Control device for excavator

Abstract

The invention provides a control device for a shovel. The shovel is provided with: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; and an attachment device attached to the upper rotating body and including a boom, an arm, and an end attachment device, the shovel control device being configured so as to move the arm on the basis of a command value so that a predetermined work site in the end attachment device is moved while being aligned with a target surface, and to move the end attachment device on the basis of the command value. At least one of the boom and the end attachment device is operated in accordance with the operation of the arm, and the operation of the arm and / or the boom is controlled so that the movement speed of a control target, which is a predetermined portion of the attachment device along the target surface, becomes a predetermined speed.

Description

Technical Field

[0001] The invention relates to a control device for an excavator. Background Art

[0002] Conventionally, there is known a shovel that can operate an attachment so that the blade edge of a bucket moves along a target construction surface (see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2020 / 101006 Summary of the invention

[0006] Technical issues to be solved by the invention

[0007] The above-mentioned shovel can move the working part of the bucket along the target construction surface at a constant speed while maintaining the operation amount of the arm operating lever at a constant amount.

[0008] When the operation amount of the operating lever of the attachment is maintained at a constant amount, if the angle or the like changes on the target surface, the movement of the attachment changes so that the working part of the attachment follows the target surface, and thus the moving speed of the working part may change significantly. The change in the moving speed of the working part may cause the operator of the excavator to feel uncomfortable.

[0009] Therefore, it is preferable to improve the operability of the attachment by controlling the moving speed of the working area so as not to change significantly.

[0010] Means for solving technical problems

[0011] A control device for an excavator involved in an embodiment of the present invention is that the excavator has: a lower traveling body; an upper rotating body, which is rotatably mounted on the lower traveling body; and an attachment, which is installed on the upper rotating body and includes a boom, a dipper and an end attachment. In the control device for the excavator, the control device is configured to move the dipper according to an instruction value in a manner such that a specified working part in the end attachment is aligned with a target surface and moves simultaneously, and to move at least one of the boom and the end attachment in accordance with the movement of the dipper, and to control the movement of at least one of the dipper and the boom in a manner such that the moving speed of the control object of the specified part of the attachment along the target surface becomes a specified speed.

[0012] Effects of the Invention

[0013] The control device for a shovel can improve the operability of the attachment by performing control so that the moving speed of a predetermined portion becomes a predetermined speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a side view of the shovel which concerns on embodiment of this invention.

[0015] Figure 2 It is a top view of the shovel related to the embodiment of the present invention.

[0016] Figure 3 It is a diagram showing a configuration example of a hydraulic system mounted on a shovel.

[0017] Figure 4A is a diagram of a portion of a hydraulic system associated with the operation of a stick cylinder.

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

[0019] Figure 4C is a diagram of a portion of a hydraulic system associated with operation of a bucket cylinder.

[0020] Figure 4D is a diagram of a portion of a hydraulic system associated with the operation of a swing hydraulic motor.

[0021] Figure 4E It is a diagram of a portion of a hydraulic system related to the operation of the left travel hydraulic motor.

[0022] Figure 4F It is a diagram of a portion of a hydraulic system related to the operation of the right travel hydraulic motor.

[0023] Figure 5 It is a diagram showing a configuration example of a control system of a shovel.

[0024] Fig. 6A It is a diagram showing a configuration example of a controller according to the first embodiment.

[0025] Figure 6B It is a diagram showing a configuration example of a controller according to the first embodiment.

[0026] Figure 7 It is a schematic diagram showing the operation of the attachment.

[0027] Figure 8 This is a conceptual diagram showing speed control of a working portion performed by a controller according to the second embodiment.

[0028] Fig. 9It is an explanatory diagram showing a change in speed of the blade edge of the bucket according to an operation by an operator in the shovel according to the second embodiment.

[0029] Fig. 10A It is a diagram showing a configuration example of a controller according to the second embodiment.

[0030] Fig. 10B It is a diagram showing a configuration example of a controller according to the second embodiment.

[0031] Fig.11 It is a diagram showing a moving path of the cutting edge of a bucket according to the second embodiment. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the same reference numerals are given to the same or corresponding structures in each drawing, and the description thereof may be omitted.

[0033] (First embodiment)

[0034] First, refer to Figure 1 and Figure 2 A shovel 100 as the excavator according to the first embodiment will be described. Figure 1 is a side view of the excavator 100, Figure 2 It is a top view of the shovel 100 .

[0035] In the present embodiment, the lower traveling body 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. However, the traveling hydraulic motor 2M may also be a traveling electric generator as an electric actuator. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The lower traveling body 1 is driven by the crawler 1C, and therefore functions as a driven body.

[0036] An upper revolving body 3 is rotatably mounted on the lower traveling body 1 via a revolving mechanism 2. The revolving mechanism 2 as a driven body is driven by a revolving hydraulic motor 2A mounted on the upper revolving body 3. However, the revolving hydraulic motor 2A may also be a revolving electric generator as an electric actuator. The upper revolving body 3 is driven by the revolving mechanism 2, and thus functions as a driven body.

[0037] A boom 4 as a driven body is mounted on the upper rotating body 3. A dipper arm 5 as a driven body is mounted on the front end of the boom 4, and a bucket 6 as a driven body and a terminal attachment is mounted on the front end of the dipper arm 5. The terminal attachment is a component mounted on the front end of the dipper arm 5, and may be a crusher, a grab hook, or a lifting magnet. The boom 4, the dipper arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment AT. The boom 4 is driven by a boom cylinder 7, the dipper arm 5 is driven by an dipper arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0038] A boom angle sensor S1 is mounted on the boom 4 , an arm angle sensor S2 is mounted on the arm 5 , and a bucket angle sensor S3 is mounted on the bucket 6 .

[0039] The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor capable of detecting the boom angle as the rotation angle of the boom 4 relative to the upper swing body 3. The boom angle becomes the minimum angle when the boom 4 is lowered to the maximum, for example, and increases as the boom 4 is raised.

[0040] The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor that can detect the arm angle as the rotation angle of the arm 5 relative to the boom 4. The arm angle is, for example, the smallest angle when the arm 5 is retracted to the maximum, and increases as the arm 5 is opened.

[0041] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that can detect the bucket angle as the rotation angle of the bucket 6 relative to the boom 5. The bucket angle is, for example, the smallest angle when the bucket 6 is retracted to the maximum, and increases as the bucket 6 is opened.

[0042] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around a connecting pin, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, etc. In addition, the boom angle sensor S1 may also be an operation detection unit (operation sensor 29LA described later) for detecting the operation amount of a boom operating lever (described later). In this case, the controller 30 may also calculate the boom angle based on the output of the operation sensor 29LA. The same is true for the arm angle sensor S2 and the bucket angle sensor S3.

[0043] A cab 10 serving as a cockpit is provided on the upper rotating body 3, and is equipped with a power source such as an engine 11. The power source may also be an electric motor. In addition, the upper rotating body 3 is equipped with an outdoor alarm 45A, an object detection device 70, a positioning device 85, a fuselage tilt sensor S4, and a rotation angular velocity sensor S5. An operating device 26, a controller 30, a display device 40, and an indoor alarm 45B are provided inside the cab 10. In addition, in this specification, for the sake of convenience, the side of the upper rotating body 3 on which the boom 4 is installed is set as the front, and the side on which the counterweight is installed is set as the rear.

[0044] The controller 30 is an example of a processing circuit, and functions as a control device for controlling the shovel 100. In the present embodiment, the controller 30 is composed of a computer including a CPU, a RAM, an NVRAM, and a ROM, etc. The controller 30 reads a program corresponding to each function from the ROM and loads it into the RAM, and causes the CPU to execute the corresponding processing.

[0045] The display device 40 is configured to be able to display image information. In the illustrated example, the display device 40 is an organic EL display, and is configured to be able to present image information to the operator of the shovel 100 .

[0046] The outdoor alarm 45A is configured to be able to output sound toward the outside of the cab 10. In the illustrated example, the outdoor alarm 45A is an outdoor speaker, and is configured to be able to output sound for calling the attention of a worker working around the shovel 100.

[0047] The indoor alarm 45B is configured to be able to output sound toward the inside of the cab 10. In the illustrated example, the indoor alarm 45B is an indoor speaker, and is configured to be able to output sound for calling the attention of the operator operating the shovel 100.

[0048] The object detection device 70 is configured to detect objects existing around the excavator 100. The objects are, for example, people, animals, vehicles, construction machinery, buildings, pits, etc. The object detection device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a camera device, or an infrared sensor, etc. The camera device is, for example, a monocular camera, a stereo camera, a LIDAR, or a distance image sensor, etc. In the present embodiment, the object detection device 70 includes a rear camera 70B installed at the rear end of the upper surface of the upper rotating body 3, a front camera 70F installed at the front end of the upper surface of the cab 10, a left camera 70L installed at the left end of the upper surface of the upper rotating body 3, and a right camera 70R installed at the right end of the upper surface of the upper rotating body 3.

[0049] The object detection device 70 may be configured to detect a predetermined object (for example, a person) in a predetermined area set around the shovel 100. For example, the object detection device 70 may be configured to distinguish and detect a person and an object other than a person.

[0050] The positioning device 85 is configured to measure the position of the shovel 100. In the present embodiment, the positioning device 85 is a GNSS receiver incorporating an electronic compass, and calculates and outputs the latitude, longitude, and altitude of the shovel 100 and the direction of the shovel 100 based on received GNSS signals.

[0051] The body tilt sensor S4 is configured to detect the inclination of the upper rotating body 3 relative to a predetermined plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the inclination angle of the upper rotating body 3 relative to the horizontal plane around the front-rear axis and the inclination angle around the left-right axis. The front-rear axis and the left-right axis of the upper rotating body 3 are, for example, orthogonal to each other and pass through a point on the rotating axis of the excavator 100, that is, the center point of the excavator.

[0052] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. In the present embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may also be a rotary transformer or a rotary encoder. The rotation angular velocity sensor S5 may also be configured to output at least one of the rotation velocity and the rotation angle. In this case, at least one of the rotation velocity and the rotation angle may be calculated based on the rotation angular velocity.

[0053] Hereinafter, any combination of the boom angle sensor S1 , the arm angle sensor S2 , the bucket angle sensor S3 , the machine body inclination sensor S4 , and the swing angular velocity sensor S5 is also collectively referred to as a posture sensor.

[0054] Next, refer to Figure 3 A configuration example of a hydraulic system mounted on the shovel 100 will be described. Figure 3 It is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100 . Figure 3 In the figure, the mechanical power transmission system, the working oil pipeline, the pilot pipeline and the electrical control system are respectively shown by double lines, solid lines, dashed lines and dotted lines.

[0055] The hydraulic system of the shovel 100 mainly includes an engine 11, a pump regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and a control valve 60.

[0056] exist Figure 3In the hydraulic system, hydraulic oil is circulated from a main pump 14 driven by an engine 11 to a hydraulic oil tank via an intermediate bypass line CB or a parallel line PC.

[0057] The engine 11 is a driving source of the shovel 100. In the present embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0058] The main pump 14 is configured to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In the present embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0059] The pump regulator 13 is configured to control the discharge amount of the main pump 14. In the present embodiment, the pump regulator 13 controls the discharge amount (displacement) of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in accordance with a control command from the controller 30.

[0060] The pilot pump 15 is configured to supply pilot oil to the hydraulic control equipment including the operating device 26 via the pilot line. In the present embodiment, the pilot pump 15 is a fixed capacity hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may also be achieved by the main pump 14. That is, the main pump 14 may also have a function of supplying working oil to the control valve unit 17, and then supply the working oil to the operating device 26 and the solenoid valve 31 (see FIG. 1 ) after reducing the pressure of the working oil through a throttle or the like. Figure 4A to Figure 4F ) etc. to supply working oil as pilot oil.

[0061] The control valve unit 17 is a hydraulic control device for controlling the hydraulic system in the excavator 100. In the present embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 can selectively supply the working oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of the working oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the working oil flowing from the hydraulic actuator to the working oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0062] The operating device 26 is a device used by the operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the pilot oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the pilot line. The pressure (pilot pressure) of the pilot oil supplied to each pilot port is a pressure corresponding to the operation direction and operation amount of the joystick or pedal (not shown) of the operating device 26 corresponding to each hydraulic actuator.

[0063] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0064] The operation sensor 29 is configured to detect the content of the operation performed by the operator on the operating device 26. In the present embodiment, the operation sensor 29 is an angle sensor that detects the operation direction and operation amount of the joystick or pedal of the operating device 26 corresponding to each actuator in the form of an angle, and outputs the detected value to the controller 30. The operation content of the operating device 26 may also be detected using other sensors other than the angle sensor.

[0065] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to a hydraulic oil tank via a left center bypass line CBL or a left parallel line PCL, and the right main pump 14R circulates hydraulic oil to a hydraulic oil tank via a right center bypass line CBR or a right parallel line PCR.

[0066] The left center bypass line CBL is a hydraulic oil line passing through the control valves 171, 173, 175L and 176L arranged in the control valve unit 17. The right center bypass line CBR is a hydraulic oil line passing through the control valves 172, 174, 175R and 176R arranged in the control valve unit 17.

[0067] The control valve 171 is a slide valve that switches the flow of the working oil in order to supply the working oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and discharge the working oil discharged from the left travel hydraulic motor 2ML into the working oil tank, and is also called a "control valve for the left travel hydraulic motor".

[0068] The control valve 172 is a slide valve for switching the flow of hydraulic oil in order to supply hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR into the hydraulic oil tank, and is also called a "control valve for the right travel hydraulic motor".

[0069] The control valve 173 is a slide valve for switching the flow of hydraulic oil in order to supply hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank, and is also called a "swing hydraulic motor control valve".

[0070] The control valve 174 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank, and is also called a “bucket cylinder control valve”.

[0071] The control valve 175L is a slide valve for switching the flow of the working oil in order to supply the working oil discharged from the left main pump 14L to the boom cylinder 7. The control valve 175R is a slide valve for switching the flow of the working oil in order to supply the working oil discharged from the right main pump 14R to the boom cylinder 7 and discharge the working oil in the boom cylinder 7 to the working oil tank. The control valve 175 is also called a "control valve for the boom cylinder".

[0072] The control valve 176L is a slide valve for switching the flow of the working oil so as to supply the working oil discharged from the left main pump 14L to the arm cylinder 8 and discharge the working oil in the arm cylinder 8 to the working oil tank. The control valve 176R is a slide valve for switching the flow of the working oil so as to supply the working oil discharged from the right main pump 14R to the arm cylinder 8 and discharge the working oil in the arm cylinder 8 to the working oil tank. The control valve 176 is also called a "control valve for the arm cylinder".

[0073] The left parallel line PCL is a working oil line parallel to the left center bypass line CBL. When the flow of working oil through the left center bypass line CBL is restricted or cut off by one of the control valves 171, 173 or 175L, the left parallel line PCL can supply working oil to a control valve further downstream. The right parallel line PCR is a working oil line parallel to the right center bypass line CBR. When the flow of working oil through the right center bypass line CBR is restricted or cut off by one of the control valves 172, 174 or 175R, the right parallel line PCR can supply working oil to a control valve further downstream.

[0074] The pump regulator 13 includes a left pump regulator 13L and a right pump regulator 13R. The left pump regulator 13L controls the discharge volume (displacement) of the left main pump 14L by adjusting the deflection angle of the swash plate of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left pump regulator 13L reduces the discharge volume (displacement) by adjusting the deflection angle of the swash plate of the left main pump 14L according to the increase in the discharge pressure of the left main pump 14L. The same is true for the right pump regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge volume does not exceed the output power (output horsepower) of the engine 11.

[0075] 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.

[0076] The left operating lever 26L is used for the swing operation and the operation of the boom 5. When the left operating lever 26L is operated in the forward and backward directions, the pilot oil discharged from the pilot pump 15 is used to introduce the control pressure corresponding to the operation amount into the pilot port of the control valve 176. And when the left and right directions are operated, the pilot oil discharged from the pilot pump 15 is used to introduce the control pressure corresponding to the operation amount into the pilot port of the control valve 173.

[0077] Specifically, when the arm is operated in the direction of arm retraction, the left operating lever 26L introduces pilot oil to the right pilot port of the control valve 176L and introduces pilot oil to the left pilot port of the control valve 176R. Furthermore, when the arm is operated in the direction of arm opening, the left operating lever 26L introduces pilot oil to the left pilot port of the control valve 176L and introduces pilot oil to the right pilot port of the control valve 176R. Furthermore, when the arm is operated in the left rotation direction, the left operating lever 26L introduces pilot oil to the left pilot port of the control valve 173, and when the arm is operated in the right rotation direction, the left operating lever 26L introduces pilot oil to the right pilot port of the control valve 173. In this way, when the arm is operated in the forward and backward direction, the left operating lever 26L functions as a "arm operating lever", and when the arm is operated in the left and right directions, the left operating lever 26L functions as a "rotation operating lever".

[0078] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward and backward directions, the pilot oil discharged from the pilot pump 15 introduces a control pressure corresponding to the operation amount to the pilot port of the control valve 175. And when the right operating lever 26R is operated in the left and right directions, the pilot oil discharged from the pilot pump 15 introduces a control pressure corresponding to the operation amount to the pilot port of the control valve 174.

[0079] Specifically, when the operation is performed in the boom lowering direction, the right operating lever 26R introduces pilot oil to the right pilot port of the control valve 175R. Furthermore, when the operation is performed in the boom raising direction, the right operating lever 26R introduces pilot oil to the right pilot port of the control valve 175L, and introduces pilot oil to the left pilot port of the control valve 175R. Furthermore, when the operation is performed in the bucket retracting direction, the right operating lever 26R introduces pilot oil to the right pilot port of the control valve 174, and when the operation is performed in the bucket opening direction, the right operating lever 26R introduces pilot oil to the left pilot port of the control valve 174. In this way, when the operation is performed in the forward and backward directions, the right operating lever 26R functions as a "boom operating lever", and when the operation is performed in the left and right directions, the right operating lever 26R functions as a "bucket operating lever".

[0080] The travel rod 26D is used for the operation of the crawler track 1C. Specifically, the left travel rod 26DL is used for the operation of the left crawler track 1CL. The left travel rod 26DL can be configured to be linked with the left travel pedal. If the operation is performed in the forward and backward directions, the left travel rod 26DL uses the pilot oil ejected by the pilot pump 15 to introduce the control pressure corresponding to the operation amount into the pilot port of the control valve 171. The right travel rod 26DR is used for the operation of the right crawler track 1CR. The right travel rod 26DR can be configured to be linked with the right travel pedal. If the operation is performed in the forward and backward directions, the right travel rod 26DR uses the pilot oil ejected by the pilot pump 15 to introduce the control pressure corresponding to the operation amount into the pilot port of the control valve 172.

[0081] 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.

[0082] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the content of the operation performed by the operator on the left operation lever 26L in the front-back direction in the form of an angle, and outputs the detected value to the controller 30. The operation content is, for example, the joystick operation direction and the joystick operation amount (joystick operation angle). Similarly, the operation sensor 29LB detects the content of the operation performed by the operator on the left operation lever 26L in the left-right direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29RA detects the content of the operation performed by the operator on the right operation lever 26R in the front-back direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29RB detects the content of the operation performed by the operator on the right operation lever 26R in the left-right direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29DL detects the content of the operation performed by the operator on the left travel lever 26DL in the front-back direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29DR detects the contents of the operation performed by the operator on the right travel rod 26DR in the front-rear direction in the form of an angle, and outputs the detected value to the controller 30 .

[0083] The controller 30 receives the output of the operation sensor 29 and outputs a control command to the pump regulator 13 as necessary to change the discharge amount of the main pump 14 .

[0084] Here, negative control using the throttle 18 and the control pressure sensor 19 will be described. 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.

[0085] In the left intermediate bypass line CBL, a left throttle 18L is arranged between the control valve 176L located at the most downstream and the working oil tank. Therefore, the flow of the working oil discharged by the left main pump 14L is restricted by the left throttle 18L. In addition, the left throttle 18L generates a control pressure for controlling the left pump regulator 13L. The left control pressure sensor 19L is a sensor for detecting the 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 deflection angle of the inclined plate of the left main pump 14L according to the control pressure. The controller 30 is constructed as follows: the larger the control pressure, the more the discharge volume of the left main pump 14L is reduced, and the smaller the control pressure, the more the discharge volume of the left main pump 14L is increased. The discharge volume of the right main pump 14R is also controlled in the same way.

[0086] Specifically, if Figure 3As shown, in the standby state where none of the hydraulic actuators in the excavator 100 is operated, the hydraulic oil discharged by the left main pump 14L reaches the left throttle 18L through the left intermediate bypass line CBL. Furthermore, the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left intermediate bypass line CBL. On the other hand, when one of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Furthermore, the flow of the hydraulic oil discharged by the left main pump 14L reduces or eliminates the amount reaching the left throttle 18L, thereby reducing the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L so that sufficient hydraulic oil flows into the hydraulic actuator to be operated, thereby ensuring the driving of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0087] According to the above structure, Figure 3 The hydraulic system can suppress unnecessary energy consumption in the main pump 14 in the standby state. The unnecessary energy consumption includes the pumping loss of the hydraulic oil discharged by the main pump 14 in the intermediate bypass line CB. In addition, when the hydraulic actuator is operated, Figure 3 The hydraulic system can reliably supply a required and sufficient amount of hydraulic oil from the main pump 14 to the hydraulic actuator of the working object.

[0088] The control valve 60 is configured to switch between an effective state and an ineffective state of the operating device 26. The effective state of the operating device 26 is a state in which the relevant driven body can be moved by the operator operating the operating device 26, and the ineffective state of the operating device 26 is a state in which the relevant driven body cannot be moved even if the operator operates the operating device 26.

[0089] In the present embodiment, the control valve 60 is a solenoid valve that can switch between the connected state and the disconnected state of the pilot line CD1 connecting the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch between the connected state and the disconnected state of the pilot line CD1 according to a command from the controller 30.

[0090] The control valve 60 may also be configured to be linked with a door lock rod (not shown). Specifically, the control valve 60 may be configured to put the pilot line CD1 into a cut-off state when the door lock rod is pressed down, and to put the pilot line CD1 into a connected state when the door lock rod is pulled up. However, the control valve 60 may also be another electromagnetic valve different from the electromagnetic valve that can switch the connected state and the cut-off state of the pilot line CD1 in linkage with the door lock rod.

[0091] Next, refer to Figure 4A to Figure 4F , the structure of the controller 30 used to activate the actuator is described. Figure 4A to Figure 4F This is a diagram that shows a portion of the hydraulic system. Specifically, Figure 4A This is a diagram showing a portion of the hydraulic system related to the operation of the boom cylinder 8. Figure 4B This is a diagram in which a hydraulic system portion related to the operation of the boom cylinder 7 is extracted. Figure 4C This is a diagram showing a portion of the hydraulic system related to the operation of the bucket cylinder 9. Figure 4D This is a diagram in which a hydraulic system portion related to the operation of the swing hydraulic motor 2A is extracted. Figure 4E This is a diagram that extracts the hydraulic system part related to the operation of the left travel hydraulic motor 2ML. Figure 4F This is a diagram in which a portion of the hydraulic system related to the operation of the right travel hydraulic motor 2MR is extracted.

[0092] like Figure 4A to Figure 4F As shown, the hydraulic system includes a solenoid valve 31. The solenoid valve 31 includes solenoid valves 31AL to 31FL and solenoid valves 31AR to 31FR.

[0093] The solenoid valve 31 is arranged in the pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to be able to change the flow path area of ​​the pipeline by changing the opening area. In the present embodiment, the solenoid valve 31 is an electromagnetic proportional valve, which operates according to the control command output by the controller 30. Therefore, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 through the solenoid valve 31 according to the operation of the operating device 26 by the operator or regardless of the operation of the operating device 26 by the operator. In addition, the controller 30 can make the pilot pressure generated by the solenoid valve 31 act on the pilot port of the corresponding control valve.

[0094] According to this structure, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not being operated, except when the specific operating device 26 is being operated. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is being operated.

[0095] For example, Figure 4AAs shown, the left operating lever 26L is used to operate the boom 5. Specifically, the left operating lever 26L uses the pilot oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the forward and backward directions to act on the pilot port of the control valve 176. More specifically, when the boom is operated in the boom retracting direction (rearward direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. And, when the boom is operated in the boom opening direction (forward direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0096] The operating device 26 is provided with a switch SW. In the present embodiment, the switch SW includes a switch SW1 and a switch SW2. The switch SW1 is a push button switch provided at the front end of the left operating rod 26L. The operator can operate the left operating rod 26L while pressing the switch SW1. The switch SW1 can be provided at the right operating rod 26R, or at other positions in the cab 10. The switch SW2 is a push button switch provided at the front end of the left travel rod 26DL. The operator can operate the left travel rod 26DL while pressing the switch SW2. The switch SW2 can be provided at the right travel rod 26DR, or at other positions in the cab 10.

[0097] The operation sensor 29LA detects the content of the operation performed by the operator on the left operation lever 26L in the front-rear direction, and outputs the detected value to the controller 30 .

[0098] The solenoid valve 31AL operates according to the control command (current command) output by the controller 30. And, the pilot pressure generated by the pilot oil introduced from 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 solenoid valve 31AL is adjusted. The solenoid valve 31AR operates according to the control command (current command) output by the controller 30. And, the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the solenoid valve 31AR is adjusted. The solenoid valve 31AL can adjust the pilot pressure in a manner that can stop the control valve 176L and the control valve 176R at any valve position. Similarly, the solenoid valve 31AR can adjust the pilot pressure in a manner that can stop the control valve 176L and the control valve 176R at any valve position.

[0099] According to this structure, the controller 30 can supply the pilot 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 solenoid valve 31AL according to the boom retracting operation performed by the operator. Moreover, the controller 30 can supply the pilot 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 solenoid valve 31AL regardless of the boom retracting operation performed by the operator. That is, the controller 30 can retract the boom 5 according to the boom retracting operation performed by the operator or regardless of the boom retracting operation performed by the operator. In this way, the solenoid valve 31AL functions as a "boom solenoid valve" or a "boom retracting solenoid valve".

[0100] Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the solenoid valve 31AR according to the boom opening operation performed by the operator. Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the solenoid valve 31AR regardless of the boom opening operation performed by the operator. That is, the controller 30 can open the boom 5 according to the boom opening operation performed by the operator or regardless of the boom opening operation performed by the operator. In this way, the solenoid valve 31AR functions as a "boom electromagnetic valve" or a "boom opening electromagnetic valve".

[0101] Furthermore, with this structure, even when the operator performs the boom retracting 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 the control valve 176L and the right pilot port of the control valve 176R) as needed to forcibly stop the retracting action of the boom 5. The same is true for the case where the opening action of the boom 5 is forcibly stopped when the operator performs the boom opening operation.

[0102] Alternatively, even when the operator performs the arm retracting operation, the controller 30 can control the solenoid valve 31AR as needed to increase the pilot pressure acting on the opening side pilot port of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) located on the opposite side of the closing side pilot port of the control valve 176, and forcibly return the control valve 176 to the neutral position, thereby forcibly stopping the retracting action of the arm 5. The same is true for the case where the opening action of the arm 5 is forcibly stopped when the operator performs the arm opening operation.

[0103] And, omit reference to the following Figure 4B to Figure 4FAlthough the above description is not provided, the same also applies to the case where the boom 4 is forcibly stopped when the operator performs a boom raising operation or a boom lowering operation, the case where the bucket 6 is forcibly stopped when the operator performs a bucket retracting operation or a bucket opening operation, and the case where the upper revolving body 3 is forcibly stopped when the operator performs a revolving operation. Furthermore, the same also applies to the case where the traveling operation of the lower traveling body 1 is forcibly stopped when the operator performs a traveling operation.

[0104] Furthermore, the controller 30 may also be configured to allow a small pilot pressure to act on the pilot ports on both sides of the control valve 176 before the boom operation is performed in order to improve the responsiveness of the boom operation (boom retracting operation and boom opening operation). The same is true for other operations such as the boom operation (boom raising operation and boom lowering operation). That is, the controller 30 can improve the responsiveness of the hydraulic actuator by using more pilot oil.

[0105] And, if Figure 4B As shown, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses the pilot oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the forward and backward directions to act on the pilot port of the control valve 175. More specifically, when the operation is performed in the boom raising direction (rearward direction), the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. And, when the operation is performed in the boom lowering direction (forward direction), the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175R.

[0106] The operation sensor 29RA detects the content of the operation performed by the operator on the right operation lever 26R in the front-rear direction, and outputs the detected value to the controller 30 .

[0107] The solenoid valve 31BL operates according to the control command (current command) output by the controller 30. And adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the solenoid valve 31BL. The solenoid valve 31BR operates according to the control command (current command) output by the controller 30. And adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR. The solenoid valve 31BL can adjust the pilot pressure in a manner that can stop the control valve 175L and the control valve 175R at any valve position. And the solenoid valve 31BR can adjust the pilot pressure in a manner that can stop the control valve 175R at any valve position.

[0108] According to this structure, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the solenoid valve 31BL according to the boom raising operation performed by the operator. Moreover, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the solenoid valve 31BL regardless of the boom raising operation performed by the operator. That is, the controller 30 can raise the boom 4 according to the boom raising operation performed by the operator or regardless of the boom raising operation performed by the operator. In this way, the solenoid valve 31BL functions as a "boom solenoid valve" or a "boom raising solenoid valve".

[0109] Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR according to the boom lowering operation performed by the operator. Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR regardless of the boom lowering operation performed by the operator. That is, the controller 30 can lower the boom 4 according to the boom lowering operation performed by the operator or regardless of the boom lowering operation performed by the operator. In this way, the solenoid valve 31BR functions as a "boom solenoid valve" or a "boom lowering solenoid valve".

[0110] And, if Figure 4C As shown, the right operating lever 26R is used to operate the bucket 6. Specifically, the right operating lever 26R uses the pilot oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the left and right directions to act on the pilot port of the control valve 174. More specifically, when the bucket is operated in the bucket retracting direction (left direction), the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 174. And, when the bucket is operated in the bucket opening direction (right direction), the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 174.

[0111] The operation sensor 29RB detects the content of the operation performed by the operator on the right operation lever 26R in the left-right direction, and outputs the detected value to the controller 30 .

[0112] The solenoid valve 31CL operates according to the control command (current command) output by the controller 30. And adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the solenoid valve 31CL. The solenoid valve 31CR operates according to the control command (current command) output by the controller 30. And adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the solenoid valve 31CR. The solenoid valve 31CL can adjust the pilot pressure in a manner that enables the control valve 174 to stop at any valve position. Similarly, the solenoid valve 31CR can adjust the pilot pressure in a manner that enables the control valve 174 to stop at any valve position.

[0113] According to this structure, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the solenoid valve 31CL according to the bucket retracting operation performed by the operator. Moreover, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the solenoid valve 31CL regardless of the bucket retracting operation performed by the operator. That is, the controller 30 can retract the bucket 6 according to the bucket retracting operation performed by the operator or regardless of the bucket retracting operation performed by the operator. In this way, the solenoid valve 31CL functions as a "bucket solenoid valve" or a "bucket retracting solenoid valve".

[0114] Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the solenoid valve 31CR according to the bucket opening operation performed by the operator. Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the solenoid valve 31CR regardless of the bucket opening operation performed by the operator. That is, the controller 30 can open the bucket 6 according to the bucket opening operation performed by the operator or regardless of the bucket opening operation performed by the operator. In this way, the solenoid valve 31CR functions as a "bucket solenoid valve" or a "bucket opening solenoid valve".

[0115] And, if Figure 4D As shown in FIG. 1 , the left operating lever 26L is also used to operate the swing mechanism 2. Specifically, the left operating lever 26L uses the pilot oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the left and right directions to act on the pilot port of the control valve 173. More specifically, when the operation is performed in the left swing direction (left direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 173. And, when the operation is performed in the right swing direction (right direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 173.

[0116] The operation sensor 29LB detects the operation content of the left operation lever 26L performed by the operator in the left-right direction, and outputs the detected value to the controller 30.

[0117] The solenoid valve 31DL operates according to the control command (current command) output by the controller 30. In addition, the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL can be adjusted. The solenoid valve 31DR operates according to the control command (current command) output by the controller 30. In addition, the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR can be adjusted. The solenoid valve 31DL can adjust the pilot pressure in a manner that enables the control valve 173 to stop at an arbitrary valve position. Similarly, the solenoid valve 31DR can adjust the pilot pressure in a manner that enables the control valve 173 to stop at an arbitrary valve position.

[0118] According to this structure, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL according to the left turning operation performed by the operator. Moreover, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL regardless of the left turning operation performed by the operator. That is, the controller 30 can make the turning mechanism 2 turn left according to the left turning operation performed by the operator or regardless of the left turning operation performed by the operator. In this way, the solenoid valve 31DL functions as a "turning solenoid valve" or a "left turning solenoid valve".

[0119] Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR according to the right turning operation performed by the operator. Furthermore, the controller 30 can supply the pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR regardless of the right turning operation performed by the operator. That is, the controller 30 can make the turning mechanism 2 turn right according to the right turning operation performed by the operator or regardless of the right turning operation performed by the operator. In this way, the solenoid valve 31DR functions as a "turning solenoid valve" or a "right turning solenoid valve".

[0120] And, if Figure 4EAs shown, the left travel rod 26DL is used to operate the left crawler 1CL. Specifically, the left travel rod 26DL uses the pilot oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the forward and backward directions to act on the pilot port of the control valve 171. More specifically, when the operation is performed in the forward direction (forward direction), the left travel rod 26DL causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 171. And, when the operation is performed in the backward direction (rearward direction), the left travel rod 26DL causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 171.

[0121] The operation sensor 29DL electrically detects the content of the operation performed by the operator on the left travel rod 26DL in the front-rear direction, and outputs the detected value to the controller 30 .

[0122] The solenoid valve 31EL operates according to the current command output by the controller 30. Furthermore, the solenoid valve 31EL adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 171 via the solenoid valve 31EL. The solenoid valve 31ER operates according to the current command output by the controller 30. Furthermore, the solenoid valve 31ER adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 171 via the solenoid valve 31ER. The solenoid valves 31EL and 31ER can adjust the pilot pressure in a manner that the control valve 171 can be stopped at an arbitrary valve position.

[0123] With this structure, the controller 30 can supply the pilot oil ejected by the pilot pump 15 to the left pilot port of the control valve 171 via the solenoid valve 31EL regardless of the left forward operation performed by the operator. That is, the left crawler 1CL can be moved forward. In addition, the controller 30 can supply the pilot oil ejected by the pilot pump 15 to the right pilot port of the control valve 171 via the solenoid valve 31ER regardless of the left backward operation performed by the operator. That is, the left crawler 1CL can be moved backward. In this way, the solenoid valve 31EL functions as a "left walking solenoid valve" or a "left forward solenoid valve", and the solenoid valve 31ER functions as a "left walking solenoid valve" or a "left backward solenoid valve".

[0124] And, if Figure 4FAs shown, the right travel rod 26DR is used to operate the right crawler 1CR. Specifically, the right travel rod 26DR uses the pilot oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the forward and backward directions to act on the pilot port of the control valve 172. More specifically, when the operation is performed in the forward direction (forward direction), the right travel rod 26DR causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 172. And, when the operation is performed in the backward direction (rearward direction), the right travel rod 26DR causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 172.

[0125] The operation sensor 29DR electrically detects the operation content of the operator on the right travel rod 26DR in the front-rear direction, and outputs the detected value to the controller 30.

[0126] The solenoid valve 31FL is operated according to the current command output by the controller 30. Furthermore, the solenoid valve 31FL adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the solenoid valve 31FL. The solenoid valve 31FR is operated according to the current command output by the controller 30. Furthermore, the solenoid valve 31FR adjusts the pilot pressure generated by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the solenoid valve 31FR. The solenoid valves 31FL and 31FR can adjust the pilot pressure in a manner that the control valve 172 can be stopped at an arbitrary valve position.

[0127] With this structure, the controller 30 can supply the pilot oil ejected by the pilot pump 15 to the right pilot port of the control valve 172 via the solenoid valve 31FL regardless of the right forward operation performed by the operator. That is, the right crawler 1CR can be moved forward. In addition, the controller 30 can supply the pilot oil ejected by the pilot pump 15 to the left pilot port of the control valve 172 via the solenoid valve 31FR regardless of the right backward operation performed by the operator. That is, the right crawler 1CR can be moved backward. In this way, the solenoid valve 31FL functions as a "right walking solenoid valve" or a "right forward solenoid valve", and the solenoid valve 31FR functions as a "right walking solenoid valve" or a "right backward solenoid valve".

[0128] Furthermore, the shovel 100 may include a structure that automatically operates the bucket tilt mechanism. In this case, the hydraulic system portion related to the bucket tilt cylinder constituting the bucket tilt mechanism may be configured similarly to the hydraulic system portion related to the operation of the boom cylinder 7 .

[0129] Furthermore, although the description related to the electric operating lever as the operating device 26 is described, a hydraulic operating lever may be used instead of the electric operating lever. In this case, the operation amount of the hydraulic operating lever may be detected by a pressure sensor in the form of pressure and input to the controller 30. Furthermore, a solenoid valve may be arranged between the operating device 26 as the hydraulic operating lever and the pilot port of each control valve. The solenoid valve is configured to operate according to an electrical signal from the controller 30. According to this structure, if a manual operation is performed using the operating device 26 as the hydraulic operating lever, the operating device 26 increases or decreases the pilot pressure according to the operation amount, thereby enabling each control valve to move. Furthermore, each control valve may be composed of an electromagnetic slide valve. In this case, the electromagnetic slide valve operates according to an electrical signal from the controller 30 corresponding to the operation amount of the electric operating lever.

[0130] Next, refer to Figure 5 An overview of the equipment guidance function and the equipment control function of the shovel 100 will be described. Figure 5 1 is a diagram showing a configuration example of a control system of the shovel 100. Specifically, Figure 5 An example of a configuration related to the equipment guidance function and the equipment control function of the shovel 100 is shown.

[0131] The controller 30 is configured to be able to execute a device guidance function of guiding the operator in manual operation of the shovel 100 .

[0132] Specifically, the controller 30 transmits working information such as the distance between the target construction surface such as the design surface and the specified working part (for example, the tip of the bucket 6 or the back of the bucket 6, etc.) (hereinafter referred to as the "working part") of the bucket 6 which is the front end of the attachment AT to the operator through the display device 40 and the indoor alarm 45B.

[0133] More specifically, the controller 30 obtains information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the rotation angular velocity sensor S5, the operation sensor 29, the object detection device 70, the positioning device 85, and the switch SW. In addition, the controller 30 can calculate the distance between the bucket 6 and the target construction surface based on the acquired information, and notify the operator of the calculated distance through an image displayed on the display device 40 and a sound output from the indoor alarm 45B. The data related to the target construction surface is stored in the internal memory of the controller 30 or an external storage device connected to the controller 30, for example, based on the setting input by the operator through the information input device (not shown) or by downloading from the outside (for example, a specified management server). The data related to the target construction surface is expressed, for example, using a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system with the center of gravity of the earth 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 set the target construction surface according to the relative position relationship with the reference point through the information input device. Thus, the controller 30 can notify the operator of the operation information through the display device 40 and the indoor alarm 45B, etc., and guide the operator to operate the excavator 100 through the operating device 26.

[0134] Furthermore, the controller 30 is configured to be able to execute a device control function of supporting the operator's manual operation of the shovel 100 or causing the shovel 100 to operate automatically or autonomously.

[0135] Specifically, when the operator manually performs excavation operations or leveling operations, the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface is consistent with the front end of the attachment AT, specifically, with the shape element of the control object (hereinafter referred to as the "control object") set at the working part of the bucket 6. The control object may include, for example, a plane or a curved surface constituting the tip of the shovel as the working part of the bucket 6, a line segment defined on the plane or the curved surface, a point defined on the plane or the curved surface, etc. In addition, the control object may also include, for example, a plane or a curved surface constituting the back side of the working part of the bucket 6, a line segment defined on the plane or the curved surface, a point defined on the plane or the curved surface, etc. In addition, the control object may also be set as an arm top pin (bucket connecting pin).

[0136] More specifically, if the operator operates the left operating lever 26L to move the arm 5 while operating (pressing) the switch SW, the controller 30 automatically operates the boom 4, the arm 5, and the bucket 6 according to the operation of the left operating lever 26L performed by the operator so that the target construction surface is consistent with the control object. More specifically, as described above, the controller 30 controls the solenoid valve 31 to automatically operate the boom 4, the arm 5, and the bucket 6. Thus, the operator can make the excavator 100 perform excavation work or leveling work along the target construction surface by only operating the left operating lever 26L in the forward and backward directions.

[0137] The working part of the bucket 6 can be set, for example, based on the setting input by the operator or the like through the information input device. In addition, the working part of the bucket 6 can also be automatically set, for example, based on the working content of the shovel 100. Specifically, when the working content of the shovel 100 is excavation work, etc., the working part of the bucket 6 can be set to the tip of the bucket 6, and when the working content of the shovel 100 is leveling work or rolling work, etc., the working part of the bucket 6 can be set to the back of the bucket 6. At this time, the working content of the shovel 100 can be automatically determined based on the camera image of the front camera 70F, etc., or can be selected or input by the operator or the like through the information input device, and set according to the selected content or input content.

[0138] When the working part is the blade tip of the bucket 6, the control object on the working part of the bucket 6 (hereinafter referred to as "the control object of the bucket 6") can be set to a point on the curved surface or plane of the front end of a specific one of the multiple claws constituting the bucket 6. And, for example, when the working part is the back of the bucket 6, the control object of the bucket 6 can be arbitrarily set on the curved surface or plane constituting the back of the bucket 6. At this time, the controller 30 can set the control object on the back of the bucket 6 according to the setting operation performed by the operator or the like through the information input device, and can also automatically set (change) the control object on the back of the bucket 6 according to the specified conditions.

[0139] Next, refer to Fig. 6A and Figure 6B An example of a detailed configuration related to the device control function will be described. Fig. 6A and Figure 6B 30 is a diagram showing a configuration example of the controller 30. Specifically, Fig. 6A and Figure 6B An example of a detailed structure related to the device control function is shown. Fig. 6A and Figure 6B The following description relates to a device control function that is executed when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated in a state where the switch SW is operated.

[0140] The controller 30 includes an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target track setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, an action instruction generation unit 3006, a leading instruction generation unit 3007, a posture angle calculation unit 3008, a control object speed calculation unit 3009 and a restriction unit 3010 as a functional unit related to the equipment control function. In the example shown in the figure, 10 functional units are respectively implemented by software. However, the 10 functional units can be implemented by hardware (electronic circuits, etc.) or by a combination of software and hardware. In addition, in the example shown in the figure, when the switch SW is operated, the 10 functional units repeat the processing described later according to the specified control cycle.

[0141] The operation content acquisition unit 3001 acquires the operation content of the boom lever based on the detection signal input from the operation sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (whether it is a boom opening operation or a boom retracting operation) and the operation amount as the operation content.

[0142] The target construction surface acquisition unit 3002 acquires data related to the target construction surface from, for example, an internal memory or an external storage device.

[0143] The target trajectory setting unit 3003 sets information related to the target trajectory of the control object of the bucket 6 for moving the control object of the bucket 6, which is the front end of the attachment AT, along the target construction surface based on the data related to the target construction surface. For example, the target trajectory setting unit 3003 may set an inclination angle in the front-rear direction of the target construction surface based on the body (upper swing body 3) of the excavator 100 as the information related to the target trajectory.

[0144] The current position calculation unit 3004 calculates the position (current position) of the control target of the bucket 6 . Specifically, the position of the control target of the bucket 6 can be calculated based on the boom angle β1 , the arm angle β2 , and the bucket angle β3 calculated by the posture angle calculation unit 3008 .

[0145] The target position calculation unit 3005 calculates the target position of the control object of the bucket 6 based on the operation content (operation direction and operation amount) of the boom operating lever, the set information related to the target track, and the current position of the control object of the bucket 6. The target position is the position on the target construction surface (in other words, the target track) that should be reached in this control cycle when the boom 5 is assumed to be moving according to the operation direction and operation amount of the boom operating lever. The target position calculation unit 3005 can also calculate the target position of the control object of the bucket 6 using a mapping diagram or a calculation formula pre-stored in an internal memory or the like.

[0146] The motion instruction generating unit 3006 generates an instruction value related to the motion of the boom 4 (hereinafter referred to as "boom instruction value β1r"), an instruction value related to the motion of the arm 5 (hereinafter referred to as "arm instruction value β2r"), and an instruction value related to the motion of the bucket 6 (hereinafter referred to as "bucket instruction value β3r") according to the target position of the control object of the bucket 6. In the example shown in the figure, the boom instruction value β1r, the arm instruction value β2r, and the bucket instruction value β3r are respectively the boom angle, the arm angle, and the bucket angle when the control object of the bucket 6 achieves the target position. In addition, the boom instruction value β1r, the arm instruction value β2r, and the bucket instruction β3r values ​​may be the angular velocity and angular acceleration of the boom 4, the arm 5, and the bucket 6 required for the control object of the bucket 6 to achieve the target position.

[0147] The action instruction generating unit 3006 includes a main instruction generating unit 3006A and a sub-instruction generating unit 3006B. The main instruction generating unit 3006A generates an instruction value (hereinafter referred to as "main instruction value") related to the action of the work element (hereinafter referred to as "main element") that acts in accordance with the operation content of the operating device 26. In addition, the operating lever used to operate the main element is also referred to as the "main operating lever". In the example shown in the figure, the main element is the boom 5, the main operating lever is the boom operating lever, and the main instruction generating unit 3006A generates the boom instruction value β2r and outputs it to the boom lead instruction generating unit 3007B. Specifically, the main instruction generating unit 3006A generates the boom instruction value β2r corresponding to the operation content (operation direction and operation amount) of the boom operating lever. The main instruction generating unit 3006A can also generate and output the boom instruction value β2r based on a prescribed mapping diagram or conversion formula that specifies the relationship between the operation content of the boom operating lever and the boom instruction value β2r.

[0148] The secondary command generation unit 3006B generates a command value (hereinafter referred to as a "secondary command value") related to the action of an operation element (hereinafter referred to as a "secondary element") that moves in a manner such that the control object of the bucket 6 moves along the target construction surface according to (synchronized with) the action of the main element (arm 5) among the operation elements constituting the attachment AT. In the illustrated example, the secondary elements are the boom 4 and the bucket 6, and the secondary command generation unit 3006B generates a boom command value β1r and a bucket command value β3r, and outputs them to the boom lead command generation unit 3007A and the bucket lead command generation unit 3007C, respectively. Specifically, the secondary command generation unit 3006B generates the boom command value β1r and the bucket command value β3r so that at least one of the boom 4 and the bucket 6 moves according to (synchronized with) the action of the arm 5 corresponding to the arm command value β2r, and the control object of the bucket 6 can achieve the target position (that is, move along the target construction surface). Thus, the controller 30 moves the boom 4 and bucket 6 of the attachment AT according to (i.e., in synchronization with) the movement of the boom 5 corresponding to the operation content of the boom operating lever, thereby enabling the control object of the bucket 6 to move along the target construction surface. That is, the boom 5 (arm cylinder 8) moves in accordance with the operation input to the boom operating lever, and the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9) control their movements according to the movement of the boom 5 (arm cylinder 8), so that the front end of the attachment AT such as the blade tip of the bucket 6 moves along the target construction surface.

[0149] In addition, the main part may be the upper rotating body 3 that can rotate relative to the lower traveling body 1. In this case, the secondary parts may be the boom 4, the arm 5, and the bucket 6. Thus, the controller 30 operates the boom 4, the arm 5, and the bucket 6 of the attachment AT according to (i.e., in synchronization with) the rotation movement of the upper rotating body 3 corresponding to the operation content of the rotation operating lever, thereby enabling the control object of the bucket 6 to move along the target construction surface. That is, the upper rotating body 3 (rotating hydraulic motor 2A) operates in accordance with the operation input to the rotation operating lever, and the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9) control their movements according to the movement of the upper rotating body 3 (rotating hydraulic motor 2A) so that the front end of the attachment AT such as the blade tip of the bucket 6 moves along the target construction surface.

[0150] The pilot command generation unit 3007 generates command values ​​of pilot pressures acting on the control valves 174 to 176 (hereinafter referred to as "pilot pressure command values") to realize the boom angle, the arm angle, and the bucket angle corresponding to the boom command value β1r, the arm command value β2r, and the bucket command value β3r. The pilot command generation unit 3007 includes a boom pilot command generation unit 3007A, an arm pilot command generation unit 3007B, and a bucket pilot command generation unit 3007C.

[0151] The boom pilot command generation unit 3007A generates a pilot pressure command value acting on the control valves 175L and 175R corresponding to the boom cylinder 7 driving the boom 4, based on the deviation between the boom command value β1r and the calculated value (measured value) of the current boom angle calculated by the boom angle calculation unit 3008A. Furthermore, the boom pilot command generation unit 3007A outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31BL and 31BR. Thus, the solenoid valves 31BL and 31BR can make the pilot pressure corresponding to the pilot pressure command value act on the corresponding pilot ports of the control valves 175L and 175R. Furthermore, if the pilot pressure acts on the pilot port, the control valves 175L and 175R are actuated. Furthermore, if the control valves 175L and 175R are actuated, the boom cylinder 7 is actuated, and the boom 4 is actuated to achieve the boom angle corresponding to the boom command value β1r.

[0152] The boom pilot command generation unit 3007B generates a pilot pressure command value acting on the control valves 176L and 176R corresponding to the boom cylinder 8 driving the boom 5, based on the deviation between the boom command value β2r and the calculated value (measured value) of the current boom angle calculated by the boom angle calculation unit 3008B. Furthermore, the boom pilot command generation unit 3007B outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31AL and 31AR. Thus, the solenoid valves 31AL and 31AR can make the pilot pressure corresponding to the pilot pressure command value act on the corresponding pilot ports of the control valves 176L and 176R. Furthermore, if the pilot pressure acts on the pilot port, the control valves 176L and 176R are actuated. Furthermore, if the control valves 176L and 176R are actuated, the boom cylinder 8 is actuated, and the boom 5 is actuated to achieve the boom angle corresponding to the boom command value β2r.

[0153] The bucket pilot command generation unit 3007C generates a pilot pressure command value acting on the control valve 174 corresponding to the bucket cylinder 9 driving the bucket 6, based on the deviation between the bucket command value β3r and the calculated value (measured value) of the current bucket angle calculated by the bucket angle calculation unit 3008C. The bucket pilot command generation unit 3007C outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31CL and 31CR. Thus, the solenoid valves 31CL and 31CR can make the pilot pressure corresponding to the pilot pressure command value act on the corresponding pilot port of the control valve 174. And, if the pilot pressure acts on the pilot port, the control valve 174 is actuated. And, if the control valve 174 is actuated, the bucket cylinder 9 is actuated, and the bucket 6 is actuated to achieve the bucket angle corresponding to the bucket command value β3r.

[0154] The posture angle calculation unit 3008 calculates (measures) the boom angle β1, the arm angle β2, and the bucket angle β3 based on the detection signals of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The posture angle calculation unit 3008 includes a boom angle calculation unit 3008A, an arm angle calculation unit 3008B, and a bucket angle calculation unit 3008C. The boom angle calculation unit 3008A calculates (measures) the boom angle β1 based on the detection signal input from the boom angle sensor S1. The arm angle calculation unit 3008B calculates (measures) the arm angle β2 based on the detection signal input from the arm angle sensor S2. The bucket angle calculation unit 3008C calculates (measures) the bucket angle β3 based on the detection signal input from the bucket angle sensor S3.

[0155] The control object speed calculation unit 3009 is configured to calculate the moving speed of the control object. In the illustrated example, the control object speed calculation unit 3009 is configured to calculate the moving speed of the blade tip of the bucket 6 as the control object moving along the target construction surface. Specifically, the control object speed calculation unit 3009 can derive the coordinates of the blade tip of the bucket 6 based on the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 and the pre-set information related to the dimensions of the boom 4, the arm 5, and the bucket 6. Furthermore, the control object speed calculation unit 3009 can derive the moving speed of the blade tip of the bucket 6 at the second moment based on the coordinates of the blade tip of the bucket 6 at the first moment and the coordinates of the blade tip of the bucket 6 at the second moment, which is the moment after a unit time has passed since the first moment.

[0156] The limiting unit 3010 is configured to perform the following control: the operation amount of the boom operating lever acquired (calculated) by the operation content acquisition unit 3001 (hereinafter referred to as "the calculated operation amount") is limited to a prescribed amount or less. In the illustrated example, the limiting unit 3010 is configured to output the prescribed amount as a smaller amount than the calculated operation amount to each of the target position calculation unit 3005 and the action command generation unit 3006 when the calculated operation amount of the boom operating lever exceeds the prescribed amount. Furthermore, the limiting unit 3010 is configured to directly output the calculated operation amount to each of the target position calculation unit 3005 and the action command generation unit 3006 when the calculated operation amount of the boom operating lever is less than the prescribed amount.

[0157] In the example shown in the figure, the prescribed amount is a value pre-stored in an internal memory or an external storage device, etc. Specifically, the prescribed amount is a value determined according to the operation amount of the boom operating lever, and is set to be larger as the operation amount of the boom operating lever is larger. The limiting unit 3010 can calculate the prescribed amount corresponding to the operation amount of the boom operating lever using a mapping diagram or a calculation formula pre-stored in an internal memory or an external storage device, etc.

[0158] Specifically, the limiting unit 3010 is configured to determine whether to limit the calculated operation amount of the boom operating lever to a prescribed amount and output it or to output it directly, based on the moving speed of the control object calculated by the control object speed calculation unit 3009. In the example shown in the figure, the limiting unit 3010 is configured to limit the calculated operation amount of the boom operating lever to a prescribed amount and output it when the moving speed of the control object exceeds the prescribed speed.

[0159] If the calculated operation amount of the boom operating lever is limited to a predetermined amount and output, control is performed to limit the opening and retraction (rotation) speed of the boom 5. That is, the controller 30 can control the movement speed of the blade tip of the bucket 6 moving along the target construction surface by limiting the calculated operation amount of the boom operating lever to a predetermined amount and outputting it.

[0160] According to this structure, when the controller 30 moves the blade tip of the bucket 6 along a target construction surface including an inclined portion and a horizontal portion, if the operation amount of the boom operating lever remains unchanged, the moving speed of the blade tip moving along the inclined portion can be made the same as the moving speed of the blade tip moving along the horizontal portion.

[0161] In addition, Fig. 6A In the example shown, the limiting unit 3010 is arranged at the subsequent stage of the operation content acquisition unit 3001, but it can also be combined with the motion command generation unit 3006. In this case, the limiting unit 3010 can be configured to adjust the arm command value β2r downward when the moving speed of the control object (the blade tip of the bucket 6) exceeds the prescribed speed, and increase or decrease at least one of the boom command value β1r and the bucket command value β3r based on the adjusted downward arm command value β2r.

[0162] Next, refer to Figure 7 , the effect based on the limiting unit 3010 is described. Figure 7 Schematic diagram showing the operation of the attachment AT of the shovel 100 when the control object CP is moved along the target construction surface TP as an example of the target surface.

[0163] Specifically, Figure 7 In FIG. 1 , a solid line indicates the current state of the accessory device AT, and a dotted line indicates the state of the accessory device AT after a predetermined time has passed. Figure 7 In the schematic diagram of FIG. 1 , the boom 4, the arm 5 and the bucket 6 are represented by straight line segments, the upper slewing body 3 is connected to the lower end of the boom 4 by the boom foot pin 4F, the boom 4 and the arm 5 are connected by the boom top pin 4T, and the arm 5 and the bucket 6 are connected by the arm top pin 5T. In addition, the control object CP is the blade tip of the bucket 6.

[0164] More specifically, Figure 7The figure above shows the operation of the accessory device AT when the restriction by the restriction unit 3010 is not executed. Figure 7 The following figure shows the operation of the accessory device AT when the restriction based on the restriction unit 3010 is executed. Figure 7 In the figure above, the symbols of the elements indicating the state of the accessory device AT after a predetermined time has passed are suffixed with "a", such as "accessory device AT" is suffixed with "accessory device ATa". Figure 7 In the following figure, the symbols of the elements indicating the state of the attachment AT after a predetermined time have been given a suffix "b", such as "bucket 6" being given "bucket 6b". Figure 7 The target construction surface TP represented by the single-point dashed line in the figure above is Figure 7 The target construction surface TP is the same as the target construction surface TP indicated by the single-dash line in the figure below, and includes a gentle slope portion GP, ​​a steep slope portion SP and a horizontal surface portion HP.

[0165] In the case where the restriction based on the restriction unit 3010 is not executed, if the boom operating lever is operated in the boom retraction direction, Figure 7 As shown by the solid line in the upper figure, the controller 30 moves the blade tip of the bucket 6 as the control object CP at a moving speed MV1 along the gentle slope portion GP of the target construction surface TP in the direction of the solid arrow. At this time, the controller 30 retracts the boom 5 at a rotation speed AV1. In addition, the controller 30 automatically raises the boom 4 according to the retraction action of the boom 5.

[0166] Furthermore, if the arm operating lever is continuously operated in the arm retraction direction with the same operation amount, the controller 30 will, after a predetermined time, Figure 7 As shown by the dotted line in the figure above, the tip of the bucket 6a as the control object CPa moves at a moving speed MV1a along the steep slope portion SP of the target construction surface TP in the direction of the dotted arrow. At this time, the controller 30 retracts the boom 5 at a rotation speed AV1a that is the same as the rotation speed AV1. In addition, the controller 30 automatically raises the boom 4 according to the retraction action of the boom 5.

[0167] In this way, when the restriction by the restriction unit 3010 is not performed, if the operation amount of the arm operating lever when the blade tip of the bucket 6 is moved along the target construction surface TP is unchanged, the controller 30 adjusts the rotation speed of at least one of the boom 4 and the bucket 6 while maintaining the rotation speed AV1 of the arm 5 so that the blade tip of the bucket 6 is aligned with the target construction surface TP. Therefore, the controller 30 may excessively increase the movement speed MV1a of the control object CPa moving along the steep slope portion SP of the target construction surface TP.

[0168] Therefore, the controller 30 is configured to suppress a sudden change in the moving speed MV1 of the control object CP by executing the restriction by the restriction unit 3010 .

[0169] Specifically, even when the restriction based on the restriction unit 3010 is executed, if the boom operating lever is operated in the boom retraction direction, Figure 7 As shown by the solid line in the figure below, the controller 30 also moves the blade tip of the bucket 6 as the control object CP at a moving speed MV1 along the gentle slope portion GP of the target construction surface TP in the direction of the solid arrow. At this time, the controller 30 retracts the boom 5 at a rotation speed AV1. In addition, the controller 30 automatically raises the boom 4 according to the retraction action of the boom 5.

[0170] Furthermore, if the arm operating lever is continuously operated in the arm retraction direction with the same operation amount, the controller 30 will, after a predetermined time, Figure 7 As shown by the dotted line in the lower figure, the blade tip of the bucket 6b as the control object CPb is moved in the direction of the dotted arrow along the steep slope portion SP of the target construction surface TP at a moving speed MV1b.

[0171] Furthermore, if the moving speed MV1b of the blade tip of the bucket 6b exceeds a prescribed speed, the controller 30 limits the movement of the boom 5. In the illustrated example, the prescribed speed is the moving speed MV1 of the control object CP moving along the gentle slope portion GP of the target construction surface TP. Specifically, the limiting unit 3010 of the controller 30 replaces the calculated operation amount of the boom operating lever with the prescribed amount, and outputs the replaced prescribed amount to each of the target position calculation unit 3005 and the action instruction generation unit 3006. As a result, the rotation speed AV1b of the boom 5 is limited to less than the rotation speed AV1, and the moving speed MV1b of the blade tip of the bucket 6b is also limited to the prescribed speed.

[0172] In this way, when the restriction by the restriction unit 3010 is executed, if the operation amount of the arm operating lever when the blade tip of the bucket 6 is moved along the target construction surface TP is unchanged, the controller 30 adjusts the rotation speed of the arm 5 and the rotation speed of at least one of the boom 4 and the bucket 6 while maintaining the movement speed MV1 of the control object CP (the blade tip of the bucket 6b) so that the blade tip of the bucket 6 is aligned with the target construction surface TP. Therefore, the controller 30 can suppress the movement speed MV1b of the control object CPb moving along the steep slope portion SP of the target construction surface TP from becoming too large.

[0173] As mentioned above, Figure 1 and Figure 2As shown, the excavator 100 according to the embodiment of the present invention comprises: a lower traveling body 1; an upper swing body 3, which is rotatably mounted on the lower traveling body 1; and an attachment AT, which is mounted on the upper swing body 3 and includes a boom 4, an arm 5, and an end attachment (bucket 6); an arm operating lever (left operating lever 26L (refer to Figure 3 and a control device (controller 30), configured to make the end of the attachment (bucket 6) in the specified working position and the target surface (target construction surface TP (reference Figure 7 )) is aligned and moved simultaneously, the arm 5 is moved according to the operation amount of the arm operating lever (left operating lever 26L), and at least one of the boom 4 and the end attachment (bucket 6) is moved according to the movement of the arm 5. Figure 7 As shown, the control device (controller 30) is configured to limit the movement of the boom 5 in such a manner that the moving speed MV1 of the control object CP of the specified part of the attachment AT along the target surface (target construction surface TP) becomes a specified speed. In addition, moving while aligning the specified working part with the target surface means that the specified working part moves on the target surface. In addition, the target surface can be a surface set according to the position of the target construction surface TP (a surface other than the target construction surface TP), or a surface set independently of the target construction surface TP. According to this structure, the excavator 100 can improve the operability of the attachment AT when the primary and secondary control method is adopted.

[0174] Furthermore, in the shovel 100 , the control object CP may be a predetermined working part or an arm lift pin in the end attachment (bucket 6 ). The predetermined working part in the end attachment (bucket 6 ) may be a blade tip or a back surface of the bucket 6 .

[0175] And, if Figure 3 As shown, the excavator 100 may include: a main pump 14 mounted on the upper rotating body 3; a pilot pump 15 mounted on the upper rotating body 3; a boom cylinder control valve (control valve 176) provided in a working oil pipeline connecting the boom cylinder 8 and the main pump 14; and a boom solenoid valve (solenoid valve 31AL, solenoid valve 31AR (refer to Figure 4A )) is provided in the pilot line connecting the pilot port of the boom cylinder control valve 176 (control valve 176) and the pilot pump 15. Furthermore, the control device (controller 30) may be configured to adjust the pilot pressure acting on the pilot port of the boom cylinder control valve (control valve 176) by adjusting the value of the control command output to the boom solenoid valve (solenoid valve 31AL, solenoid valve 31AR), thereby limiting the movement speed of the boom 5.

[0176] And, if Figure 7As shown, in the excavator 100, the moving speed MV1 of the control object CP along the target surface (target construction surface TP) may be changed according to the operation amount of the boom operating lever (left operating lever 26L). For example, the moving speed MV1 of the control object CP moving along the target surface (target construction surface TP) may be increased as the operation amount of the boom operating lever (left operating lever 26L) increases.

[0177] And, if Figure 7 As shown in FIG. 1 , the target surface (target construction surface TP) may include a steep slope portion SP and a gentle slope portion GP or a horizontal surface portion HP. At this time, the control device (controller 30) may be configured such that if the operation amount of the arm operating lever (left operating lever 26L) is the same, then Figure 7 As shown in the following figure, the boom 5 is operated in such a way that the moving speed MV1 of the control object when the working part (the blade tip of the bucket 6) is moved while being aligned with the gentle slope part GP or the horizontal surface part HP is the same as the moving speed MV1b of the control object CPb when the working part (the blade tip of the bucket 6) is moved while being aligned with the steep slope part SP. This configuration can prevent the operator of the excavator from feeling "difficult to operate". This is because it can prevent the situation where the moving speed MV1 of the control object CP changes sharply even though the operation amount of the boom operating lever remains unchanged.

[0178] And, in Figure 7 In the example shown, the working part may include a first working part (e.g., the blade tip of the bucket 6) in contact with the gentle slope portion GP or the horizontal surface portion HP and a second working part (e.g., the back of the bucket 6) in contact with the steep slope portion SP. For example, the controller 30 may move the blade tip of the bucket 6 while aligning with the gentle slope portion GP, ​​move the back of the bucket 6 while aligning with the steep slope portion SP, and then move the blade tip of the bucket 6 while aligning with the horizontal surface portion HP.

[0179] Furthermore, the limitation based on the above-mentioned limiting portion 3010 is applied when the bucket 6 is moved along the target construction surface TP including the slope portion with a downward slope, but it can also be applied when the bucket 6 is moved along the target construction surface TP including the slope portion with an upward slope.

[0180] (Second embodiment)

[0181] In the above embodiment, an example is described in which the limiting unit 3010 controls the speed of the working part by limiting the operation amount of the boom operating lever acquired by the operation content acquisition unit 3001 to a predetermined amount or less. However, the above embodiment shows an example of a method for controlling the speed of the working part, and other methods may also be used. Therefore, in the second embodiment, other methods for controlling the speed of the working part are described.

[0182] The shovel 100 according to the present embodiment is an example in which a controller 30A that executes a different process is provided instead of the controller 30. The other configurations are the same as those of the above-described embodiment, and description thereof will be omitted.

[0183] Figure 8 : is a conceptual diagram showing the speed control of the working part performed by the controller 30A involved in this embodiment. Figure 8 In the example shown, the blade tip of the bucket 6 moves along the target construction surface. The target construction surface includes a first construction surface (an example of a first target surface, angle θ slope1 ) and the second construction surface (an example of the second target surface, angle θ slope2 The blade tip of the bucket 6 is controlled so as to move along the first construction surface (angle θ slope1 ) and then move along the second construction surface (angle θ slope2 ) moves. The first construction surface (angle θ slope1 ) is a horizontal plane substantially parallel to the ground contact surface of the shovel 100, and the second construction surface (angle θ slope1 ) is a downwardly inclined surface (at least in the height direction|angle θ slope1 |>10 degrees).

[0184] When the blade tip of the bucket 6 is moved along the first construction surface (angle θ slope1 ) When the bucket 6 moves, the moving speed of the blade tip of the bucket 6 is mainly based on the angular velocity ω of the arm 5. arm Furthermore, the movement of the boom 4 is stopped at a point where the tip of the bucket 6 moves along the first construction surface (angle θ slope1 ) to make adjustments.

[0185] Then, the surface on which the blade tip of the bucket 6 moves is changed from the first construction surface (angle θ slope1 ) Switch to the second construction surface (angle θ slope2 ), it is necessary to control the boom 4 to move significantly in addition to the arm 5.

[0186] In the conventional semi-automatic control, in order to move along the second construction surface (angle θ slope2 ), in addition to the arm cylinder 8, the boom cylinder 7 is also greatly moved. As a result, the tip of the bucket can move along the second construction surface (angle θ slope2 )move.

[0187] In this conventional semi-automatic control, the following control is performed: while maintaining the first construction surface (angle θ slope1 ) The angular velocity of the arm when moving upward arm In the state, the angular velocity ω of the output boom boomTherefore, the blade tip of the bucket increases from the moving speed Vt1 to the moving speed Vt2. This is because, when the boom moves at a constant speed, the amount of movement in the vertical direction is large when the operation is switched from along the horizontal plane to along the inclined plane with an angle relative to the horizontal plane, so the boom moves greatly. That is, in the previous semi-automatic control, it is possible that the blade tip of the bucket is accelerated rapidly.

[0188] In contrast, the controller 30A of the shovel 100 according to the present embodiment controls the boom cylinder 7 and the arm cylinder 8 to achieve a moving speed corresponding to the amount of operation when the arm 5 is operated. The controller 30A controls the movement of at least one of the arm 5 and the boom 4 in accordance with the operation as follows: when the blade tip of the bucket 6 (an example of a predetermined working part) is moved while being aligned with the construction surface (an example of a target surface), the surface to which the blade tip of the bucket 6 is aligned is moved from the first construction surface (angle θ slope1 ) is changed to the second construction surface (angle θ slope2 ), the moving speed of the blade tip of the bucket 6 becomes the same. In addition, in the present embodiment, an example of adjusting the movement of the boom 5 as the main component is described. In addition, in the present embodiment, an example of the boom cylinder 7 and the boom cylinder 8 as the objects of the multiple hydraulic actuators for moving the attachment is described, but the present embodiment does not limit the types of the multiple actuators for moving the attachment, and other methods may also be used.

[0189] Fig. 9 It is an explanatory diagram showing a change in speed of the blade tip of the bucket 6 in response to an operator's arm operation in the shovel 100 according to the present embodiment. Fig. 9 The first construction surface and the second construction surface shown are Figure 8 The surfaces shown are the same and the description thereof is omitted.

[0190] exist Fig. 9 In the illustrated example, changes 1901 in the speed of the blade tip of bucket 6 , changes 1902 in the angular speed of arm 5 , and changes 1903 in the pilot pressure acting on the pilot port of the arm cylinder control valve are shown.

[0191] exist Fig. 9 In the example shown, the operator operates the left operating lever 26L in the boom retracting direction at time t0. In the present embodiment, the controller 30A controls the bucket 6 to move along the second construction surface after moving the blade tip of the bucket 6 along the first construction surface based on data related to the target construction surface stored in the excavator 100 (not shown).

[0192] exist Fig. 9In the example shown, after the operation is started at time t0, the pilot pressure acting on the pilot port of the boom cylinder control valve reaches pressure pi1 at time t1. As a result, the angular velocity of the boom 5 also reaches angular velocity ω arm1 As a result, the blade edge of bucket 6 reaches the moving speed Vt1.

[0193] At time t2, the surface to which the blade tip of the bucket 6 is aligned changes from the first construction surface (angle θ slope1 ) is changed to the second construction surface (angle θ slope2 ). In the past, as shown by line 1931, the pilot pressure acting on the pilot port of the boom cylinder control valve was maintained at pressure pi1. Therefore, as shown by line 1921, the angular velocity of the boom 5 also maintained the angular velocity ω arm1 At this time, the angular velocity ω of the boom 4 is added according to the change of the surface to which the blade tip of the bucket 6 is aligned. boom1 Therefore, as shown by line 1911, the blade tip of bucket 6 changes to the moving speed Vt2, so that rapid acceleration occurs.

[0194] Therefore, the controller 30A according to the present embodiment performs control as follows: when at time t2, the surface to which the blade tip of the bucket 6 is aligned changes from the first construction surface (angle θ slope1 ) is changed to the second construction surface (angle θ slope2 ), as shown by line 1932, the pilot pressure acting on the pilot port of the boom cylinder control valve is switched from pressure pi1 to pressure pi2.

[0195] Since the pilot pressure is switched to the pressure pi2, the angular velocity of the boom 5 also changes from the angular velocity ω to the angular velocity ω as shown by the line 1922. arm1 Reduced to angular velocity ω arm2 At time t2, the angular velocity ω of the boom 4 is added according to the change in the surface to which the blade edge of the bucket 6 is aligned. boom2 That is, controller 30A controls arm cylinder 8 to reduce the angular velocity of arm 5 , and controls boom cylinder 7 to increase the angular velocity of boom 4 , so that the blade tip of bucket 6 maintains the moving velocity Vt1 as shown by line 1912 .

[0196] In the present embodiment, the controller 30A performs control in the following manner: according to the change of the surface on which the blade tip of the bucket 6 moves, the pilot pressure acting on the pilot port of the boom cylinder control valve is adjusted, thereby making the moving speed of the blade tip of the bucket 6 uniform. Therefore, it is possible to suppress the blade tip of the bucket 6 from being accelerated suddenly. In addition, the specific method of adjusting the pilot pressure will be described later.

[0197] Next, refer to Fig. 10A and Fig. 10B An example of a detailed configuration related to the device control function will be described. Fig. 10A and Fig. 10B 30A is a diagram showing a configuration example of a controller 30A. Specifically, Fig. 10A and Fig. 10B An example of a detailed structure related to the device control function is shown. Fig. 10A and Fig. 10B The following description relates to a device control function that is executed when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated in a state where the switch SW is operated.

[0198] The controller 30A includes an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target track setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, an action instruction generation unit 3006, a leader instruction generation unit 3007, a posture angle calculation unit 3008, a boom leader instruction adjustment unit 3107A, and a boom leader instruction adjustment unit 3107B as a functional unit related to the equipment control function. In the example shown in the figure, each functional unit of the controller 30A is implemented by software. However, each functional unit of the controller 30A may be implemented by hardware (electronic circuits, etc.) or by a combination of software and hardware. Furthermore, in the example shown in the figure, when the switch SW is operated, each functional unit of the controller 30A repeatedly executes the processing described later according to a prescribed control cycle. In addition, for Fig. 10A and Fig. 10B The functional units of the controller 30A shown are respectively Fig. 6A and Figure 6B The same functional parts are assigned the same reference numerals and their description is omitted.

[0199] The controller 30A according to the present embodiment is different from the controller 30 in that the control object speed calculation unit 3009 and the restriction unit 3010 are deleted and a boom lead command adjustment unit 3107A and an arm lead command adjustment unit 3107B are added.

[0200] Thus, the action command generation unit 3006 generates a command value related to the action of the work element corresponding to the calculated operation amount of the boom operating lever, instead of limiting the calculated operation amount of the boom operating lever based on the limiting unit 3010 to a prescribed amount as in the first embodiment. Specifically, the main command generation unit 3006A generates the boom command value β2r based on a prescribed mapping diagram or conversion formula that specifies the relationship between the operation content of the boom operating lever and the boom command value β2r, and the sub-command generation unit 3006B generates the boom command value β1r and the bucket command value β3r, so that at least one of the boom 4 and the bucket 6 moves according to (synchronized with) the action of the boom 5 corresponding to the boom command value β2r, and the control object of the bucket 6 can achieve the target position (that is, move along the target construction surface).

[0201] Furthermore, the pilot command generation unit 3007 generates command values ​​of pilot pressures acting on the control valves 174 to 176 (hereinafter referred to as "pilot pressure command values") to realize the boom angle, the arm angle, and the bucket angle corresponding to the boom command value β1r, the arm command value β2r, and the bucket command value β3r. The pilot command generation unit 3007 includes a boom pilot command generation unit 3007A, an arm pilot command generation unit 3007B, and a bucket pilot command generation unit 3007C. In addition, the processing performed by the boom pilot command generation unit 3007A, the arm pilot command generation unit 3007B, and the bucket pilot command generation unit 3007C is the same as that of the above-mentioned embodiment.

[0202] The boom pilot command adjustment unit 3107A and the boom pilot command adjustment unit 3107B adjust the pilot pressure command value in the following manner: when the left operating lever 26L (boom operating lever) for moving the boom 5 is operated while the switch SW is operated, the moving speed of the tip of the bucket 6 is maintained even when the angle of the target construction surface changes.

[0203] Next, the pilot pressure command value adjusted in order to maintain the moving speed Vt of the blade edge of the bucket 6 will be described. In the present embodiment, the pilot pressure command value is adjusted so that the moving speed Vt becomes substantially the same.

[0204] The moving speed Vt of the blade tip of the bucket 6 is the blade tip coordinate (x(θ b ,θ a ), y(θ b ,θ a )) is the first derivative. In addition, the function x is set to be used according to the angle θ of the boom 4 b and the angle θ of the arm 5 a The function y is used to calculate the x-coordinate position of the blade tip of the bucket 6. The function y is used to calculate the x-coordinate position of the blade tip of the bucket 6 according to the angle θ of the boom 4. b and the angle θ of the arm 5 a A function for calculating the y-coordinate position of the blade tip of bucket 6 .

[0205] Furthermore, the angle θ of the boom 4 is b The differential value of is expressed as the angular velocity ω boom , the angle θ of the arm 5 a The differential value of is expressed as the angular velocity ω arm The moving speed Vt can be determined by the blade tip coordinates (x(θ b ,θ a ), y(θ b ,θ a )) is the first derivative, in other words, using the angular velocity ω boom , angular velocity ω arm , Angle θ of boom 4b and the angle θ of the arm 5 a The blade tip of bucket 6 is at an angle θ slope When moving on the construction surface, the angular velocity ω boom According to the angle θ of the boom 4 b , the angle θ of the arm 5 a , angular velocity ω arm and angle θ slope That is, regarding the moving speed Vt, as long as the angle θ is known slope , angular velocity ω arm , Angle θ of boom 4 b and the angle θ of the arm 5 a , you can export it.

[0206] At the construction surface from the angle θ slope1 Change to angle θ slope2 In the case of slope1 The angular velocity of the arm 5 during movement is ω arm1 , along the angle θ slope2 The angular velocity of the arm 5 during movement is ω arm2 .

[0207] At the construction surface from the angle θ slope1 Change to angle θ slope2 In the case of, if the above calculation is considered, the angular velocity ω of the arm 5 for making the moving speed Vt substantially the same arm2 Can be based on the angle θ slope1 , angle θ slope2 and the angular velocity ω of the arm 5 arm1 In addition, when the angle of the construction surface changes, the angle θ of the boom 4 b and the angle θ of the arm 5 a They are roughly the same and can therefore be omitted.

[0208] At the angular velocity ω of the arm 5 arm There is a correspondence relationship with the opening plane of the electromagnetic valve 31 that controls the boom cylinder 8. Therefore, when the angle of the construction surface changes, the controller 30A controls so as to become the angular velocity ω of the boom 5 derived. arm2 The opening area A of the electromagnetic valve 31 controlled by the corresponding arm cylinder 8 PC2 , thereby maintaining the moving speed Vt substantially the same. The arm pilot command adjustment unit 3107B holds (not shown) opening line diagram information. The opening line diagram information is information that holds the correspondence relationship between the opening area and the pilot pressure.

[0209] Furthermore, the boom pilot command adjustment unit 3107B is configured to adjust the construction surface from an angle θ slope1 Change to angle θslope2 In the case of opening area A, the opening line diagram information is used to calculate the opening area A. PC2 Corresponding pilot pressure command value Pi arm2 And output. Is the construction surface from the angle θ slope1 Change to angle θ slope2 θ can be determined based on the information input from the target construction surface acquisition unit 3002 and the calculation results of the boom angle calculation unit 3008A and the arm angle calculation unit 3008B. In this embodiment, the adjustment can be started at a time before the predetermined control cycle, rather than at the time from the angle θ slope1 Change to angle θ slope2 Start adjusting at the moment.

[0210] Furthermore, since the pilot pressure of the arm 5 is adjusted, it is also necessary to adjust the pilot pressure of the boom 4 . The pilot pressure of the boom 4 may be adjusted according to the adjustment ratio of the pilot pressure of the arm 5 .

[0211] Therefore, the boom pilot command adjustment unit 3107B adjusts the command value Pi of the pilot pressure according to the calculated command value Pi. arm2 and the pilot pressure command value Pi input from the boom pilot command generating unit 3007B arm1 , calculate the adjustment ratio of the pilot pressure and output it to the boom pilot command adjustment unit 3107A.

[0212] The boom pilot command adjustment unit 3107A adjusts the command value Pi of the pilot pressure input from the boom pilot command generation unit 3007A according to the input adjustment ratio. boom1 , and output the adjusted command value Pi boom2 Since the pilot pressure of the arm 5 and the pilot pressure of the boom 4 are adjusted at the same adjustment ratio, the blade tip of the bucket 6 can be controlled to follow the construction surface.

[0213] As mentioned above, since the output is based on the angle θ of the construction surface slope2 The command value Pi of the pilot pressure of the boom 5 is adjusted according to the change of arm2 and the command value Pi of the pilot pressure of the boom 4 boom2 , therefore, the moving speed |Vt| of the blade edge of bucket 6 can be maintained.

[0214] Fig.11 2 is a diagram showing the movement path of the blade tip of the bucket 6 according to the present embodiment. Fig.11 In the illustrated example, the controller 30A performs control so that the blade edge of the bucket 6 moves along the target construction surface TP.

[0215] The target construction surface TP includes a first construction surface TP11 , a second construction surface TP12 , a third construction surface TP13 , a fourth construction surface TP14 , and a fifth construction surface TP15 .

[0216] The first construction surface TP11, the third construction surface TP13, and the fifth construction surface TP15 are substantially horizontal surfaces. The second construction surface TP12 is a surface inclined upward at an angle β1 relative to the horizontal plane RP. The fourth construction surface TP14 is a surface inclined downward at an angle β2 relative to the horizontal plane RP.

[0217] Furthermore, the controller 30A performs control so that the moving speed of the blade edge of the bucket 6 is maintained substantially the same regardless of the angle of the target working surface TP.

[0218] Specifically, when the blade edge of the bucket 6 moves along the first working surface TP11, the moving speed of the blade edge of the bucket 6 (6A) is defined as Vt.

[0219] When the blade tip of the bucket 6 reaches the slope foot P11, the arm pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A adjust the pilot pressure according to the angle β1 of the second construction surface TP12. Thus, the moving speed Vt of the blade tip of the bucket 6 (6B) can be maintained. That is, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, and controls the boom cylinder 7 to increase the angular velocity of the boom 4.

[0220] Furthermore, when the blade tip of the bucket 6 reaches the top of the slope P12, the adjustment of the pilot pressure by the boom pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A is released. Therefore, the moving speed Vt of the blade tip of the bucket 6 (6C) can be maintained. That is, the controller 30A controls the boom cylinder 8 to increase the angular velocity of the boom 5. On the other hand, the movement of the boom 4 is suppressed on the horizontal plane, so the controller 30A controls the boom cylinder 7 to reduce the angular velocity of the boom 4.

[0221] Then, when the blade tip of the bucket 6 reaches the top of the slope P13, the arm pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A adjust the pilot pressure according to the angle β2 of the fourth construction surface TP14. In this way, the moving speed Vt of the blade tip of the bucket 6 (6D) can be maintained. That is, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, and controls the boom cylinder 7 to increase the angular velocity of the boom 4.

[0222] Then, when the blade tip of the bucket 6 reaches the slope foot P14, the adjustment of the pilot pressure by the boom pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A is released. Thus, the moving speed Vt of the blade tip of the bucket 6 (6E) can be maintained. That is, the controller 30A controls the boom cylinder 8 to increase the angular velocity of the boom 5, and controls the boom cylinder 7 to reduce the angular velocity of the boom 4.

[0223] Then, the moving speed Vt of the blade edge of the bucket 6 (6F) is maintained until the work is completed.

[0224] The controller 30A according to the present embodiment has the above-mentioned structure, and thus, even when working on a composite surface composed of a horizontal surface and an inclined surface, the moving speed of the blade tip of the bucket 6 can be maintained substantially constant. Therefore, when working is switched from a horizontal surface to an inclined surface, the rapid acceleration of the blade tip of the bucket 6 due to the movement of the boom 4 can be suppressed.

[0225] The controller 30A according to the present embodiment controls the boom cylinder 7 and the arm cylinder 8 to move the blade edge of the bucket 6 along the construction surface according to the height and angle of the construction surface indicated by the target construction surface data when the arm operation is performed.

[0226] Furthermore, the controller 30A predicts the time when the blade tip of the bucket 6 performs construction on the top of the slope based on the construction information, and the arm pilot command adjustment unit 3107B starts adjusting the pilot pressure at a time before the predetermined control cycle amount from the time. As a result, the boom pilot command adjustment unit 3107A also adjusts the pilot pressure. Therefore, the moving speed of the blade tip of the bucket 6 is maintained. In addition, in this embodiment, an example of controlling in a manner that maintains the moving speed Vt of the blade tip is described.

[0227] The controller 30A involved in this embodiment can switch whether to adjust the pilot pressure by the boom pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A according to the angle of the construction surface. For example, regarding the adjustment and release of the pilot pressure by the boom pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A, the adjustment of the pilot pressure is started when the construction surface is a slope of more than 10 degrees, and the adjustment of the pilot pressure is released when the construction surface is roughly horizontal. In this way, in this embodiment, regardless of how the angle of the construction surface changes, the moving speed of the blade tip of the bucket 6 can be maintained.

[0228] In the present embodiment, an example of adjusting the command value of the pilot pressure of the boom 5 and the command value of the pilot pressure of the arm 4 is described. However, in the present embodiment, the adjustment object is not limited to the boom 4 and the boom 5. For example, the control combination of the boom 4, the boom 5 and the bucket 6 can be controlled in a manner to maintain the moving speed of the blade tip of the bucket 6.

[0229] The control shown in this embodiment is only an example, and the moving speed Vt of the blade tip does not need to be strictly the same before and after the angle of the construction surface changes. In other words, the controller 30A only needs to be able to adjust the speed to a level that the operator does not feel uncomfortable, in other words, to a level that the operator feels that the moving speed is roughly the same.

[0230] In the present embodiment, the pilot pressure is adjusted so as to maintain the moving speed Vt of the blade tip of the bucket 6 corresponding to the operation amount of the boom operation. In other words, when the operation amount of the boom operation lever is changed, the moving speed of the blade tip of the bucket 6 is adjusted to correspond to the changed operation amount. Therefore, the operator can control the blade tip of the bucket 6 to move at a desired moving speed regardless of the angle of the construction surface, thereby improving the operability.

[0231] In the present embodiment, the case where the moving speed Vt of the blade edge of the bucket 6 is maintained in accordance with the operation amount of the arm operation is described. However, in the present embodiment, the operation of maintaining the moving speed Vt is not limited to the arm operation, and may be, for example, a boom operation.

[0232] Furthermore, in the present embodiment, the arm pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A adjust the opening area at a factor corresponding to the amount of change in the angle of the construction surface, so that control is easy and a reduction in processing load can be achieved.

[0233] Furthermore, in the above-mentioned embodiment, since the excavator 100 has the above-mentioned structure, it is possible to suppress the occurrence of sudden acceleration at the working part of the bucket 6 when the angle of the target construction surface is switched. Therefore, the operator is prevented from feeling uncomfortable with the operation, and the operability is improved. Furthermore, in the above-mentioned embodiment, since sudden acceleration and the like are suppressed, it is possible to improve safety.

[0234] Furthermore, in the above-mentioned embodiment, the main part is the boom 5 and the main operating lever is the boom operating lever, but the main part may be the boom 4 and the main operating lever may be the boom operating lever. In this case, the limiting part 3010 may be configured, for example, to limit the rotation speed of the boom 4 when switching from the inclined surface portion of the downhill slope of the target construction surface to the horizontal surface portion.

[0235] Furthermore, the shovel 100 may be a remote-operated shovel or an unmanned (autonomous) shovel.

[0236] 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, the features described separately can be combined as long as there is no technical contradiction.

[0237] This application claims priority based on Japanese Patent Application No. 2022-102996 filed on June 27, 2022, the entire contents of which are incorporated herein by reference.

[0238] Explanation of symbols

[0239] 1-Lower walking body, 1C-Crawler, 1CL-Left crawler, 1CR-Right crawler, 2-Slewing mechanism, 2A-Slewing hydraulic motor, 2M-Travel hydraulic motor, 2ML-Left travel hydraulic motor, 2MR-Right travel hydraulic motor, 3-Upper slewing body, 4, 4a, 4b-Boom, 4F-Boom foot pin, 4T, 4Ta, 4Tb-Boom top pin, 5, 5a, 5b-Arm, 5T, 5Ta, 5Tb-Arm top pin, 6, 6a, 6b-Bucket, 7-Boom cylinder, 8-Arm cylinder, 9-Bucket cylinder, 10-Cab, 11-Engine, 13-Pump regulator, 14-Main pump, 15-Pilot pump, 17-Control valve unit, 18-Throttle, 19-Control pressure Force sensor, 26-operating device, 26D-walking rod, 26DL-left walking rod, 26DR-right walking rod, 26L-left operating rod, 26R-right operating rod, 28-discharging pressure sensor, 29, 29LA, 29LB, 29RA, 29RB, 29DL, 29DR-operating sensor, 30, 30A-controller, 31, 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, 31DR, 31EL, 31ER, 31FL, 31FR-solenoid valve, 40-display device, 45A-outdoor alarm, 45B-indoor alarm, 60-control valve, 70-object detection device, 70B-rear Side camera, 70F-front camera, 70L-left camera, 70R-right camera, 85-positioning device, 100-excavator, 171~175, 175L, 175R, 176, 176L, 176R-control valve, 3001-operation content acquisition unit, 3002-target construction surface acquisition unit, 3003-target track setting unit, 3004-current position calculation unit, 3005-target position calculation unit, 3006-action instruction generation unit, 3006A-main instruction generation unit, 3006B-secondary instruction generation unit, 3007-pilot instruction generation unit, 3007A-boom pilot instruction generation unit, 3007B-arm pilot instruction generation unit, 3007C-bucket pilot instruction generating unit, 3008-posture angle calculation unit, 3008A-boom angle calculation unit, 3008B-arm angle calculation unit, 3008C-bucket angle calculation unit, 3009-control object speed calculation unit, 3010-limiting unit, 3107A-boom pilot instruction adjustment unit, 3107B-arm pilot instruction adjustment unit, AT, ATa, ATb-attachment, CD1-pilot line, CP, CPa, CPb-control object, S1-boom angle sensor, S2-arm angle sensor, S3-bucket angle sensor, S4-body tilt sensor, S5-rotational angular velocity sensor, SW, SW1, SW2-switch.

Claims

1. A control device for an excavator, the excavator comprising: Lower walking body; an upper rotating body rotatably mounted on the lower walking body; and The attachment is installed on the upper rotating body and includes a boom, a dipper arm and an end attachment. In the control device for the excavator, The control device is configured to move the boom according to a command value so that a specified working portion of the end attachment is moved while being aligned with a target surface, and to move at least one of the boom and the end attachment according to the movement of the boom, and to control the movement of at least one of the boom and the boom so that a moving speed of a specified portion of the attachment along the target surface becomes a specified speed as a control object.

2. The excavator control device according to claim 1, wherein: The control object is the specified working part or the boom ejector pin in the terminal attachment.

3. The shovel control device according to claim 1, comprising: A main pump, mounted on the upper rotating body; A pilot pump mounted on the upper rotating body; A control valve for an arm cylinder, which is arranged in a working oil pipeline connecting the arm cylinder and the main pump; and The boom solenoid valve is provided in the pilot line connecting the pilot port of the boom cylinder control valve and the pilot pump. The control device adjusts the pilot pressure acting on the pilot port of the arm cylinder control valve by adjusting the value of the control command output to the arm solenoid valve, thereby limiting the operation speed of the arm.

4. The excavator control device according to claim 1, wherein: The moving speed of the control object along the target plane changes according to the operation amount of the arm operating lever.

5. The excavator control device according to claim 1, wherein: The target surface includes a steep slope portion and a gentle slope portion or a horizontal surface portion, If the operation amount of the boom operating lever is the same, the control device moves the boom in the following manner: the moving speed of the controlled object when moving while aligning the working part with the gentle slope part or the horizontal plane part is the same as the moving speed of the controlled object when moving while aligning the working part with the steep slope part.

6. The control device for a shovel according to claim 5, wherein: The working part includes a first working part aligned with the gentle slope part or the horizontal plane part and a second working part aligned with the steep slope part.

7. A control device for an excavator, the excavator comprising: Lower walking body; an upper rotating body rotatably mounted on the lower walking body; and The attachment is installed on the upper rotating body and includes a boom, a dipper arm and an end attachment. In the control device for the excavator, The control device is configured to operate a main component according to an instruction value so that a specified working part in the terminal attachment is moved while being aligned with a target surface, and to operate one or more secondary components according to the operation of the main component, and to limit the operation of at least one of the main component and the secondary component in such a manner that the moving speed of the control object of the specified part of the attachment along the target surface becomes a specified speed.

8. A control device for an excavator, the excavator comprising: Lower walking body; an upper rotating body rotatably mounted on the lower walking body; and The auxiliary device is installed on the upper rotating body and is operated by a plurality of actuators. In the control device for the excavator, The control device controls the plurality of actuators in such a manner that, while causing a predetermined working portion of the attachment to move along a target surface, when the surface along which the predetermined working portion moves changes from a first target surface to a second target surface, the moving speed of the predetermined working portion is substantially the same.

9. The control device for a shovel according to claim 8, wherein: The control device controls the plurality of actuators in response to acceptance of an operation of the attachment so as to achieve a movement speed corresponding to an operation amount of the accepted operation while the predetermined working part is moved along the target surface.

10. The excavator control device according to claim 9, wherein: The control device is configured to operate the attachments including the boom, the arm, and the end attachments through the plurality of actuators. The control device controls the actuator in the following manner based on the acceptance of the operation of the boom: the angular velocity of at least one of the boom and the boom is reduced so that while the specified working part is moved simultaneously along the target surface, the moving speed of the specified working part is approximately the same when the surface along which the specified working part is moved changes from the first target surface to the second target surface.

11. The excavator control device according to claim 10, wherein: The control device controls the actuator in the following manner: after moving the specified working part while aligning it with the first target plane which is a substantially horizontal plane, the angular velocity of the boom is reduced while moving the specified working part while aligning it with the second target plane which is an inclined plane having an angle in the height direction relative to the substantially horizontal plane.

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