surface or line determined according to the shape of the bucket 6 and the design surface DS. Figure 6AIn the example shown, the design plane DS is located below the ground surface GS. Furthermore, the working angle θ is the angle formed between the imaginary plane BS, which includes the opening face of the bucket 6, and the design plane DS. However, the working angle θ can also be the angle formed between the imaginary plane BT, which includes the bottom surface of the bucket 6, and the design plane DS, or it can be the angle formed between the imaginary plane BK, which includes the back surface of the bucket 6, and the design plane DS. Additionally, in Figure 6A In the example shown, bucket 6 is positioned higher than the ground level of the work object, and the design surface DS is covered by sand and not exposed.

[0138] The action speed V is the moving speed of the control reference point. The control reference point is the point that serves as the reference when controlling the operating angle θ, for example, corresponding to a point on a designated location of the auxiliary device AT. Figure 6A and Figure 6B In the example shown, the designated part of the auxiliary device AT is the tip 6A of the bucket 6. Specifically, the tip 6A is the tip of the central claw among the multiple claws mounted at the front end of the bucket 6. Furthermore, in Figure 6A and Figure 6B In the example shown, the operator of the excavator 100 retracts the stick. Therefore, the bucket 6 moves downwards and closer to the upper rotating body 3. That is, the operating velocity V of the tip 6A is represented by a vector having components in the -X and -Z directions.

[0139] The separation distance L is the distance between the control reference point and the design surface DS. Figure 6A and Figure 6B In the example shown, the separation distance L is the vertical distance between the tip 6A of the bucket 6 and the design surface DS. However, the separation distance L can also be the distance (journey) of the tip 6A along its path when it approaches the design surface DS.

[0140] The working angle control unit 30D calculates the working angle θ, the operating speed V, and the separation distance L based on the output of the information acquisition device E1. Specifically, the working angle control unit 30D calculates the coordinates of the tip 6A of the bucket 6 based on the output of the information acquisition device E1. Furthermore, the working angle control unit 30D calculates the operating speed V (distance traveled per unit time) of the tip 6A based on the coordinates of the tip 6A at the first and second moments. Additionally, the working angle control unit 30D calculates the coordinates of the bucket pin 6B based on the output of the information acquisition device E1. The bucket pin 6B is a pin used to connect the boom 5 and the bucket 6. Finally, the working angle control unit 30D calculates the separation distance L based on the coordinates of the tip 6A and the data related to the design surface DS stored in the non-volatile storage device.

[0141] exist Figure 6A and Figure 6B In the example shown, the work angle control unit 30D is configured to derive the target angle θT of the work angle θ based on the current operating speed V and the current separation distance L. Specifically, the work angle control unit 30D references and stores data such as... Figure 6B The target angle θT corresponding to the current action speed V and the current separation distance L is derived from the database of the correspondence between the target angle θT, action speed V and separation distance L shown in the chart.

[0142] Figure 6B The chart shown is plotted with the target angle θT on the vertical axis and the separation distance L on the horizontal axis. Furthermore, in Figure 6B The chart shown uses solid lines, dashed lines, and dotted lines to represent the relationship between the separation distance L of each stage of the three-stage motion velocity V and the target angle θT. Furthermore, Figure 6B The charts shown illustrate the following: When bucket 6 is positioned higher than the design plane DS (when the separation distance L is positive), the larger the absolute value of the separation distance L, the larger the target angle θT; and the larger the absolute value of the action speed V, the larger the target angle θT. Furthermore, Figure 6B The chart shown illustrates the following: When bucket 6 is positioned lower than the design plane DS (when the separation distance L is negative), the larger the absolute value of the separation distance L, the smaller the target angle θT; similarly, the larger the absolute value of the action speed V, the smaller the target angle θT. That is, Figure 6B The diagram illustrates the following: the higher the bucket 6 moves away from the design surface DS, the wider the bucket 6 opens; the lower the bucket 6 moves away from the design surface DS, the more it retracts. Furthermore, Figure 6B The chart shown illustrates the following: When the separation distance L is zero, i.e., when the tip 6A of the bucket 6 contacts the design surface DS, the target angle θT becomes θ0, independent of the magnitude of the action speed V. Furthermore, in Figure 6B In the example shown, for clarity, the motion speed V is represented by three stages, but in reality, the motion speed V is represented by more stages.

[0143] Here, for reference Figure 6B and Figures 7A to 7D An example of the process of setting (changing) the target angle θT by the working angle control unit 30D will be explained. Figures 7A to 7D This is a side view of the bucket 6 during operations such as trimming and digging or horizontal traction, and it shows the movement of the bucket 6. Furthermore, in Figures 7A to 7D In the example shown, the design surface DS is located below the ground surface GS.

[0144] Specifically, Figure 7A This indicates the position of bucket 6 at time t1. Figure 7BThis indicates the position of bucket 6 at time t2, which is slightly later than time t1. Figure 7C This indicates the position of bucket 6 at time t3, which is slightly later than time t2. Figure 7D This indicates the position of bucket 6 at time t4, which is slightly later than time t3. Furthermore, Figure 7B The graphic representation of bucket 6 using dotted lines shows the position of bucket 6 at a past time (time t1). Figure 7C and Figure 7D The same applies to China.

[0145] At time t1, bucket 6 is located Figure 7A At the position shown, the working angle control unit 30D determines the position based on the current action speed V1, the current separation distance L3, and stored data. Figure 6B The database showing the corresponding relationships is used to derive the value θ3 of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to make the working angle θ consistent with the value θ3 of the target angle θT. Specifically, the working angle control unit 30D makes the working angle θ consistent with the value θ3 of the target angle θT by outputting control commands to at least one of the proportional valves 31CL and 31CR to open or retract the bucket 6. Alternatively, the working angle control unit 30D can also make the working angle θ consistent with the value θ3 of the target angle θT by executing at least one of raising or lowering the boom 4, opening or retracting the stick 5, and opening or retracting the bucket 6. The working angle control unit 30D can also make the working angle θ consistent with the value θ3 of the target angle θT without opening or retracting the bucket 6.

[0146] Furthermore, at time t2, bucket 6 is located Figure 7B At the position shown, the working angle control unit 30D determines the position based on the current action speed V1, the current separation distance L2, and stored data. Figure 6B The database showing the corresponding relationships is used to derive the value θ2 of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to ensure that the working angle θ matches the value θ2 of the target angle θT.

[0147] Furthermore, at time t3, bucket 6 is located Figure 7C At the position shown, the working angle control unit 30D determines the position based on the current action speed V value V1, the current separation distance L value L1, and the stored values. Figure 6B The database showing the corresponding relationships is used to derive the value θ1 of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to ensure that the working angle θ matches the value θ1 of the target angle θT.

[0148] Similarly, at time t4, bucket 6 is located Figure 7DAt the position shown, the working angle control unit 30D determines the position based on the current operating speed V1, the current separation distance L, and the stored values. Figure 6B The database showing the corresponding relationships is used to derive the value θ0 of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to make the working angle θ consistent with the value θ0 of the target angle θT. In this embodiment, when the working angle θ is θ0, as... Figure 7D As shown, the bottom surface of the bucket 6 is aligned with the design surface DS (parallel to each other). Therefore, the operator pulls the bucket 6 towards the upper rotating body 3 in its original posture (posture at time t4), thereby exposing the design surface DS. However, the value θ0 can be any value preset or dynamically set by the operator of the excavator 100. Furthermore, the alignment of the bottom surface of the bucket 6 with the design surface DS also has an allowable width of approximately tens of millimeters. When the bottom surface of the bucket 6 is within the preset allowable width relative to the design surface DS, the controller 30 determines that the bottom surface of the bucket 6 is aligned with the design surface DS.

[0149] In addition, Figure 6B In the correspondence shown, the action speed V is set as the moving speed of the tip 6A of the bucket 6, that is, the norm (magnitude) of the moving speed of the tip 6A. However, the action speed V can also be the norm (magnitude) of the horizontal component of the moving speed of the tip 6A, or the norm (magnitude) of the vertical component of the moving speed of the tip 6A.

[0150] and, Figure 6B The relationship shown is set so that the target angle θT increases linearly with the increase of the separation distance L, but it can also be set to increase non-linearly.

[0151] and, Figure 6B The relationship shown is set such that the ratio of the increase in target angle θT to the increase in separation distance L increases linearly with the increase in action speed V, but it can also be set to increase non-linearly.

[0152] and, Figure 6B The correspondence shown is stored as a database in a non-volatile storage device, but it can also be represented numerically. For example, the target angle θT related to the working angle θ can be expressed as a function with the separation distance L and the action speed V as independent variables.

[0153] Furthermore, in the above embodiment, the tip 6A of the bucket 6 is used as the control reference point, but other parts besides the tip 6A of the bucket 6 can also be used as the control reference point. Also, in the above embodiment, the vertical distance between the control reference point (the tip 6A of the bucket 6) and the design surface DS is used as the separation distance L, but any distance other than the vertical distance can also be used as the separation distance L.

[0154] Here, for reference Figure 8A and Figure 8B Another example of the control reference point and the separation distance L is explained. Figure 8A and Figure 8B This is a side view of bucket 6, positioned higher than the design plane DS. Specifically, Figure 8A Another example representing a control reference point, Figure 8B This represents another example of the separation distance L. Additionally, in Figure 8A and Figure 8B In the example shown, the design surface DS is located below the ground surface GS.

[0155] exist Figure 8A In the example shown, the point closest to the design surface DS (nearest point 6C) among multiple points on the outer surface of the bucket 6 is used as the control reference point. Furthermore, the separation distance L is the vertical distance between the nearest point 6C and the design surface DS. Additionally, in Figure 8A At the time shown, the nearest point 6C is the point corresponding to the rear end of the bottom surface BT of the bucket 6. However, the point on the auxiliary device AT (bucket 6) corresponding to the nearest point 6C is different depending on the posture of the bucket 6 at that time. However, the controller 30 can also continue to use the point on the auxiliary device AT (bucket 6) that is the nearest point 6C at a specified time as the nearest point 6C even after that point is no longer the actual nearest point.

[0156] exist Figure 8B In the example shown, with Figure 8A Similarly, the nearest point 6C located at the rear end of the bottom surface BT of the bucket 6 is used as the control reference point. Furthermore, the separation distance L is the distance between the nearest point 6C and the intersection point CP. Additionally, in... Figure 8B In the example shown, the intersection point CP is the intersection of the circumference of the circle centered on the boom foot pin and passing through the control reference point (nearest point 6C) with the design surface DS.

[0157] Next, refer to Figures 9A to 9D Another example of the process of setting (changing) the target angle θT by the working angle control unit 30D will be explained. Figures 9A to 9D This is a side view of the bucket 6 during operations such as trimming and excavation or horizontal traction, and it shows the movement of the bucket 6. Additionally, in Figures 9A to 9D In the example shown, the design surface DS is located below the ground surface GS.

[0158] Specifically, Figure 9A This indicates the position of bucket 6 at time t1. Figure 9B This indicates the position of bucket 6 at time t2, which is slightly later than time t1. Figure 9C This indicates the position of bucket 6 at time t3, which is slightly later than time t2. Figure 9DThis indicates the position of bucket 6 at time t4, which is slightly later than time t3. Furthermore, Figure 9B The graphic representation of bucket 6 using dotted lines shows the position of bucket 6 at a past time (time t1). Figure 9C and Figure 9D The same applies to China.

[0159] Figures 9A to 9D The example shown is similar in that the control reference point (the tip 6A of the bucket 6) is located at a position lower than the imaginary plane including the design surface DS. Figures 7A to 7D The examples shown are different. Therefore, Figures 9A to 9C The values ​​of the separation distance L, L3D, L2D, and L1D, are negative. Additionally, in... Figures 7A to 7D In the example shown, the control reference point (the tip 6A of the bucket 6) is located at a higher position than the imaginary plane including the design surface DS. Therefore, Figures 7A to 7C The values ​​of the separation distance L in the figure are positive: L3, L2, and L1.

[0160] At time t1, bucket 6 is located Figure 9A At the position shown, the working angle control unit 30D determines the position based on the current motion speed V1, the current separation distance L3D, and stored data. Figure 6B The database showing the corresponding relationships is used to derive the value θ3D of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to make the working angle θ consistent with the value θ3D of the target angle θT. Specifically, the working angle control unit 30D makes the working angle θ consistent with the value θ3D of the target angle θT by outputting control commands to at least one of the proportional valves 31CL and 31CR to open or retract the bucket 6. Alternatively, the working angle control unit 30D can also make the working angle θ consistent with the value θ3D of the target angle θT by executing at least one of raising or lowering the boom 4, opening or retracting the stick 5, and opening or retracting the bucket 6.

[0161] Furthermore, at time t2, bucket 6 is located Figure 9B At the position shown, the working angle control unit 30D determines the position based on the current action speed V1, the current separation distance L2D, and stored data. Figure 6B The database showing the corresponding relationships is used to derive the value θ2D of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to ensure that the working angle θ matches the value θ2D of the target angle θT.

[0162] Furthermore, at time t3, bucket 6 is located Figure 9C At the position shown, the working angle control unit 30D determines the position based on the current action speed V value V1, the current separation distance L value L1D, and stored data. Figure 6BThe database showing the corresponding relationships is used to derive the value θ1D of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to ensure that the working angle θ matches the value θ1D of the target angle θT.

[0163] Similarly, at time t4, bucket 6 is located Figure 9D At the position shown, the working angle control unit 30D determines the position based on the current operating speed V1, the current separation distance L, and the stored values. Figure 6B The database showing the corresponding relationships is used to derive the value θ0 of the target angle θT related to the working angle θ. Furthermore, the working angle control unit 30D performs control to make the working angle θ consistent with the value θ0 of the target angle θT. In this embodiment, when the working angle θ is θ0, as... Figure 9D As shown, the bottom surface of the bucket 6 is aligned with the design surface DS (parallel to each other). Therefore, the operator pulls the bucket 6 towards the upper rotating body 3 in its original position, thereby exposing the design surface DS. However, the value θ0 can be any value preset or dynamically set by the operator of the excavator 100.

[0164] As described above, the excavator 100 according to the embodiments of the present invention includes: a lower traveling body 1; an upper slewing body 3 rotatably mounted on the lower traveling body 1; an excavation auxiliary device, an example of an auxiliary device AT mounted on the upper slewing body 3; a posture detection device for detecting the posture of the auxiliary device AT, the posture detection device including a boom angle sensor S1, a stick angle sensor S2, a bucket angle sensor S3, a body posture sensor S4, and a slewing angle sensor S5; and a controller 30 as a control device for calculating a target angle θT related to the working angle θ, the working angle θ being determined by a surface or line (e.g., referring to the shape of the bucket 6 included in the auxiliary device AT) based on the shape of the surface or line. Figure 6A The imaginary plane BS, including the opening surface of the bucket 6, forms with the design plane DS. Furthermore, the controller 30 is configured to change the target angle θT based on the posture of the auxiliary device AT and information related to the design plane DS. The information related to the design plane DS includes, for example, information related to the position of the design plane DS.

[0165] The structure is designed to automatically adjust the operating angle θ of the auxiliary device AT, thus achieving smoother operation. For example, even during horizontal traction operations where the bucket 6 is pulled horizontally towards the machine body along the horizontally extending target track (design surface DS), the bucket tip 6A can be positioned in a way that facilitates ground penetration when the bucket 6 is brought close to the target track (design surface DS) in the vertical direction. Therefore, the structure allows the bucket tip 6A to be inserted into the sand at an appropriate angle even when sand remains on the design surface DS. Furthermore, after the tip 6A is inserted into the sand, its orientation gradually approaches the horizontal direction, ensuring that the tip 6A is aligned with the design surface DS at a horizontal position. That is, the structure is as follows: the posture of the auxiliary device AT is controlled so that the angle formed between the bottom surface of the bucket 6 and the design surface DS decreases as the bucket 6 approaches the design surface DS, and then, when the tip 6A is aligned with the design surface DS, the posture of the auxiliary device AT can be controlled to make the bottom surface of the bucket 6 parallel to the design surface DS. Thus, the structure is such that it prevents the function of orienting the tip 6A of the bucket 6 towards the horizontal direction for horizontal traction operations from becoming an obstacle when excavating sand remaining on the design surface DS.

[0166] The controller 30 can be configured to change the target angle θT based on the distance (separation distance L) between the bucket 6 and the design surface DS. Furthermore, the controller 30 can also be configured to change the target angle θT based on the operating speed V of the bucket 6. Alternatively, the controller 30 can be configured to change the target angle θT independently of the operating speed V of the bucket 6.

[0167] Furthermore, the controller 30 can be configured to perform control that causes the working angle θ to follow the target angle θT. For example, as Figures 7A to 7D As shown, the controller 30 can be configured to control the auxiliary device AT to retract the bucket 6 as it approaches the design surface DS from a position higher than the design surface DS. Specifically, the controller 30 can automatically extend the bucket cylinder 9 to retract the bucket 6 as it approaches the design surface DS from a position higher than the design surface DS. Alternatively, the controller 30 can automatically retract the boom 5 to retract the bucket 6 as it approaches the design surface DS from a position higher than the design surface DS. Alternatively, the controller 30 can automatically retract both the boom 5 and the bucket 6 separately to retract the bucket 6 as it approaches the design surface DS from a position higher than the design surface DS.

[0168] like Figures 9A to 9DAs shown, the controller 30 can control the auxiliary device AT to cause the bucket 6 to open as it approaches the design surface DS, which is located at a position lower than the design surface DS. For example, the controller 30 can automatically retract the bucket cylinder 9 to cause the bucket 6 to open as it approaches the design surface DS, which is located at a position lower than the design surface DS. Alternatively, the controller 30 can automatically extend the boom 5 to cause the bucket 6 to open as it approaches the design surface DS, which is located at a position lower than the design surface DS. Alternatively, the controller 30 can automatically extend both the boom 5 and the bucket 6 separately to cause the bucket 6 to open as it approaches the design surface DS, which is located at a position lower than the design surface DS. This structure, for example, can ensure that in the event of over-digging beyond the design surface DS, i.e., when the shovel tip 6A disengages downward from the target track (design surface DS), it can smoothly return the shovel tip 6A to the target track (design surface DS). Furthermore, this structure can prevent further over-digging.

[0169] Next, another embodiment will be described with reference to the accompanying drawings.

[0170] For example, a technique for changing the angle of the bucket based on the working environment (the hardness of the ground to be excavated) is known (see Patent Document 2).

[0171] However, the technology described in Patent Document 2 only automatically changes the angle of the bucket. Therefore, for example, when the auxiliary device is used to perform digging operations fully or semi-automatically through the Machine Control (MC) function, it is necessary to set a target trajectory for the bucket that matches the working environment.

[0172] Therefore, it is preferable to provide a technology that allows for easy setting of the target trajectory of the bucket during excavation by an excavator.

[0173] The excavator 100 described in another embodiment below can easily set the target track of the bucket 6 during excavation.

[0174] [Overview of Excavators]

[0175] First, refer to Figure 1 , Figure 2 An overview of the excavator 100 according to another embodiment will be described.

[0176] Figure 1 This is a side view of the excavator 100 according to another embodiment. Figure 2 This is a top view of the excavator 100 according to another embodiment.

[0177] like Figure 1 , Figure 2As shown, another embodiment of the excavator 100 includes: a lower traveling body 1; an upper slewing body 3, rotatably mounted on the lower traveling body 1 via a slewing mechanism 2; an auxiliary device AT for performing various operations; and a cab 10. Hereinafter, when viewing the excavator 100 from directly above (top view) along the axis of rotation of the upper slewing body 3, the front of the excavator 100 (upper slewing body 3) corresponds to the direction in which the auxiliary device extends relative to the upper slewing body 3. Furthermore, the left and right sides of the excavator 100 (upper slewing body 3) correspond to the left and right sides as viewed from the operator's side, seated in the cab 10.

[0178] Additionally, as will be described later, the cab 10 may be omitted when the excavator 100 is operated remotely or when it is operated in a fully automatic manner.

[0179] The lower traveling body 1 includes, for example, a pair of tracks 1C, left and right. Specifically, the tracks 1C include a left track 1CL and a right track 1CR. The lower traveling body 1 is powered by a left travel hydraulic motor 2ML and a right travel hydraulic motor 2MR (see reference). Figure 3 The excavator 100 is driven by hydraulic power through the left track 1CL and the right track 1CR.

[0180] The upper rotating body 3 rotates relative to the lower traveling body 1 by hydraulically driving the rotating mechanism 2 via the rotating hydraulic motor 2A.

[0181] The auxiliary device AT (an example of an operating auxiliary device) includes a boom 4, a stick 5, and a bucket 6.

[0182] The boom 4 is mounted in the center of the front part of the upper slewing body 3 in a tilting manner. The stick 5 is mounted on the front end of the boom 4 in a rotatable manner, and the bucket 6 is mounted on the front end of the stick 5 in a rotatable manner.

[0183] The bucket 6 is an example of an end-connection attachment. The bucket 6 is used, for example, in excavation operations. Furthermore, other end-connection attachments can be installed at the front end of the boom 5 to replace the bucket 6, depending on the work being performed. These other end-connection attachments can be, for example, large buckets, slope buckets, dredging buckets, or other types of buckets. Moreover, these other end-connection attachments can be types other than buckets, such as mixer buckets, crusher buckets, and grab buckets.

[0184] The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, which are respectively hydraulic actuators.

[0185] Furthermore, the excavator 100 can be a structure in which some of the driven components, such as the lower walking body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6, are electrically driven. That is, the excavator 100 can be a hybrid excavator or an electric excavator, etc., in which some of the driven components are driven by electric actuators.

[0186] The driver's cab 10 is the cockpit for the operator and is located on the front left side of the upper rotating body 3.

[0187] Additionally, as will be described later, the cab 10 may be omitted when the excavator 100 is operated remotely or when it is operated in a fully automatic manner.

[0188] Furthermore, the excavator 100 may be equipped with a communication device T1, and can communicate with external devices through a specified communication line.

[0189] The communication line may include, for example, a wide area network (WAN). A WAN may include, for example, a mobile communication network with base stations as terminals. Furthermore, a WAN may include, for example, a satellite communication network utilizing communication satellites above the excavator 100. A WAN may also include, for example, the Internet. The communication line may also include, for example, a local area network (LAN) of facilities equipped with external devices. A LAN may be a wireless line, a wired line, or a combination of both. Furthermore, the communication line may include, for example, a short-range communication line based on specified wireless communication methods such as WiFi or Bluetooth (registered trademark).

[0190] External devices may be, for example, management devices that manage (monitor) the operating or application status of the excavator 100. Thus, the excavator 100 can send (upload) various information to the management device or receive various signals (e.g., information signals or control signals) from the management device.

[0191] The management device may be, for example, a cloud server or a local server located in a remote location different from the work site of the excavator 100. Alternatively, the management device may be an edge server located either inside the work site of the excavator 100 (e.g., a management office at the work site) or in a location relatively close to the work site (e.g., a nearby base station or other communication facility). Furthermore, the management device may also be a management terminal device used within the work site.

[0192] Furthermore, the external device can be, for example, a terminal device (user terminal) used by the user of the excavator 100. Users of the excavator 100 include, for example, the operator, maintenance personnel, manager, and owner of the excavator 100. Thus, the excavator 100 can send various information to the user terminal to provide the user with information related to the excavator 100.

[0193] The excavator 100 operates actuators (e.g., hydraulic actuators) according to the operation of the operator sitting in the cab 10, thereby driving the lower walking body 1, upper slewing body 3, boom 4, stick 5 and bucket 6 and other moving parts (hereinafter referred to as "driven parts").

[0194] Furthermore, the excavator 100 can be configured to be operated by an operator in the cab 10, or, in addition to being configured to be operated by an operator in the cab 10, to be remotely operated (remote control operation) from outside the excavator 100. When the excavator 100 is remotely operated, the cab 10 can be unmanned. The following description assumes that the operator's operation includes at least one of operation of the operating device 26 by the operator in the cab 10 and remote operation by an external operator.

[0195] Remote operation includes, for example, the following method: the excavator 100 is operated based on input from the user (operator) related to the actuator of the excavator 100, made by a designated external device (e.g., the aforementioned management device). In this case, the excavator 100 can, for example, send image information (hereinafter referred to as "surrounding image") of the excavator 100's surroundings based on the output of the spatial recognition device 70 (camera device) described later to the external device, and the image information is displayed on a display device (hereinafter referred to as "remote operation display device") installed on the external device. Furthermore, various information images (information screens) displayed on the display device D1 inside the excavator 100's cab 10 can also be similarly displayed on the remote operation display device of the external device. Thus, the operator of the external device can, for example, remotely operate the excavator 100 while checking the displayed content such as the surrounding image or various information images indicating the state of the excavator 100's surroundings displayed on the remote operation display device. Furthermore, the excavator 100 can also activate the actuators based on remote operation signals received from external devices that indicate remote operation content, thereby driving driven components such as the lower walking body 1, upper slewing body 3, boom 4, stick 5, and bucket 6.

[0196] Furthermore, remote operation can include, for example, operating the excavator 100 from the outside by having people (e.g., operators) around the excavator 100 input voice or gestures. Specifically, the excavator 100 recognizes voices or gestures from nearby operators using a voice input device (e.g., a microphone) or camera mounted on the excavator 100 (the machine itself). The excavator 100 can then activate actuators based on the recognized voice or gestures, thereby driving driven components such as the lower walking body 1, upper slewing body 3, boom 4, stick 5, and bucket 6.

[0197] Furthermore, the excavator 100 can automatically operate its actuators regardless of the operator's commands. Thus, the excavator 100 achieves the function of automatically operating at least a portion of the driven components, such as the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6; this is known as the "automatic operation function" or "equipment control function."

[0198] The automatic operation function may include a function that automatically operates driven components (actuators) other than the driven components (actuators) of the object being operated, based on operator operation of the operating device 26 or remote operation; this is known as a "semi-automatic operation function" or "operator support type equipment control function." Furthermore, the automatic operation function may include a function that automatically operates at least a portion of multiple driven components (hydraulic actuators) without operator operation of the operating device 26 or remote operation; this is known as a "fully automatic operation function" or "fully automatic type equipment control function." In the excavator 100, when the fully automatic operation function is active, the interior of the cab 10 can be unmanned. Furthermore, the semi-automatic or fully automatic operation functions may include automatically determining the operating content of the driven components (actuators) of the object being automatically operated according to pre-defined rules. Furthermore, the semi-automatic or fully automatic operation functions may include the following: the excavator 100 autonomously makes various judgments and autonomously determines the working content of the driven components (hydraulic actuators) of the object to be automatically operated based on its judgment results (the so-called "autonomous operation function").

[0199] [Structure of an excavator]

[0200] Next, besides Figure 1 , Figure 2 In addition, also refer to Figure 3 , Figure 10 The structure of the excavator 100 is described.

[0201] Figure 3 This is a diagram illustrating an example of the structure of the hydraulic system of an excavator 100 according to another embodiment. Figure 10 This is a diagram illustrating an example of the structure of the control system of an excavator 100 according to another embodiment.

[0202] The excavator 100 includes components such as a hydraulic drive system related to the hydraulic drive of the driven component, an operating system related to the operation of the driven component, a user interface system related to information exchange with the user, a communication system related to communication with the outside world, and a control system related to various controls.

[0203] <Hydraulic Drive System>

[0204] like Figure 3 As shown above, the hydraulic drive system of the excavator 100 according to another embodiment includes hydraulic actuators that hydraulically drive driven components such as the lower traveling body 1 (left track 1CL and right track 1CR), upper slewing body 3, boom 4, stick 5, and bucket 6. The hydraulic actuators include a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a slewing hydraulic motor 2A, a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9. Furthermore, the hydraulic drive system of the excavator 100 according to another embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17.

[0205] Engine 11 is the prime mover and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is, for example, mounted at the rear of the upper rotating body 3. Engine 11 rotates at a constant 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.

[0206] Alternatively, the excavator 100 may be equipped with other prime movers in place of the engine 11, or in addition to the engine 11. Other prime movers may be electric motors capable of driving the main pump 14 and the pilot pump 15.

[0207] The regulator 13 controls (adjusts) the output of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the ramp of the main pump 14 (hereinafter referred to as the "deflection angle") according to the control command from the controller 30. The regulator 13 includes, for example, a left regulator 13L and a right regulator 13R corresponding to the left main pump 14L and the right main pump 14R described later.

[0208] The main pump 14 supplies working oil to the control valve unit 17 via a high-pressure hydraulic line. The main pump 14 is mounted at the rear of the upper rotating body 3, similar to 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, and as described above, the piston stroke length is adjusted by regulating the deflection angle of the swashplate under the control of the controller 30, thereby controlling the discharge flow rate (discharge pressure). The main pump 14 includes, for example, a left main pump 14L and a right main pump 14R.

[0209] The control valve unit 17 is a hydraulic control device that controls the hydraulic actuators based on operator input to the operating device 26, remote operation, or operation commands related to automatic operation output from the controller 30. The control valve unit 17 is, for example, mounted in the central part of the upper rotating body 3. As described above, the control valve unit 17 is connected to the main pump 14 via a high-pressure hydraulic line and selectively supplies working oil from the main pump 14 to each hydraulic actuator according to operator input or operation commands output from the controller 30. Specifically, the control valve unit 17 includes multiple control valves (also called "direction switching valves") 171 to 176 that control the flow rate and direction of the working oil supplied from the main pump 14 to each hydraulic actuator.

[0210] like Figure 3 As shown, in the hydraulic drive system, the working oil is circulated from the left main pump 14L and the right main pump 14R driven by the engine 11 through the left intermediate bypass oil passage 40L, the right intermediate bypass oil passage 40R, the left parallel oil passage 42L, and the right parallel oil passage 42R to the working oil tank.

[0211] The left middle bypass oil line 40L starts from the left main pump 14L and passes through the control valves 171, 173, 175L and 176L arranged in the control valve unit 17 in sequence, and reaches the working oil tank.

[0212] The right middle bypass oil circuit 40R starts from the right main pump 14R, passes through the control valves 172, 174, 175R and 176R arranged in the control valve unit 17, and reaches the working oil tank.

[0213] Control valve 171 is a slide valve that supplies working oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and discharges working oil discharged from the left travel hydraulic motor 2ML to the working oil tank.

[0214] Control valve 172 is a slide valve that supplies working oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and discharges working oil discharged from the right travel hydraulic motor 2MR to the working oil tank.

[0215] Control valve 173 is a slide valve that supplies working oil discharged from the left main pump 14L to the rotary hydraulic motor 2A and discharges working oil discharged from the rotary hydraulic motor 2A to the working oil tank.

[0216] Control valve 174 is a slide valve that supplies working oil discharged from the right main pump 14R to the bucket cylinder 9 and discharges working oil in the bucket cylinder 9 to the working oil tank.

[0217] The control valve 175 includes control valves 175L and 175R. Control valves 175L and 175R are spool valves that supply working oil discharged from the left main pump 14L and the right main pump 14R to the boom cylinder 7 and discharge working oil in the boom cylinder 7 to the working oil tank, respectively.

[0218] Control valve 176 includes control valves 176L and 176R. Control valves 176L and 176R are slide valves that supply working oil discharged by the left main pump 14L and the right main pump 14R to the boom cylinder 8 and discharge working oil in the boom cylinder 8 to the working oil tank.

[0219] Control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of the working oil supplied to and discharged from the hydraulic actuator, or switch the flow direction, according to the pilot pressure acting on the pilot port.

[0220] The left parallel oil passage 42L and the left intermediate bypass oil passage 40L supply working oil from the left main pump 14L to control valves 171, 173, 175L, and 176L in parallel. Specifically, the left parallel oil passage 42L is configured to branch off from the left intermediate bypass oil passage 40L upstream of control valve 171, thereby enabling the parallel supply of working oil from the left main pump 14L to each control valve 171, 173, 175L, and 176L. Thus, if the flow of working oil through the left intermediate bypass oil passage 40L is restricted or cut off by one of the control valves 171, 173, and 175L, the left parallel oil passage 42L can supply working oil to a more downstream control valve.

[0221] The right parallel oil passage 42R and the right intermediate bypass oil passage 40R supply working oil to control valves 172, 174, 175R, and 176R in parallel. Specifically, the right parallel oil passage 42R is configured to branch off from the right intermediate bypass oil passage 40R upstream of control valve 172, thereby enabling the parallel supply of working oil from the right main pump 14R to each control valve 172, 174, 175R, and 176R. If the flow of working oil through the right intermediate bypass oil passage 40R is restricted or cut off by one of the control valves 172, 174, and 175R, the right parallel oil passage 42R can supply working oil to a more downstream control valve.

[0222] In the left intermediate bypass oil passage 40L and the right intermediate bypass oil passage 40R, a left throttle valve 18L and a right throttle valve 18R are installed between the downstream control valves 176L and 176R and the working oil tank. Thus, the flow of working oil discharged from the left main pump 14L and the right main pump 14R is restricted by the left throttle valve 18L and the right throttle valve 18R. Furthermore, the left throttle valve 18L and the right throttle valve 18R generate control pressures for controlling the left regulator 13L and the right regulator 13R.

[0223] Operating System

[0224] like Figure 3 , Figure 10 As shown, the operating system of the excavator 100 in another embodiment includes a pilot pump 15, an operating device 26, a hydraulic control valve 32, and a hydraulic control valve 33.

[0225] Pilot pump 15 supplies pilot pressure to various hydraulic devices via pilot line 25. Pilot pump 15 is mounted at the rear of upper rotating body 3, for example, similar to engine 11. Pilot pump 15 is, for example, a fixed-capacity hydraulic pump and is driven by engine 11 as described above.

[0226] Alternatively, the pilot pump 15 can be omitted. In this case, the relatively high-pressure working oil discharged from the main pump 14, after being reduced to a relatively low pressure by a specified pressure reducing valve, is supplied as pilot pressure to various hydraulic equipment.

[0227] The operating device 26 is located near the operator's seat in the cab 10 and is used by the operator to operate various driven components (lower traveling body 1, upper slewing body 3, boom 4, stick 5, bucket 6, etc.). In other words, the operating device 26 is used by the operator to operate the hydraulic actuators that drive each driven component (i.e., left travel hydraulic motor 2ML, right travel hydraulic motor 2MR, slewing hydraulic motor 2A, boom cylinder 7, stick cylinder 8, and bucket cylinder 9, etc.).

[0228] like Figure 3As shown, the operating device 26 is, for example, a hydraulically pilot-operated type. The operating device 26 is connected to the control valve unit 17 via a reciprocating valve (not shown) on its secondary side pilot line. Thus, a pilot pressure corresponding to the operating state of each driven component (hydraulic actuator) in the operating device 26 can be input to the control valve unit 17 via the reciprocating valve. Therefore, the control valve unit 17 can drive each driven component (hydraulic actuator) according to the operating state in the operating device 26. The operating device 26 includes a left operating lever 26L and a right operating lever 26R for operating the stick 5 (stick cylinder 8), the upper slewing body 3 (slewing hydraulic motor 2A), the boom 4 (boom cylinder 7), and the bucket 6 (bucket cylinder 9). Furthermore, the operating device 26 includes a travel lever 26D for operating the lower traveling body 1. The travel lever 26D includes a left travel lever 26DL for operating the left track 1CL and a right travel lever 26DR for operating the right track 1CR.

[0229] The left control lever 26L is used for the rotation operation of the upper rotating body 3 and the operation of the boom 5.

[0230] The left control lever 26L, when operated from the operator's side inside the cab 10, corresponds to the forward and backward movements (i.e., the forward and backward movements of the upper slewing body 3) in the opening and retraction directions of the stick 5, respectively. When the left control lever 26L is operated forward, the working oil discharged from the pilot pump 15 outputs a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line corresponding to the stick opening action. Similarly, when the left control lever 26L is operated backward, the working oil discharged from the pilot pump 15 outputs a pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the stick retraction action. The secondary pilot lines of the left control lever 26L corresponding to stick opening and retraction are connected to the pilot ports corresponding to stick opening and retraction via reciprocating valves and control valves 176L and 176R (not shown) for stick opening and retraction, respectively.

[0231] The left and right directions (i.e., the left and right directions of the upper slewing body 3) of the left operating lever 26L as viewed from the operator's side inside the cab 10 correspond to the left and right rotation operations of the upper slewing body 3, respectively. If the left operating lever 26L is operated to the left, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 to the secondary pilot line corresponding to the left rotation of the upper slewing body 3 using the working oil discharged from the pilot pump 15. Similarly, if the left operating lever 26L is operated to the right, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 to the secondary pilot line corresponding to the right rotation of the upper slewing body 3 using the working oil discharged from the pilot pump 15. The secondary pilot lines of the left operating lever 26L corresponding to the left and right rotation of the upper slewing body 3 are connected to the pilot ports corresponding to the left and right rotation via reciprocating valves (not shown) and control valves 173 (for left and right rotation, respectively).

[0232] The right control lever 26R is used to operate the boom 4 and the bucket 6.

[0233] The forward and backward operations of the right operating lever 26R correspond to the lowering and raising operations of the boom 4, respectively. When the right operating lever 26R is operated forward, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil, and is then output to the secondary pilot line corresponding to the boom lowering action. Similarly, when the right operating lever 26R is operated backward, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil, and is then output to the secondary pilot line corresponding to the boom raising action. The secondary pilot lines of the right operating lever 26R corresponding to boom raising and lowering are connected to the pilot ports corresponding to boom raising and lowering via reciprocating valves and control valves 175L and 175R (not shown) for boom raising and lowering, respectively.

[0234] The left and right movements of the right operating lever 26R correspond to the retraction and opening movements of the bucket 6, respectively. When the right operating lever 26R is operated to the left, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil, and is then output to the secondary pilot line corresponding to the bucket retraction movement. Similarly, when the right operating lever 26R is operated to the right, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil, and is then output to the secondary pilot line corresponding to the bucket opening movement. The secondary pilot lines of the right operating lever 26R corresponding to bucket retraction and bucket opening are connected to the control unit 174 via reciprocating valves (not shown) for bucket retraction and bucket opening, respectively, and to the pilot ports corresponding to bucket retraction and bucket opening.

[0235] As described above, the left travel lever 26DL is used to operate the left track 1CL. The left travel lever 26DL can be configured to be linked with a left travel pedal (not shown). The forward and backward operations of the left travel lever 26DL correspond to the forward and backward operations of the left track 1CL, respectively. If the left travel lever 26DL is operated in the forward direction, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil discharged from the pilot pump 15 to the secondary side pilot line corresponding to the forward movement of the left track 1CL. Furthermore, if the left travel lever 26DL is operated in the backward direction, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil discharged from the pilot pump 15 to the secondary side pilot line corresponding to the backward movement of the left track 1CL. The secondary side pilot lines of the left travel lever 26DL corresponding to the forward and backward movements of the left track 1CL are connected to the pilot ports corresponding to the left forward and left backward movements via reciprocating valves (not shown) and control valves 171 (not shown) for left forward and left backward movements, respectively.

[0236] As described above, the right travel lever 26DR is used for operating the right track 1CR. The right travel lever 26DR can be configured to be linked with a right travel pedal (not shown). The forward and backward operations of the right travel lever 26DR correspond to the forward and backward operations of the right track 1CR, respectively. If the right travel lever 26DR is operated in the forward direction, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil discharged from the pilot pump 15 to the secondary side pilot line corresponding to the forward movement of the right track 1CR. Furthermore, if the right travel lever 26DR is operated in the backward direction, the pilot pressure corresponding to the lever operation amount is output from the pilot pump 15 using the working oil discharged from the pilot pump 15 to the secondary side pilot line corresponding to the backward movement of the right track 1CR. The secondary side pilot lines of the right travel lever 26DR corresponding to the forward and backward movements of the right track 1CR are connected to the pilot ports corresponding to the right forward and right backward movements via reciprocating valves (not shown) and control valves 171 (not shown) for right forward and right backward movements, respectively.

[0237] A hydraulic control valve 32 is disposed in the pilot line connecting the pilot pump 15 and the reciprocating valve. The hydraulic control valve 32 uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control command (control current) from the controller 30 to the secondary pilot line. The hydraulic control valve 32 is, for example, an electromagnetic proportional valve configured to change its flow area according to the control command (control current) from the controller 30. The secondary pilot line of the hydraulic control valve 32 is connected to the control valve unit 17 (the pilot ports of control valves 171-176) via the reciprocating valve. The secondary pilot line of the operating device 26 is connected to one inlet port of the reciprocating valve, and the secondary pilot line of the hydraulic control valve 32 is connected to the other inlet port. Thus, the controller 30 can cause the pilot pressure of the hydraulic control valve 32 to act on the control valve unit 17 via the reciprocating valve by outputting a pilot pressure from the hydraulic control valve 32 that is greater than the pilot pressure on the secondary side of the operating device 26. Therefore, the controller 30 can drive the hydraulic actuator independently of the operation of the operating device 26.

[0238] Furthermore, the operating devices 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) can be electrically operated, outputting an electrical signal (hereinafter referred to as "operation signal") corresponding to the operation content. In this case, the aforementioned reciprocating valve can be omitted. The output (operation signal) of the operating device 26 is, for example, read into the controller 30, and the controller 30 outputs the control command corresponding to the operation signal, i.e., the control command corresponding to the operation content of the operating device 26, to the hydraulic control valve 32. The hydraulic control valve 32 can use working oil supplied from the pilot pump 15 to output a pilot pressure corresponding to the control command from the controller 30, and the pilot pressure directly acts on the pilot port of the control valve corresponding to the operation content of the control valve unit 17. Thus, the controller 30 can control the hydraulic control valve 32 so that the operation content in the operating device 26 is reflected in the operation of the control valve unit 17. Therefore, the controller 30 can realize the operation of various driven components according to the operation content of the electrically operated device 26.

[0239] Furthermore, for example, the controller 30 can use the hydraulic control valve 32 to remotely operate the excavator 100. Specifically, the controller 30 can output a control command corresponding to the remote operation content specified by the remote operation signal received from an external device to the hydraulic control valve 32. The hydraulic control valve 32 can use working oil supplied from the pilot pump 15 to output a pilot pressure corresponding to the control command from the controller 30, and apply the pilot pressure to the pilot port of the control valve of the control valve unit 17 corresponding to the control command. Thus, the controller 30 can control the hydraulic control valve 32 so that the remote operation content is reflected in the operation of the control valve unit 17. Therefore, the excavator 100 can use hydraulic actuators to perform various driven functions according to the remote operation content.

[0240] Furthermore, for example, the controller 30 can control the hydraulic control valve 32 to achieve an automatic operation function. Specifically, regardless of whether the operating device 26 is operated, the controller 30 outputs a control signal corresponding to the operation command related to the automatic operation function to the hydraulic control valve 32. Thus, the controller 30 can supply pilot pressure corresponding to the operation command related to the automatic operation function from the hydraulic control valve 32 to the control valve unit 17, thereby realizing the operation of the excavator 100 based on the automatic operation function.

[0241] Hydraulic control valves 32 are provided for each driven component (hydraulic actuator) of the operating device 26 and for each operating direction of the driven component. That is, two hydraulic control valves 32 corresponding to two operating directions are provided for each of the multiple hydraulic actuators. For example, the hydraulic control valves 32 for boom retraction and boom extension are each connected to the other inlet port of the reciprocating valves for boom retraction and boom extension. Similarly, the hydraulic control valves 32 for left and right slewing are each connected to the other inlet port of the reciprocating valves for left and right slewing. Furthermore, the hydraulic control valves 32 for boom raising and boom lowering are each connected to the other inlet port of the reciprocating valves for boom raising and boom lowering. Finally, the hydraulic control valves 32 for bucket retraction and bucket extension are each connected to the other inlet port of the reciprocating valves for bucket retraction and bucket extension. Furthermore, for example, the hydraulic control valves 32 for left forward and left reverse are respectively connected to another inlet port of the reciprocating valves for left forward and right reverse. Also, for example, the hydraulic control valves 32 for right forward and right reverse are connected to another inlet port of the hydraulic control valves 32 for right forward and right reverse.

[0242] Alternatively, when the operating device 26 is electrically operated, the control valves 171 to 176 of the control valve unit 17 can be electromagnetic solenoid spool valves. In this case, the hydraulic control valve 32 is omitted, and the output (operation signal) of the operating device 26 is directly input to the electromagnetic solenoid spool valves.

[0243] A hydraulic control valve 33 is provided in the pilot line connecting the operating device 26 and the reciprocating valve. The hydraulic control valve 33 operates according to a control command input from the controller 30. The hydraulic control valve 33 is, for example, an electromagnetic proportional valve configured to change its flow area according to the control command (control current) 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 decelerate or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. Furthermore, for example, when the operating device 26 is operated, the controller 30 can reduce the pilot pressure output from the operating device 26 to a level lower than the pilot pressure output from the hydraulic control valve 32. Therefore, by controlling the hydraulic control valves 32 and 33, the controller 30 can reliably apply the desired pilot pressure to the pilot port of the control valve in the control valve unit 17, regardless of the operation of the operating device 26. Therefore, by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 32, the controller 30 can more appropriately realize the automatic operation function or remote operation function of the excavator 100.

[0244] In addition, if the operating device 26 is electric, the hydraulic control valve 33 can be omitted.

[0245] <User Interface System>

[0246] like Figure 3 , Figure 10 As shown, the user interface system of the excavator 100 according to another embodiment includes an operation device 26, an input device 72, a display device D1, a sound output device D2, and a switch NS.

[0247] The input device 72 is located close to the operator sitting in the cab 10 and accepts various inputs from the operator. The signals corresponding to the received inputs are read into the controller 30.

[0248] For example, input device 72 is an operation input device that accepts operation input. The operation input device may include a touch panel installed on display device D1, a touchpad disposed around display device D1, a button switch, a lever, a toggle key, a rotary switch disposed on operation device 26 (lever device), etc.

[0249] Furthermore, for example, the input device 72 can be a voice input device that accepts voice input from an operator. A microphone may be included, for example, in the voice input device.

[0250] Furthermore, for example, the input device 72 can be a gesture input device that accepts gesture input from the operator. The gesture input device may include, for example, a camera (indoor camera) installed in the driver's cab 10.

[0251] Display device D1 is positioned in a location easily visible from the operator's side while seated in the cab 10, displaying various information images and visually outputting various information. Display device D1 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display.

[0252] In addition to display devices, the interior of the driver's cab 10 can also be equipped with lighting devices that can visually output various information. Examples of such lighting devices include warning lights.

[0253] The sound output device D2 outputs various information in an auditory manner. The sound output device D2 may include, for example, a buzzer, an alarm, or a speaker.

[0254] Alternatively, an output device capable of outputting various information in a manner other than visual or auditory means, such as tactile means like vibration of the operator's seat, may be installed inside the cab 10.

[0255] The switch NS is, for example, a push-button switch located at the front end of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. For example, if the boom 5 of the left operating lever 26L is operated while the switch NS is pressed (i.e., tilting the left operating lever 26L forward or backward), the operation support equipment control function is activated. Furthermore, for example, if the switch NS is pressed while the equipment control function is disabled, the equipment control function is activated; if the switch NS is pressed while the equipment control function is activated, the equipment control function is disabled. The switch NS can be located on the right operating lever 26R or in other positions within the cab 10. The signal corresponding to the operation state of the switch NS is read into the controller 30.

[0256] <Communication Systems>

[0257] like Figure 10 As shown, the communication system of the excavator 100 according to another embodiment includes a communication device T1.

[0258] The communication device T1 is connected to a designated communication line and communicates with a device (e.g., a management device) that is separately installed with the excavator 100. In addition to devices located outside the excavator 100, the device separately installed with the excavator 100 may also include a portable terminal device brought into the cab 10 by the user of the excavator 100. The communication device T1 may, for example, include a 4G-based device. th Generation: Fourth Generation Mobile Communication) or 5G (5G) th The communication device T1 may include a mobile communication module of the fifth generation (Gen 5) or similar specifications. Furthermore, the communication device T1 may also include, for example, a satellite communication module. Additionally, the communication device T1 may include, for example, a WiFi communication module or a Bluetooth communication module. Furthermore, the communication device T1 may also include, for example, a communication module capable of wired communication with a terminal device, which is connected via a cable connected to a specified connector.

[0259] <Control System>

[0260] like Figure 3 , Figure 10 As shown, the control system of the excavator 100 according to another embodiment includes a controller 30. Furthermore, the control system of the excavator 100 according to another embodiment includes a control pressure sensor 19, a discharge pressure sensor 28, an operation sensor 29, a spatial recognition device 70, and a positioning device 73. Furthermore, the control system of the excavator 100 according to another embodiment includes a boom angle sensor S1, a stick angle sensor S2, a bucket angle sensor S3, a body posture sensor S4, and a swing angle sensor S5.

[0261] The controller 30 (an example of a control device) 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. For example, the controller 30 is centered around a computer, including a CPU (Central Processing Unit), a memory device such as RAM (Random Access Memory), a non-volatile auxiliary storage device such as ROM (Read Only Memory), and various input and output interface devices. The controller 30 implements various functions, for example, by loading programs installed on auxiliary storage devices onto the memory devices and executing them on the CPU.

[0262] The controller 30 performs, for example, control related to the left main pump 14L and the right main pump 14R.

[0263] Specifically, the controller 30 can control the left regulator 13L and right regulator 13R based on the discharge pressures of the left main pump 14L and right main pump 14R detected by the left discharge pressure sensor 28L and right discharge pressure sensor 28R, thereby adjusting the discharge volume of the left main pump 14L and right main pump 14R. For example, the controller 30 can control the left regulator 13L based on an increase in the discharge pressure of the left main pump 14L, and adjust the swashplate deflection angle of the left main pump 14L, thereby reducing the discharge volume. The same applies to the right regulator 13R. Thus, the controller 30 can perform total horsepower control of the left main pump 14L and right main pump 14R, so that the absorbed horsepower of the left main pump 14L and right main pump 14R, expressed as the product of discharge pressure and discharge volume, does not exceed the output horsepower of the engine 11.

[0264] Furthermore, the controller 30 can control the left regulator 13L and the right regulator 13R based on the control pressure detected by the left control pressure sensor 19L and the right control pressure sensor 19R, thereby adjusting the output of the left main pump 14L and the right main pump 14R. For example, the controller 30 is configured such that the higher the control pressure, the lower the output of the left main pump 14L and the right main pump 14R, and the lower the control pressure, the higher the output of the left main pump 14L and the right main pump 14R.

[0265] The hydraulic actuators in the excavator 100 are in a standby state where they are not operated (reference). Figure 3 In this case, the working oil discharged from the left main pump 14L and the right main pump 14R reaches the left throttle 18L and the right throttle 18R through the left intermediate bypass oil passage 40L and the right intermediate bypass oil passage 40R. Furthermore, the flow of the working oil discharged from the left main pump 14L and the right main pump 14R increases the control pressure generated upstream of the left throttle 18L and the right throttle 18R. As a result, the controller 30 reduces the discharge volume of the left main pump 14L and the right main pump 14R to the minimum permissible discharge volume, suppressing the pressure loss (pumping loss) of the discharged working oil as it passes through the left intermediate bypass oil passage 40L and the right intermediate bypass oil passage 40R.

[0266] On the other hand, when a particular hydraulic actuator is operated, the working oil discharged from the left main pump 14L and the right main pump 14R flows into the hydraulic actuator of the target hydraulic actuator via the control valve corresponding to the target hydraulic actuator. Furthermore, the flow of working oil discharged from the left main pump 14L and the right main pump 14R reduces or eliminates the amount reaching the left throttle valve 18L and the right throttle valve 18R, thereby reducing the control pressure generated upstream of the left throttle valve 18L and the right throttle valve 18R. As a result, the controller 30 increases the discharge volume of the left main pump 14L and the right main pump 14R to ensure sufficient working oil circulation to the target hydraulic actuator, thereby reliably driving the target hydraulic actuator.

[0267] Furthermore, the controller 30 performs control related to the operation of the hydraulic actuator (driven element) of the excavator 100, for example, with the hydraulic control valve 32 as the controlled object.

[0268] Specifically, when the operating device 26 is electric, the controller 30 can control the operation of the hydraulic actuator (driven element) of the excavator 100 based on the operation of the operating device 26, with the hydraulic control valve 32 as the controlled object.

[0269] Furthermore, the controller 30 can control the remote operation of the hydraulic actuator (driven element) of the excavator 100, with the hydraulic control valve 32 as the controlled object. That is, the operation of the hydraulic actuator (driven element) of the excavator 100 can include remote operation of the hydraulic actuator from outside the excavator 100.

[0270] Furthermore, the controller 30 can control the automatic operation function of the excavator 100 by using the hydraulic control valve 32 as the controlled object. That is, the operation of the hydraulic actuator of the excavator 100 can include the operation commands of the hydraulic actuator of the excavator 100 output according to the automatic operation function.

[0271] Furthermore, the controller 30 performs control related to, for example, the perimeter monitoring function. In the perimeter monitoring function, information acquired by the spatial identification device 70 is used to monitor whether an object enters a predetermined area (hereinafter referred to as the "monitoring range") surrounding the excavator 100. The determination of whether an object enters the monitoring range can be performed by the spatial identification device 70 or by an external component of the spatial identification device 70 (e.g., the controller 30). The monitored object may include, for example, people, trucks, other construction machinery, utility poles, hoisted goods, towers, buildings, etc.

[0272] Furthermore, the controller 30 performs control related to, for example, the object detection notification function. In the object detection notification function, if the surrounding monitoring function determines that an object is within the monitoring range, it notifies the operator in the cab 10 that an object is present around the excavator 100. The controller 30 may implement the object detection notification function using, for example, a display device D1 or a sound output device D2.

[0273] Furthermore, for example, the controller 30 performs control related to the motion restriction function. In the motion restriction function, for example, if the perimeter monitoring function determines that an object of the monitored object is present within the monitored area, the movement of the excavator 100 is restricted.

[0274] The controller 30 is configured such that, for example, before the actuator operates, if the spatial identification device 70 determines that a person is present within a specified range (monitoring range) of the excavator 100, the actuator's operation can be restricted to inoperable or low-speed operation even if the operator operates the operating device 26. Specifically, if the presence of a person within the monitoring range is detected, the controller 30 can disable the actuator by locking the door lock valve. In the case of the electrically operated operating device 26, the actuator can be disabled by invalidating the signal from the controller 30 to the hydraulic control valve 32. The same applies when the hydraulic control valve 32 is used in other types of operating devices 26, where the hydraulic control valve 32 outputs a pilot pressure corresponding to the control command from the controller 30 and applies this pilot pressure to the pilot port of the corresponding control valve in the control valve unit 17. When it is desired that the actuator operates at a low speed, the actuator's operation can be slowed down by limiting the control signal from the controller 30 to the hydraulic control valve 32 to a value corresponding to a relatively small pilot pressure. Thus, if it is determined that the object being monitored is within the monitoring range, the actuator will not be driven or will be driven at a lower speed (micro-speed) than the operating speed corresponding to the operation input to the operating device 26, even if the operating device 26 is operated. Furthermore, if it is determined that a person is within the monitoring range while the operator is operating the operating device 26, the actuator can be stopped or slowed down regardless of the operator's operation. Specifically, if it is determined that a person is within the monitoring range, the actuator can be stopped by locking the door lock valve. When using a hydraulic control valve 32 that outputs a pilot pressure corresponding to the control command from the controller 30 and applies that pilot pressure to the pilot port of the corresponding control valve within the control valve, the actuator can be restricted to not working or operating at a micro-speed by invalidating the signal from the controller 30 to the hydraulic control valve 32 or by outputting a deceleration command to the hydraulic control valve 32. Furthermore, if the object being monitored is a truck, control related to stopping or slowing down the actuator can be omitted. For example, the actuator can be controlled to avoid the detected truck. In this way, the type of detected object can be identified, and the actuator can be controlled based on the identification.

[0275] Furthermore, for example, controller 30 performs controls related to device guidance functions or device control functions (automatic operation functions). Details are described later.

[0276] In addition, some of the functions of controller 30 can also be implemented by other controllers (control devices). That is, the functions of controller 30 can be implemented by multiple controllers in a distributed manner.

[0277] The control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R. The left control pressure sensor 19L and the right control pressure sensor 19R detect the control pressure of the left throttle 18L and the right throttle 18R, respectively, and the detection signal corresponding to the detected control pressure is read into the controller 30.

[0278] The discharge pressure sensor 28 includes a left discharge pressure sensor 28L and a right discharge pressure sensor 28R. The left discharge pressure sensor 28L and the right discharge pressure sensor 28R detect the discharge pressure of the left main pump 14L and the right main pump 14R, respectively, and the detection signal corresponding to the detected discharge pressure is read into the controller 30.

[0279] Operation sensor 29 detects the pilot pressure on the secondary side of the hydraulic pilot-operated device 26, that is, the pilot pressure corresponding to the operating state of each driven component (hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure corresponding to the operating state of the operating device 26 and related components such as the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6, detected by operation sensor 29, is read into controller 30. Operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0280] The operation sensor 29LA detects the operation performed by the operator on the left operation lever 26L in the forward and backward direction (e.g., operation direction and operation amount) in the form of the working oil pressure (hereinafter referred to as "operation pressure") in the pilot line of the secondary side of the left operation lever 26L.

[0281] The operation sensor 29LB detects the operation performed by the operator on the left operating lever 26L in the left-right direction (e.g., operation direction and operation amount) in the form of operating pressure in the pilot circuit on the secondary side of the left operating lever 26L.

[0282] The operation sensor 29RA detects the operation performed by the operator on the right operation lever 26R in the forward and backward direction (e.g., operation direction and operation amount) in the form of operating pressure in the pilot circuit on the secondary side of the right operation lever 26R.

[0283] The operation sensor 29RB detects the operation performed by the operator on the right operation lever 26R in the left-right direction (e.g., operation direction and operation amount) in the form of operating pressure in the pilot circuit on the secondary side of the right operation lever 26R.

[0284] The operation sensor 29DL detects the operation performed by the operator on the left travel lever 26DL in the forward and backward direction (e.g., operation direction and operation amount) in the form of operating pressure on the pilot circuit on the secondary side of the left travel lever 26DL.

[0285] The operation sensor 29DR detects the operation performed by the operator on the right travel lever 26DR in the forward and backward directions (e.g., operation direction and operation amount) in the form of operating pressure on the pilot circuit on the secondary side of the right travel lever 26DR.

[0286] Furthermore, the operation of the operating devices 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) can be detected by sensors other than the operation sensor 29 (e.g., potentiometers mounted on the right operating lever 26R, left travel lever 26DL, and right travel lever 26DR). Moreover, when the operating device 26 is electrically powered, the operation sensor 29 is omitted. In this case, the controller 30 can grasp the operating status of each driven component (hydraulic actuator) based on the operation signals read from the electrically powered operating device 26.

[0287] The spatial recognition device 70 is configured to: identify objects existing in the three-dimensional space surrounding the excavator 100; and determine (calculate) positional relationships such as the distance from the spatial recognition device 70 or the excavator 100 to the identified objects. The spatial recognition device 70 may include, for example, a distance sensor capable of measuring the distance to objects surrounding the excavator 100, such as an ultrasonic sensor, millimeter-wave radar, infrared sensor, or LIDAR (Light Detecting and Ranging). Furthermore, the spatial recognition device 70 may include, for example, a camera device such as a monocular camera, a stereo camera, a distance image camera, or a depth camera.

[0288] like Figure 1 , Figure 2 As shown, the spatial recognition device 70 includes a front sensor 70F mounted on the front end of the upper surface of the cab 10, a rear sensor 70B mounted on the rear end of the upper surface of the upper rotating body 3, a left sensor 70L mounted on the left end of the upper surface of the upper rotating body 3, and a right sensor 70R mounted on the right end of the upper surface of the upper rotating body 3. Furthermore, an upper sensor for identifying objects existing in the space above the upper rotating body 3 can also be mounted on the excavator 100.

[0289] Positioning device 73 determines the position and orientation of the upper rotating body 3. Positioning device 73, for example, is a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper rotating body 3, and the detection signal corresponding to the position and orientation of the upper rotating body 3 is read into the controller 30. Furthermore, the function of detecting the orientation of the upper rotating body 3 in positioning device 73 can also be replaced by an azimuth sensor installed on the upper rotating body 3.

[0290] The boom angle sensor S1 acquires detection information related to the posture angle (hereinafter referred to as "boom angle") of the boom 4 relative to a specified reference (e.g., a horizontal plane or one of the two ends of the boom 4's movable angle range). The boom angle sensor S1 may include, for example, a rotary encoder, an accelerometer, an angular velocity sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. Furthermore, the boom angle sensor S1 may also include a cylinder sensor capable of detecting the extension / retraction position of the boom cylinder 7.

[0291] The stick angle sensor S2 acquires detection information related to the posture angle (hereinafter referred to as "stick angle") of the stick 5 relative to a predetermined reference (e.g., a straight line between the connection points of the two ends of the boom 4 or a state at either end of the movable angle range of the stick 5). The stick angle sensor S2 may include, for example, a rotary encoder, an accelerometer, an angular velocity sensor, a six-axis sensor, an IMU, etc. Furthermore, the stick angle sensor S2 may also include a cylinder sensor capable of detecting the extension and retraction position of the stick cylinder 8.

[0292] The bucket angle sensor S3 acquires detection information related to the posture angle (hereinafter referred to as "bucket angle") of the bucket 6 relative to a predetermined reference (e.g., a straight line between the connection points of the two ends of the boom 5 or a state at either end of the movable angle range of the bucket 6). The bucket angle sensor S3 may include, for example, a rotary encoder, an accelerometer, an angular velocity sensor, a six-axis sensor, an IMU, etc. Furthermore, the bucket angle sensor S3 may also include a cylinder sensor capable of detecting the extension / retraction position of the bucket cylinder 9.

[0293] The fuselage attitude sensor S4 acquires detection information related to the attitude state of the fuselage, including the lower walking body 1 and the upper rotating body 3. The fuselage attitude state includes the fuselage tilt state. The tilt state includes, for example, a tilt state in the forward / backward direction corresponding to the attitude state of the upper rotating body 3 around the left / right axis, and a tilt state in the left / right direction corresponding to the attitude state of the upper rotating body 3 around the forward / backward axis. Furthermore, the fuselage attitude state includes the rotation state of the upper rotating body 3 corresponding to the attitude state of the upper rotating body 3 around the rotation axis. The fuselage attitude sensor S4 is mounted on the upper rotating body 3, for example, and acquires (outputs) detection data related to the attitude angles (hereinafter referred to as "forward / backward tilt angle" and "left / right tilt angle") of the upper rotating body 3 around the forward / backward axis, left / right axis, and rotation axis. Thus, the fuselage attitude sensor S4 can acquire detection information related to the orientation (rotational posture around the rotation axis) of the upper rotating body 3 relative to the ground. The orientation of the upper rotating body 3, for example, indicates the direction in which the auxiliary device AT extends when viewed from above, i.e., the front when viewed from the side of the upper rotating body 3. The fuselage attitude sensor S4 may include, for example, an accelerometer (tilt sensor), an angular velocity sensor, a six-axis sensor, an IMU, etc.

[0294] Furthermore, information regarding the orientation of the upper rotating body 3 relative to the ground can be obtained from other devices besides the fuselage attitude sensor S4. For example, a geomagnetic sensor can be mounted on the upper rotating body 3. In this case, the controller 30 can obtain information regarding the orientation of the upper rotating body 3 relative to the ground from the geomagnetic sensor. Also, for example, the controller 30 can determine the orientation of the upper rotating body 3 relative to the ground by judging the orientation of surrounding objects (especially fixed objects such as utility poles and trees) captured by the spatial recognition device 70 (camera image). That is, information regarding the orientation of the upper rotating body 3 relative to the ground can also be obtained from the spatial recognition device 70 (camera image).

[0295] The rotation angle sensor S5 acquires detection information related to the relative rotation angle of the upper rotating body 3 with the lower traveling body 1 as a reference. Thus, the rotation angle sensor S5 acquires, for example, detection information related to the rotation angle of the upper rotating body 3 relative to a predetermined reference (e.g., the forward direction of the lower traveling body 1 is aligned with the front of the upper rotating body 3). The rotation angle sensor S5 may include, for example, a potentiometer, a rotary encoder, a rotary transformer, etc. Furthermore, the rotation angle sensor S5 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 rotating body 3. Additionally, the rotation angle sensor S5 may also include a combination of a GNSS receiver mounted on the lower traveling body 1 and a GNSS receiver mounted on the upper rotating body 3.

[0296] Furthermore, information regarding the orientation of the upper rotating body 3 relative to the lower traveling body 1 can be obtained from other devices, either in place of the rotation angle sensor S5 or in addition to the rotation angle sensor S5. For example, the orientation of the lower traveling body 1 can be determined based on the image captured by the space recognition device 70 (camera device) mounted on the upper rotating body 3, thereby determining the orientation of the upper rotating body 3 relative to the lower traveling body 1. Specifically, the controller 30 extracts the image of the lower traveling body 1 included in the image captured by performing known image processing. Furthermore, the controller 30 can use known image recognition technology to determine the length direction of the lower traveling body 1 and derive the angle formed between the direction of the front-rear axis of the upper rotating body 3 and the length direction of the lower traveling body 1. At this time, the direction of the front-rear axis of the upper rotating body 3 can be derived from the mounting position of the space recognition device 70 that acquired the image captured. In particular, since the track 1C protrudes from the upper rotating body 3, the controller 30 can determine the length direction of the lower traveling body 1 by extracting the image of the track 1C. Furthermore, it can be simply assumed that the orientation of the upper rotating body 3 relative to the ground and the orientation of the upper rotating body 3 relative to the lower walking body 1 are approximately the same. In this case, the rotation angle sensor S5 can be omitted.

[0297] [Overview of excavator's equipment guidance and control functions]

[0298] Next, continue to refer to Figure 10 A brief description of the equipment guidance and equipment control functions of the excavator 100 is provided.

[0299] The controller 30, for example, performs equipment guidance functions related to guiding the operator to perform manual operations on the excavator 100.

[0300] The controller 30 transmits operational information, such as the distance between the target work surface and the front end of the auxiliary device AT, i.e., the designated working part of the bucket 6 (e.g., the tip of the bucket 6, the back of the bucket 6, etc.) (hereinafter referred to as the "working part"), to the operator via a display device D1 or a sound output device D2. Specifically, the controller 30 acquires information from the boom angle sensor S1, stick angle sensor S2, bucket angle sensor S3, body posture sensor S4, slewing angle sensor S5, spatial recognition device 70, positioning device 73, input device 72, etc. Furthermore, the controller 30 can calculate the distance between the bucket 6 and the target work surface based on the acquired information, and notify the operator of the calculated distance by displaying an image on the display device D1 or by sound output from the sound output device D2. Data related to the target work surface is stored, for example, in internal memory or an external storage device connected to the controller 30, either by setting input by the operator via the input device 72 or by downloading from an external source (e.g., a designated management server). Data related to the target construction surface is expressed in a reference coordinate system, such as the World Geodetic System. The World Geodetic System is a three-dimensional rectangular XYZ coordinate system with the Earth's center of gravity as the origin, the direction of the intersection of the Greenwich Meridian and the equator as the X-axis, the direction of 90 degrees east longitude as the Y-axis, and the direction of the North Pole as the Z-axis. For example, the operator can set any point on the construction site as a reference point and, through the input device 72, set the target construction surface based on its relative position to the reference point. Thus, the controller 30 can notify the operator of the work information through the display device D1, the sound output device D2, etc., and guide the operator in operating the excavator 100 via the operating device 26.

[0301] Furthermore, the controller 30 performs, for example, control of the excavator 100 related to equipment control functions that support manual operation of the excavator 100 by the operator, or enable the excavator 100 to operate fully automatically or autonomously.

[0302] For example, when the operator manually performs ground excavation or leveling operations, the controller 30 automatically moves at least one of the boom 4, stick 5, and bucket 6 to align the target work surface with the front end of the auxiliary device AT, specifically with a position designated as the working part of the bucket 6, which serves as a control reference (hereinafter referred to as the "control reference"). The control reference may include, for example, a plane or curved surface constituting the tip of the bucket 6 (the working part), a line segment defined on that plane or curved surface, or a point defined on that plane or curved surface. Furthermore, the control reference may also include, for example, a plane or curved surface constituting the back surface of the working part of the bucket 6, a line segment defined on that plane or curved surface, or a point defined on that plane or curved surface. Specifically, if the operator operates (presses) the switch NS while simultaneously operating the stick 5 via the left operating lever 26L, the controller 30 automatically moves the boom 4, stick 5, and bucket 6 according to the operator's stick 5 operation, aligning the target work surface with the control reference of the bucket 6. More specifically, as described above, the controller 30 controls the hydraulic control valve 32 to automatically move the boom 4, stick 5, and bucket 6. Thus, the operator can enable the excavator 100 to perform excavation or leveling operations along the target work surface simply by operating the left control lever 26L in the forward and backward directions.

[0303] The working part of the bucket 6 can be set, for example, based on settings input by the operator via the input device 72. Furthermore, the working part of the bucket 6 can also be automatically set according to the work content of the excavator 100. Specifically, when the excavator 100 is engaged in digging, the working part of the bucket 6 can be set to the tip of the bucket 6; when the excavator 100 is engaged in leveling or compaction, the working part of the bucket 6 can be set to the back of the bucket 6. In this case, the work content of the excavator 100 can be automatically determined based on images captured by the camera included in the spatial recognition device 70 (front sensor 70F), or it can be selected or input by the operator via the input device 72, and thus set according to the selected or input content.

[0304] For example, when the working part is the tip of the bucket 6, the control reference on the working part of the bucket 6 (hereinafter referred to as the "control reference of the bucket 6") can be set as a point on the curved surface or plane of the tip of a specific claw among the multiple claws constituting the bucket 6. Furthermore, for example, when the working part is the back of the bucket 6, the control reference of the bucket 6 can be arbitrarily set on the curved surface or plane constituting the back of the bucket 6. In this case, the controller 30 can set the control reference on the back of the bucket 6 according to the setting operation performed by the operator or others through the input device 72, or it can automatically set (change) the control reference on the back of the bucket 6 according to specified conditions, as described later.

[0305] [Structure related to the control functions of operation support equipment]

[0306] Next, refer to Figure 11 The functional structure related to the control function of operation support equipment (semi-automatic operation function) is described.

[0307] Figure 11 This is a functional block diagram illustrating an example of a functional structure related to the equipment control functions of an excavator 100 according to another embodiment. Specifically, Figure 11 This is a functional block diagram representing a specific example of the functional structure related to the operation support equipment control function of the excavator 100.

[0308] The controller 30 includes an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, an excavation object identification unit 3003, an operation environment judgment unit 3004, a target track setting unit 3005, a current position calculation unit 3006, a target position calculation unit 3007, and an action command generation unit 3008 as functional units related to the operation support type equipment control function.

[0309] The operation content acquisition unit 3001 acquires operation content related to the operation of the boom 5 in the left operating lever 26L (i.e., tilting operation in the forward and backward direction) based on the detection signal read from the operation sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (the difference between boom opening operation and boom retraction operation) and the operation amount as operation content.

[0310] The target construction surface acquisition unit 3002 acquires data related to the target construction surface, for example, from internal memory or a designated external storage device. This data can be manually input by an operator via input device 72, or it can be input (received) from a management device via communication device T1.

[0311] The excavation object identification unit 3003 identifies the shape of the ground as the excavation object based on the output of the spatial identification device 70.

[0312] Furthermore, the excavation object identification unit 3003 can also identify the shape of the ground that is the excavation object based on the output of the spatial identification device external to the excavator 100. The spatial identification device external to the excavator 100 may include, for example, a spatial identification device fixed to a utility pole at the construction site, or a spatial identification device mounted on a drone (e.g., a multi-rotor helicopter) flying over the construction site. Moreover, the excavation object identification unit 3003 can also identify the shape of the ground that is the excavation object based on the movement trajectory of the working part of the bucket 6 during the previous excavation.

[0313] The working environment determination unit 3004 determines the working environment of the excavator 100 used to set the target track. The working environment of the excavator 100 includes the type of work site, the type of work object, the type of weather, etc. The type of work object includes the type (difference) of ground soil texture, hardness, etc.

[0314] For example, the work environment determination unit 3004 determines the work site of the excavator 100. Specifically, the work environment determination unit 3004 can determine a work site from a pre-registered pool of candidate work sites based on the output of the spatial recognition device 70 (an example of an acquisition device) and based on camera images and three-dimensional terrain data of the work site. Furthermore, the work environment determination unit 3004 can communicate with a designated device installed at the work site via the communication device T1 and determine the work site based on the signal returned from that device.

[0315] Furthermore, the work environment judgment unit 3004 can, for example, use the output of the spatial recognition device 70 to make detailed judgments about the soil type, hardness, or weather type of the ground surface of the work object.

[0316] The target track setting unit 3005 sets the target track of the working part (control reference) of the bucket 6 based on the shape of the excavation object (ground) identified by the excavation object identification unit 3003, the judgment result of the work environment judgment unit 3004, and data related to the target construction surface. For example, when performing rough excavation in a situation where the distance between the actual terrain and the target construction surface is relatively large, the target track setting unit 3005 sets the target track of the working part of the bucket 6 within a range not exceeding the area below the target construction surface. Furthermore, when performing trimming excavation in a situation where the distance between the actual terrain and the target construction surface is relatively small, or when performing leveling or compaction operations, the target track setting unit 3005 sets the target track of the working part of the bucket 6 so that the working part of the bucket 6 moves along the target construction surface. The method for setting the target track during excavation will be described later (see reference). Figure 13 , Figure 14 ).

[0317] The current position calculation unit 3006 calculates the position (current position) of the control reference of the bucket 6. Specifically, the current position calculation unit 3006 can calculate the position of the control reference of the bucket 6 based on the boom angle β1, stick angle β2, and bucket angle β3, which are obtained based on the outputs of the boom angle sensor S1, stick angle sensor S2, and bucket angle sensor S3.

[0318] The target position calculation unit 3007 calculates the target position of the control reference of the bucket 6 based on the operation content (operation direction and operation amount) related to the operation of the stick 5 in the left operating lever 26L, information related to the set target track, and the current position of the control reference of the bucket 6. Assuming that the stick 5 moves according to the operation direction and operation amount of the stick 5 in the left operating lever 26L, this target position is the position on the target construction surface (in other words, the target track) that should be reached in this control cycle. The target position calculation unit 3007 can, for example, use a mapping diagram or formula pre-stored in a non-volatile internal memory to calculate the target position of the control reference of the bucket 6.

[0319] The motion command generation unit 3008 generates command values ​​(hereinafter referred to as "boom command values") related to the motion of the boom 4 based on the target position of the control reference of the bucket 6. 1r The command value related to the action of stick 5 (hereinafter referred to as "stick command value") β 2r and the command values ​​(“bucket command values”) β related to the action of bucket 6 3r For example, the boom command value β 1r β, the stick command value 2r and bucket command value β 3r The control references for bucket 6 are respectively implemented to achieve the boom angle, stick angle, and bucket angle at the target position. Therefore, controller 30 can transmit the boom command value β... 1r β, the stick command value 2r and bucket command value β 3r The commands are converted into operating instructions for the boom 4, stick 5, and bucket 6, and the equipment control function is realized by controlling the hydraulic control valve 32.

[0320] In addition, the boom command value, stick command value, and bucket command value can be the angular velocity or angular acceleration of the boom 4, stick 5, and bucket 6 required to achieve the target position for the control reference of bucket 6.

[0321] [Structure related to the control functions of fully automated equipment]

[0322] Next, refer to Figure 12 The functional structure related to the control function (fully automatic operation function) of fully automatic equipment is described.

[0323] Figure 12 This is a functional block diagram illustrating another example of the functional structure related to the equipment control functions of the excavator 100 according to another embodiment. Specifically, Figure 12 This is a diagram illustrating a specific example of the functional structure related to the fully automatic equipment control function of the excavator 100. The following will use an example related to the above (…). Figure 11 The explanation will focus on the different parts.

[0324] In this example, the controller 30 implements a fully automatic equipment control function (autonomous operation function) based on signals received from a specified external device (e.g., a management device) via the communication device T1.

[0325] The controller 30 includes a work start determination unit 3001A, an action content determination unit 3001B, an action condition setting unit 3001C, and an action start determination unit 3001D as functional units related to equipment control functions. Furthermore, similar to the example described above ( Figure 11 Similarly, the controller 30 includes a target construction surface acquisition unit 3002, an excavation object identification unit 3003, an operation environment judgment unit 3004, a target track setting unit 3005, a current position calculation unit 3006, a target position calculation unit 3007, and an action command generation unit 3008 as functional units related to the equipment control function.

[0326] The operation start determination unit 3001A determines the start of a specified operation of the excavator 100. The specified operation may be, for example, excavation. For instance, when a start command is input from an external device via the communication device T1, the operation start determination unit 3001A determines the start of the operation specified by the start command. Furthermore, when a start command is input from an external device via the communication device T1, the operation start determination unit 3001A can determine the start of the operation specified by the start command if the perimeter monitoring function determines that there is no monitored object within the monitoring range around the excavator 100.

[0327] When the start-of-work determination unit 3001A determines that a work has started, the action content determination unit 3001B determines the current action content. The action content determination unit 3001B determines, for example, whether the excavator 100 is performing an action corresponding to one of the multiple actions constituting the prescribed work, based on the current position of the control reference of the bucket 6. For example, the multiple actions constituting the prescribed work include digging actions, boom lifting and slewing actions, soil removal actions, and boom lowering and slewing actions when the prescribed work is excavation.

[0328] The action condition setting unit 3001C sets action conditions related to the implementation of a specified operation based on the autonomous operation function. When the specified operation is an excavation operation, the action conditions may include, for example, conditions related to excavation depth and excavation length.

[0329] The action start determination unit 3001D determines the start of a prescribed action for a prescribed operation, which is determined to begin by the operation start determination unit 3001A. For example, if the action content determination unit 3001B determines that the boom lowering and slewing action has ended and the control reference (shovel tip) of the bucket 6 has reached the digging start position, the action start determination unit 3001D can determine that the digging action can begin. Furthermore, if it is determined that the digging action can begin, the action start determination unit 3001D inputs the operation command of the action element (actuator) corresponding to the autonomous operation function generated according to the preparation process of the prescribed operation to the target position calculation unit 3007. As a result, the target position calculation unit 3007 can calculate the target position of the working part (control reference) of the bucket 6 according to the operation command corresponding to the autonomous operation function.

[0330] Thus, in this example, the controller 30 can enable the excavator 100 to autonomously perform prescribed actions (e.g., digging actions) based on the fully automatic equipment control function (autonomous operation function).

[0331] [How to set the target trajectory of the bucket during excavation]

[0332] Next, refer to Figure 13 , Figure 14 The method for setting the target function of the working part (shovel tip) of the bucket 6 during excavation is explained.

[0333] Figure 13 This is a diagram illustrating an example of parameters related to the track 700 of the bucket 6's tip during excavation. Figure 13 In the middle, the track 700 of the tip of the bucket 6 during excavation is represented by a dashed line. Figure 14 This is a diagram showing an example of table information (table information 800) related to the parameters of each work site.

[0334] In this example, the controller 30 (target trajectory setting unit 3005) sets the target trajectory of the working part (shovel tip) of the bucket 6 during excavation by setting parameters related to the trajectory of the shovel tip of the bucket 6 during excavation based on a specified template.

[0335] For example, such as Figure 13 As shown, the controller 30 sets the target trajectory of the working part (tip) of the bucket 6 during excavation by setting some or all of the parameters A to E.

[0336] Parameters A and B are parameters that define the dimensions of the track 700 of the bucket 6 relative to the ground 702 during excavation.

[0337] Furthermore, the track 700, which corresponds to the target track of the bucket 6 during excavation, is set either above or along the target working surface 704. That is, as described above, the track 700, corresponding to the target track of the bucket 6 during excavation, is set to not exceed below the target working surface 704. Also, as described above, the controller 30 determines the shape of the ground 702, the object of excavation, based on the output of the spatial recognition device 70. Furthermore, as described above, the controller 30 can also determine the shape of the ground 702, the object of excavation, based on the output of a spatial recognition device located outside the excavator 100, such as a multi-rotor helicopter or a utility pole, instead of the spatial recognition device 70. Furthermore, as described above, the controller 30 can also determine the shape of the ground 702, the object of excavation, based on the trajectory of the working part during the previous excavation (e.g., the tip of the bucket 6).

[0338] Parameter A represents the digging length. The digging length is the horizontal distance from when the tip of the bucket 6 inserts into the ground 702 until the tip of the bucket 6 moves away from the ground after being scooped up through the sand.

[0339] Parameter B represents the digging depth. The digging depth refers to the deepest point 702 meters above the ground in the track of the bucket tip 6 during digging.

[0340] Parameters C to E are parameters that define the angle of the bucket 6's track relative to the reference plane during excavation.

[0341] Parameter C represents the insertion angle. The insertion angle represents the angle formed by the track of the bucket 6 and the horizontal plane or the ground 702 when the tip of the bucket 6 is inserted into the ground 702.

[0342] Parameter D represents the horizontal traction angle. The horizontal traction angle represents the angle formed between the track and the horizontal plane or the ground 702 when the horizontal movement of the bucket 6 is dominant between when the tip of the bucket 6 is inserted into the ground 702 and when it is lifted from the ground 702 (during horizontal traction).

[0343] Parameter E represents the scooping angle. The scooping angle represents the angle formed by the track of the bucket 6 and the horizontal plane or the ground 702 when the tip of the bucket 6 is away from the ground 702 when the bucket 6 scoops up sand.

[0344] The target trajectory setting unit 3005 can easily set the target trajectory of the bucket 6 tip by setting parameters A and B, for example. Furthermore, in addition to parameters A and B, the target trajectory setting unit 3005 can also set a more detailed target trajectory of the bucket 6 tip by setting at least one of parameters C to E. That is, the target trajectory setting unit 3005 sets the target trajectory by changing the trajectory of the template according to the settings of parameters A to E, or by setting some or all of parameters A to E.

[0345] Furthermore, the target track setting unit 3005 can set the target track by changing the template track according to the settings of other parameters, in addition to parameters A to E or other parameters A to E. These other parameters may include, for example, the relative posture angle of the bucket 6 relative to the ground or the tip of the bucket. In this case, one or more parameters may be defined, for example, corresponding to the posture angle of the bucket 6 when the tip of the bucket 6 is inserted into the ground, during horizontal traction, or when it is being lifted.

[0346] The target track setting unit 3005 sets some or all of the parameters A to E according to the judgment result of the working environment judgment unit 3004, that is, according to the working environment of the excavator 100.

[0347] For example, the target track setting unit 3005 can set parameters A to E by determining the category of the work site as determined by the work environment determination unit 3004. Specifically, the target track setting unit 3005 can use table information that defines parameters A to E for each work site to set parameters A to E that correspond to the work site determined by the work environment determination unit 3004. The table information is received, for example, from a designated external device (e.g., a management device) via the communication device T1, and is stored, for example, in the internal memory of the controller 30 (an example of a storage device) or an external storage device (an example of a storage device) capable of communicating with the controller 30.

[0348] For example, such as Figure 14 As shown, the values ​​of parameters A to E are specified for each work site in table information 800.

[0349] Specifically, in the "No.1" site, parameters A, B, C, D and E are respectively limited to specified values ​​PA1, PB1, PC1, PD1 and PE1.

[0350] If the work environment determination unit 3004 determines that the work site of the excavator 100 is the "No.1" site, the target track setting unit 3005 can refer to the table information 800 to set the above parameters A to E to the above-mentioned specified values ​​PA1 to PE1.

[0351] Furthermore, in the "No.2" site, parameters A, B, C, D, and E are respectively limited to specified values ​​PA2, PB2, PC2, PD2, and PE2.

[0352] If the work environment determination unit 3004 determines that the work site of the excavator 100 is "No.2", the target track setting unit 3005 can refer to the table information 800 to set the above parameters A to E to the above-mentioned specified values ​​PA2 to PE2.

[0353] Furthermore, in the "No.3" site, parameters A, B, C, D, and E are respectively limited to specified values ​​PA3, PB3, PC3, PD3, and PE3.

[0354] If the work environment determination unit 3004 determines that the work site of the excavator 100 is "No.3", the target track setting unit 3005 can refer to the table information 800 to set the above parameters A to E to the above-mentioned specified values ​​PA3 to PE3.

[0355] The values ​​of parameters A to E for each work site in Table 800 are predetermined based on the characteristics of each work site (soil type, ground hardness, etc.), taking into account factors such as work efficiency, energy consumption efficiency, and mechanical damage. Therefore, by using Table 800, the controller 30 can enable the excavator 100 to operate more efficiently from the perspectives of work efficiency, energy consumption efficiency, and mechanical damage, according to the working environment of the excavator 100's work site.

[0356] For example, when the ground (excavation target) at the work site is relatively hard, the value of parameter B (excavation depth) is limited to a relatively small value, while parameter A (excavation length) is limited to a relatively large value (long value). This is because the excavator 100 cannot excavate deeply due to the hardness of the excavation target, but the excavation length is ensured to be relatively long, thereby ensuring the excavation volume. Furthermore, for example, in this case, parameter C (insertion angle) is limited to a state of relative vertical approach to the ground. This is to maximize the force acting on the ground in the vertical direction.

[0357] Furthermore, for example, when the ground (the object to be excavated) at the work site is relatively soft, the excavation depth is limited to a relatively large extent, that is, it is limited to a value close to the specified maximum, while the excavation length is limited to a relatively small extent (short). This is because the softness of the object to be excavated allows the excavator 100 to dig deeper.

[0358] Furthermore, the target trajectory setting unit 3005 can start with parameters A to E set according to table information 800, and perform reinforcement learning related to parameters A to E according to the actual progress of the excavation operation, thereby updating parameters A to E. For example, the target trajectory setting unit 3005 performs reinforcement learning related to parameters A to E according to the actual progress of the operation, in order to maximize the operation time, energy consumption rate (e.g., fuel consumption rate), and mechanical damage as evaluation indicators (rewards), and update parameters A to E. As a result, the controller 30 can update parameters A to E according to the actual working environment of the work site.

[0359] Thus, in this example, the controller 30 sets specified parameters (e.g., parameters A to E) related to the trajectory of the bucket 6 during digging, and sets the target trajectory of the bucket 6 (e.g., the target trajectory of the bucket tip) according to the specified parameters.

[0360] Therefore, the controller 30 can set the target trajectory of the bucket 6 by setting specified parameters. Thus, the controller 30 can automatically and easily set the target trajectory of the bucket 6 according to the working environment of the excavator 100's work site, for example.

[0361] Furthermore, in this example, the specified parameters are set according to the working environment of the excavator 100, including the type of the work site of the excavator 100 or the type of the object being excavated.

[0362] Therefore, the controller 30 can specifically set the target track of the bucket 6 that matches the operating environment of the excavator 100. The target track may include the target surface (design surface) that serves as the construction target.

[0363] Furthermore, in this example, the parameters are specified to be learned through actual excavation operations, so that the evaluation indicators related to the excavation operations become relatively higher.

[0364] Therefore, the controller 30 can update the specified parameters to more appropriate content according to the actual working environment of the excavator 100.

[0365] Furthermore, in this example, the specified parameters include at least one of the following: parameters related to the ground-based dimensions of the track of the bucket 6 tip during excavation (e.g., parameters A and B); parameters related to the angle of the track of the bucket 6 tip during excavation relative to the reference plane (e.g., parameters C to D); and parameters related to the posture of the bucket 6 during excavation.

[0366] Thus, the controller 30 can, for example, change the template representing the specified track according to the set content of the specified parameters, specifically set the target track of the bucket 6 tip during digging.

[0367] Furthermore, in this example, the controller 30 sets specified parameters based on information related to the working environment of the excavator 100 obtained by the spatial identification device 70.

[0368] Therefore, the controller 30 can determine the working environment (work site) of the excavator 100 based on the output of the spatial recognition device 70, and specifically set the prescribed parameters that conform to the working environment.

[0369] The controller 30 uses, for example, information (e.g., table information 800) stored in internal memory or the like related to the prescribed parameters of each working environment of the excavator 100 to set the prescribed parameters that conform to the working environment of the excavator 100.

[0370] Therefore, the controller 30 can specifically set the prescribed parameters that are consistent with the operating environment of the excavator 100.

[0371] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Various modifications or substitutions can be applied to the above embodiments without departing from the scope of the present invention. Furthermore, features described separately can be combined as long as they do not create technical contradictions.

[0372] This application claims priority based on Japanese Patent Application No. 2021-057821, filed on March 30, 2021, and Japanese Patent Application No. 2021-057895, filed on March 30, 2021, the entire contents of which are incorporated herein by reference.

[0373] Symbol Explanation

[0374] 1-Lower traveling body, 1C-track, 1CL-left track, 1CR-right track, 2-swing mechanism, 2A-swing hydraulic motor, 2M-traverse hydraulic motor, 2ML-left travel hydraulic motor, 2MR-right travel hydraulic motor, 3-Upper swing body, 4-boom, 5-stick, 6-bucket, 6A-shovel tip, 6B-bucket pin, 6C-nearest point, 7-boom cylinder, 8-stick cylinder, 9-bucket cylinder, 10-cab, 11-engine 13-Regulator, 14-Main pump, 15-Pilot pump, 17-Control valve unit, 18-Throttle, 19-Control pressure sensor, 26-Operating device, 26D-Travel lever, 26DL-Left travel lever, 26DR-Right travel lever, 26L-Left operating lever, 26R-Right operating lever, 28-Discharge pressure sensor, 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB-Operating sensors, 30-Controller 30A - Position Calculation Unit, 30B - Track Acquisition Unit, 30C - Automatic Control Unit, 30D - Working Angle Control Unit, 31, 31AL~31DL, 31AR~31DR - Proportional Valves, 32 - Hydraulic Control Valves, 33 - Hydraulic Control Valves, 40 - Intermediate Bypass Oil Circuit, 42 - Parallel Oil Circuit, 70 - Spatial Recognition Device, 70F - Front Sensor, 70B - Rear Sensor, 70L - Left Side Sensor, 70R - Right Side Sensor, 71 - Orientation Detection Device, 72 - Input Device, 73 - Position Measurement Device, 100 - Excavator, 171~176 - Control Valves, AT - Auxiliary Devices, D1 - Display Device, D2 - Sound Output Device, E1 - Information Acquisition Device, GS - Ground Surface, NS - Switch, S1 - Boom Angle Sensor, S2 - Stick Angle Sensor, S3 - Bucket Angle Sensor, S4 - Body Posture Sensor, S5 - Slewing Angle Sensor, T1 - Communication Device.

Claims

1. An excavator, comprising: Lower walking body; The upper rotating body is rotatably mounted on the lower walking body; An auxiliary device is installed on the upper rotating body; and The control device changes the working angle, which is formed by a surface or line determined according to the shape of the bucket included in the auxiliary device and the target surface. When the control device performs a prescribed operation to enable the equipment control function, it changes the target angle related to the working angle based on the distance between the bucket and the target surface and the speed of the bucket's movement, and performs control to make the working angle follow the changed target angle.

2. The excavator according to claim 1, wherein, During the execution of the equipment control functions, the bucket moves along the target track.

3. The excavator according to claim 1, wherein, The control device performs the control in a manner that differs depending on whether the distance between the bucket and the target surface is zero or not.

4. The excavator according to claim 1, wherein, The control device performs the control in such a way that the working angle is the same even when the operating speed of the bucket is different and the distance between the bucket and the target surface is zero.

5. The excavator according to claim 1, wherein, The control device controls the auxiliary device to retract the bucket as it approaches the target surface from a position higher than the target surface.

6. The excavator according to claim 1, wherein, The control device controls the auxiliary device to open the bucket as the bucket, which is located at a position lower than the target surface, approaches the target surface.

7. The excavator according to claim 1, wherein, During the execution of the equipment control functions, the bucket moves along the target track. The control device sets a predetermined angle or dimension related to the bucket's trajectory during excavation, and sets the target trajectory of the bucket based on the predetermined angle or dimension. The target orbit includes the target surface.

8. The excavator according to claim 7, wherein, The specified angle or the specified dimension is set according to the operating environment of the excavator, including the type of work site or the type of object being excavated.

9. The excavator according to claim 7, wherein, The specified angle or the specified dimension is learned through actual excavation operations so that the evaluation indicators related to the excavation operations become relatively higher.

10. The excavator according to claim 7, wherein, The specified dimensions include the ground-based dimensions of the bucket track during excavation, and the specified angles include the angles of the bucket track relative to the reference plane during excavation.

11. The excavator according to claim 1, wherein, During the execution of the equipment control functions, the bucket moves along the target track. The control device sets a specified angle or size related to the bucket's track during excavation, and sets the target track of the bucket according to the specified angle or size.

12. The excavator according to claim 11, wherein, The specified angle or the specified dimension is learned through actual excavation operations so that the evaluation indicators related to the excavation operations become relatively higher.

13. A control device for an excavator, the excavator comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; and an auxiliary device installed on the upper rotating body, the control device for the excavator being configured as follows: When the prescribed operation is performed to enable the equipment control function, the target angle related to the working angle is changed according to the distance between the bucket included in the auxiliary device and the target surface and the operating speed of the bucket. The working angle is formed by a surface or line determined according to the shape of the bucket and the target surface, and control is performed to make the working angle follow the changed target angle.

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