Shovel

Abstract

A shovel according to an embodiment of the present invention is provided with a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body, the shovel being configured so as to set an attribute for a space around the shovel on the basis of an output from a space recognition device provided on the upper rotating body, and controls the shovel in accordance with the attribute set for the space.

Description

Technical Field

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

[0002] Conventionally, various techniques have been proposed to assist an operator in performing work using a shovel.

[0003] For example, Patent Document 1 proposes a technique for automatically performing at least one of a work of piling up sand and soil and a work of landfilling sand and soil. Thus, in the technique described in Patent Document 1, the burden on the operator is reduced.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2020 / 162428 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, Patent Document 1 is a technology for making an excavator work automatically. In order for the excavator to work automatically, the surrounding environment needs to be suitable for working. That is, in an actual work site, the excavator needs to work based on recognizing what kind of space is around it.

[0009] One embodiment of the present invention provides a technology for improving safety during work by allowing a shovel to recognize a surrounding space.

[0010] Means for solving problems

[0011] An excavator according to one embodiment of the present invention includes a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body, wherein the excavator is configured to set attributes for a space around the excavator based on an output from a space recognition device provided on the upper rotating body, and to control the excavator based on the attributes set for the space.

[0012] Effects of the Invention

[0013] According to one aspect of the present invention, the shovel recognizes the surrounding space, thereby improving safety during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a side view of the shovel as the excavator according to the first embodiment.

[0015] Figure 2 It is a diagram showing a configuration example of a drive control system of the shovel according to the first embodiment.

[0016] Figure 3 It is a functional block diagram showing a configuration example of the shovel assisting device according to the first embodiment.

[0017] Figure 4 It is a diagram showing a configuration example of a hydraulic system mounted on the shovel according to the first embodiment.

[0018] Figure 5 Detailed Description of the Invention An example of the configuration of an electric operating system of a shovel according to the first embodiment is schematically shown.

[0019] Figure 6 It is a graph showing the correspondence between detected objects and spaces divided according to the objects.

[0020] Figure 7 This is a diagram showing the correspondence between detected objects, construction data showing the three-dimensional shape after construction, and spaces divided according to the construction data and the objects.

[0021] Figure 8 It is a diagram showing a first example of a space set by the setting unit according to the first embodiment based on an object existing around the shovel.

[0022] Fig. 9 It is a diagram showing a second example of a space set by the setting unit according to the first embodiment based on an object existing around the shovel.

[0023] Fig.10 This is a flowchart showing the processing performed by the shovel assisting device according to the first embodiment.

[0024] Fig.11 It is a schematic diagram showing a configuration example of a shovel support system according to a third embodiment. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, the embodiments described below do not limit the embodiments of the invention but are illustrative, and all features and combinations thereof described in the embodiments are not necessarily the essence of the invention. In addition, in each of the drawings, the same or corresponding structures are sometimes marked with the same or corresponding symbols, and the description is omitted.

[0026] (First embodiment)

[0027] First, refer to Figure 1 The outline of the shovel 100 according to the present embodiment will be described. Figure 1This is a side view of a shovel 100 as an excavator according to the first embodiment. An upper slewing body 3 is rotatably mounted on a lower traveling body 1 of the shovel 100 via a slewing mechanism 2. A boom 4 is mounted on the upper slewing body 3. An arm 5 is mounted on the front end of the boom 4, and a bucket 6 as an end attachment is mounted on the front end of the arm 5. The end attachment may be a bucket for a slope or a bucket for dredging, etc.

[0028] The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment, and are respectively hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. 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. A bucket tilt mechanism may also be provided on the excavation attachment.

[0029] 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 that can detect the boom angle, which is the rotation angle of the boom 4 relative to the upper swing body 3. The boom angle is the minimum angle when the boom 4 is lowered to the maximum, and increases as the boom 4 is raised.

[0030] 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 rotation angle of the arm 5 relative to the boom 4, that is, the arm angle. The arm angle is the minimum angle when the arm 5 is retracted to the maximum, for example, and increases as the arm 5 is opened.

[0031] 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, which is the rotation angle of the bucket 6 relative to the boom 5. The bucket angle is the smallest angle when the bucket 6 is retracted to the maximum, and increases as the bucket 6 is opened.

[0032] 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 detecting the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder detecting the rotation angle around the connecting pin, etc. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 constitute a posture sensor for detecting the posture of the excavating attachment.

[0033] The upper rotating body 3 is provided with a cab 10 as a cockpit, and is equipped with a power source such as an engine 11. In addition, a body tilt sensor S4, a rotation angular velocity sensor S5, a camera device S6, and a space recognition device S7 are installed on the upper rotating body 3. In addition, a communication device T1 and a positioning device S8 are installed on the upper rotating body 3.

[0034] The body tilt sensor S4 is configured to detect the tilt 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 tilt angle of the upper rotating body 3 relative to the horizontal plane about the front-rear axis and the tilt angle about 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.

[0035] 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 detect the rotation speed. The rotation speed may be calculated based on the rotation angular velocity.

[0036] The camera device S6 is configured to acquire images of the vicinity of the excavator 100. In the present embodiment, the camera device S6 includes a front camera S6F for photographing the space in front of the excavator 100, a left camera S6L for photographing the space to the left of the excavator 100, a right camera S6R for photographing the space to the right of the excavator 100, a rear camera S6B for photographing the space behind the excavator 100, and an arm camera S6A for photographing the space near the bucket 6.

[0037] The imaging device S6 is, for example, a single-lens camera having an imaging element such as a CCD or a CMOS, and outputs a captured image to the display device 40 .

[0038] The front camera S6F is installed, for example, on the top of the cab 10. The left camera S6L is installed on the left end of the upper surface of the upper rotating body 3. The right camera S6R is installed on the right end of the upper surface of the upper rotating body 3. The rear camera S6B is installed on the rear end of the upper surface of the upper rotating body 3. The boom camera S6A is installed on the upper side of the boom 5.

[0039] In the present embodiment, by providing the imaging device S6 in the above-described arrangement, it is possible to capture an image of an object existing around the shovel 100 .

[0040] The space recognition device S7 is configured to recognize the state of the space around the shovel 100. The space recognition device S7 includes: a rear space recognition device S7B that detects the space behind the shovel 100; a left space recognition device S7L that detects the space to the left of the shovel 100; a right space recognition device S7R that detects the space to the right of the shovel 100; a front space recognition device S7F that detects the space in front of the shovel 100; and a boom space recognition device S7A that detects the vicinity of the bucket 6 where the shovel 100 is working.

[0041] The space recognition device S7 can use LIDAR to detect objects existing around the excavator 100. LIDAR measures the distance between the LIDAR and more than 1 million points within the monitoring range, for example. In addition, the present embodiment is not limited to the method using LIDAR, as long as it is a space recognition device that can measure the distance to the object. For example, a stereo camera can be used, and a distance measuring device such as a range image camera or a millimeter wave radar can also be used. In the case of using a millimeter wave radar or the like as the space recognition device S7, the distance and direction of the object can also be derived from the reflected signal by sending multiple signals (laser, etc.) from the space recognition device S7 toward the object and receiving its reflected signal.

[0042] The rear space recognition device S7B is installed at the rear end of the upper surface of the upper rotating body 3. The left space recognition device S7L is installed at the left end of the upper surface of the upper rotating body 3. The right space recognition device S7R is installed at the right end of the upper surface of the upper rotating body 3. The front space recognition device S7F is installed at the front end of the upper surface of the cab 10. The arm space recognition device S7A is installed on the upper side of the arm 5.

[0043] The space recognition device S7 may be configured to detect a predetermined object in a predetermined area set around the shovel 100. For example, the space recognition device S7 may have a human detection function configured to detect a human while distinguishing between a human and an object other than a human.

[0044] The communication device T1 is a device for controlling communication between the shovel 100 and the outside. The communication device T1 controls, for example, wireless communication between an external GNSS (Global Navigation Satellite System) measurement system and the shovel 100. By using the communication device T1, the shovel 100 can acquire design data via wireless communication. However, the shovel 100 can also acquire design data using a semiconductor memory or the like. In addition, the design data includes three-dimensional design data.

[0045] The positioning device S8 is configured to obtain information related to the position of the shovel 100. In the present embodiment, the positioning device S8 is configured to measure the position and orientation of the shovel 100. Specifically, the positioning device S8 is a GNSS receiver assembled with an electronic compass, and measures the latitude, longitude, and altitude of the current position of the shovel 100, and measures the orientation of the shovel 100.

[0046] An input device D1 , a sound output device D2 , a first display device D3 , a second display device D3S, a storage device D4 , a door lock lever D5 , a controller 30 , and a shovel support device 50 are provided in the cab 10 .

[0047] The controller 30 functions as a main control unit that performs drive control of the shovel 100. In the present embodiment, the controller 30 is constituted by a calculation processing device including a CPU and an internal memory, etc. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

[0048] The excavator support device 50 is an example of a construction machine support device, and is configured to support the operation performed by the excavator 100. In the present embodiment, the excavator support device 50 is configured to, for example, visually and auditorily notify the operator of the distance in the vertical direction between the target construction surface and the working part of the bucket 6. The target construction surface is a part of the construction data derived from the design data. Thus, the excavator support device 50 can guide the operator to operate the excavator 100.

[0049] Specifically, similar to the controller 30 , the shovel assisting device 50 is constituted by a calculation processing device including a CPU and an internal memory, etc. Various functions of the shovel assisting device 50 are realized by the CPU executing a program stored in the internal memory. The shovel assisting device 50 may be integrated into the controller 30 .

[0050] The input device D1 is a device for the operator of the excavator 100 to input various information to the excavator support device 50. In the present embodiment, the input device D1 is a membrane switch installed around the first display device D3. The input device D1 can be separately provided by establishing a corresponding association with the first display device D3 and the second display device D3S. In this case, the input device D1 can also be a touch panel.

[0051] The sound output device D2 outputs various sound information according to the sound output command from the shovel support device 50. In the present embodiment, the sound output device D2 is a vehicle-mounted speaker directly connected to the shovel support device 50. The sound output device D2 may also be an alarm such as a buzzer.

[0052] The first display device D3 and the second display device D3S output various image information according to the instruction from the excavator support device 50. In the present embodiment, the first display device D3 and the second display device D3S are vehicle-mounted liquid crystal displays directly connected to the excavator support device 50. The camera image captured by the camera serving as the camera device S6 is displayed on the first display device D3. The camera image can be displayed on the second display device D3S. In the present embodiment, the screen size of the second display device D3S is larger than the screen size of the first display device D3. However, the screen size of the second display device D3S may be smaller than the screen size of the first display device D3.

[0053] The storage device D4 is a device for storing various information. In this embodiment, a nonvolatile storage medium such as a semiconductor memory can be used as the storage device D4. The storage device D4 stores design data and the like. The storage device D4 can store various information output by the shovel support device 50 and the like.

[0054] The door lock rod D5 is a mechanism for preventing the shovel 100 from being operated incorrectly. In the present embodiment, the door lock rod D5 is disposed between the door of the cab 10 and the driver's seat 10S. When the door lock rod D5 is pulled up, various operating devices can be operated. On the other hand, when the door lock rod D5 is pressed down, various operating devices cannot be operated.

[0055] Figure 2 Yes means Figure 1 FIG. 1 is a diagram showing a configuration example of a drive control system of an excavator 100. Figure 2 In the figure, the mechanical power transmission system is represented by a double line, the working oil pipeline is represented by a thick solid line, the pilot pipeline is represented by a dotted line, and the electric drive control system is represented by a thin solid line.

[0056] The engine 11 is a power source of the excavator 100. In the present embodiment, the engine 11 is a diesel engine that adopts synchronous control to maintain the engine speed constant regardless of the increase or decrease of the engine load. The fuel injection amount, fuel injection timing, and boost pressure in the engine 11 are controlled by an engine controller unit (ECU) D7.

[0057] The main pump 14 and the pilot pump 15, which are hydraulic pumps, have respective rotation shafts connected to the rotation shaft of the engine 11. The control valve unit 17 is connected to the main pump 14 via a hydraulic oil line.

[0058] The control valve unit 17 is a hydraulic control device for controlling the hydraulic system of the excavator 100. The hydraulic actuators such as the left and right travel hydraulic motors, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor are connected to the control valve unit 17 via hydraulic oil lines. The swing hydraulic motor may be a swing electric generator.

[0059] The operating device 26 is connected to the pilot pump 15 via a pilot line. The operating device 26 includes a lever and a pedal. The operating device 26 is connected to the control valve unit 17 via a hydraulic line and a door lock valve D6.

[0060] The door lock valve D6 switches the connection / disconnection of the hydraulic pipeline connecting the control valve unit 17 and the operating device 26. In the present embodiment, the door lock valve D6 is a solenoid valve that switches the connection / disconnection of the hydraulic pipeline according to the instruction from the controller 30. The controller 30 determines the state of the door lock rod D5 according to the state signal output by the door lock rod D5. Moreover, in the case where it is determined that the door lock rod D5 is in a pulled-up state, the controller 30 outputs a connection instruction to the door lock valve D6. Upon receiving the connection instruction, the door lock valve D6 opens to connect the hydraulic pipeline. As a result, the operator's operation of the operating device 26 becomes valid. On the other hand, in the case where it is determined that the door lock rod D5 is in a pulled-down state, the controller 30 outputs a disconnection instruction to the door lock valve D6. Upon receiving the disconnection instruction, the door lock valve D6 closes to disconnect the hydraulic pipeline. As a result, the operator's operation of the operating device 26 becomes invalid.

[0061] The pressure sensor 29 detects the operation content of the operating device 26 in the form of pressure. The pressure sensor 29 outputs the detection value to the controller 30.

[0062] Figure 2 1 shows the connection relationship between the controller 30 and the first display device D3 and the second display device D3S. In the present embodiment, the first display device D3 and the second display device D3S are connected to the controller 30 via the shovel support device 50. The first display device D3, the second display device D3S, the shovel support device 50 and the controller 30 may be connected via a communication network such as CAN.

[0063] The space recognition device S7 detects the presence or absence of an object in the space around the shovel 100 and the distance to the object, etc. The space recognition device S7 outputs the result of measuring the space to the controller 30 as measurement information.

[0064] The first display device D3 includes a conversion processing unit D3a that generates an image. In the present embodiment, the conversion processing unit D3a generates a camera image for display based on the output of a camera as the imaging device S6. The imaging device S6 is connected to the first display device D3 via a dedicated line, for example.

[0065] The conversion processing unit D3a generates a display image based on the output of the controller 30 or the excavator support device 50. In the present embodiment, the conversion processing unit D3a converts various information output by the controller 30 or the excavator support device 50 into an image signal. The information output by the controller 30 includes, for example, data indicating the temperature of the engine cooling water, data indicating the temperature of the working oil, data indicating the remaining amount of fuel, data indicating the remaining amount of urea water, etc. In addition, the information output by the excavator support device 50 includes data indicating the working position of the bucket 6, data indicating the direction of the slope of the working object, data indicating the direction of the excavator 100, data indicating the operation direction for making the excavator 100 face the slope, etc.

[0066] Similar to the first display device D3, the second display device D3S includes a conversion processing unit D3Sa that generates an image. In the present embodiment, the second display device D3S is not directly connected to the camera device S6. Therefore, the conversion processing unit D3Sa does not generate a camera image. However, when the second display device D3S is directly connected to the camera device S6, the conversion processing unit D3Sa can generate a camera image.

[0067] The conversion processing unit D3Sa generates a display image based on the output of the shovel assisting device 50. In the present embodiment, the conversion processing unit D3Sa converts various information outputted from the shovel assisting device 50 into an image signal. However, the display image may be generated based on the output of the controller 30.

[0068] The conversion processing unit D3a can be implemented as a function of the controller 30 or the excavator support device 50, rather than being implemented as a function of the first display device D3. The same is true for the conversion processing unit D3Sa. In this case, the camera device S6 is connected to the controller 30 or the excavator support device 50, rather than being connected to the first display device D3.

[0069] The first display device D3 and the second display device D3S operate by receiving power supply from the battery 70. The battery 70 is charged with power generated by the AC generator 11a (generator) of the engine 11. The power of the battery 70 is supplied to the controller 30, the first display device D3, and the second display device D3S, as well as to the electrical components 72 of the shovel 100. The starter 11b of the engine 11 is driven by the power from the battery 70, and the engine 11 is started.

[0070] The engine 11 is controlled by the engine controller unit D7. Various data indicating the state of the engine 11 are always sent from the engine controller unit D7 to the controller 30. The various data indicating the state of the engine 11 are an example of the operation information of the excavator 100, and include, for example, data indicating the cooling water temperature detected by the water temperature sensor 11c as the operation information acquisition unit. The controller 30 can store the data in the temporary storage unit (memory) 30a and send it to the first display device D3 when necessary.

[0071] As described below, various data are supplied to the controller 30 as the operation information of the shovel 100 , and are stored in the temporary storage unit 30 a of the controller 30 .

[0072] For example, data indicating the tilt angle of the swash plate is supplied to the controller 30 from the regulator 13 of the main pump 14 which is a variable displacement hydraulic pump. Furthermore, data indicating the discharge pressure of the main pump 14 is supplied to the controller 30 from the discharge pressure sensor 14b. These data are stored in the temporary storage unit 30a. Furthermore, an oil temperature sensor 14c is provided on the pipeline between the tank storing the working oil sucked by the main pump 14 and the main pump 14, and data indicating the temperature of the working oil flowing through the pipeline is supplied to the controller 30 from the oil temperature sensor 14c. The regulator 13, the discharge pressure sensor 14b, and the oil temperature sensor 14c are examples of the operation information acquisition unit.

[0073] The controller 30 is supplied with data indicating the amount of fuel from the fuel storage amount detector 55a in the fuel storage unit 55. In this embodiment, the controller 30 is supplied with data indicating the state of the remaining fuel from a fuel remaining amount sensor as the fuel storage amount detector 55a in the fuel tank as the fuel storage unit 55.

[0074] Specifically, the fuel remaining sensor is composed of a float that follows the liquid level and a variable resistor (potentiometer) that converts the up and down movement of the float into a resistance value. With this structure, the fuel remaining sensor can continuously display the remaining state of the fuel on the first display device D3. The detection method of the fuel capacity detection unit can be appropriately selected according to the use environment, etc., and a detection method that can display the remaining state of the fuel in stages can be adopted. These structures are also the same for the urea water tank.

[0075] When the operating device 26 is operated, the pilot pressure acting on the control valve unit 17 is detected by the pressure sensor 29 , and data indicating the detected pilot pressure is supplied to the controller 30 .

[0076] Next, refer to Figure 3 Various functional elements of the shovel assist device 50 will be described. Figure 3 1 is a functional block diagram showing a configuration example of the shovel assist device 50 .

[0077] The excavator support device 50 receives information outputted from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the rotation angular velocity sensor S5, the input device D1, the communication device T1, the positioning device S8, the controller 30, etc. Then, various calculations are performed based on the received information and the information stored in the storage device D4, and the calculation results are outputted to the sound output device D2, the first display device D3, the second display device D3S, etc.

[0078] The storage device D4 stores a design data storage unit D41 and a space correspondence storage unit D42.

[0079] The design data storage unit D41 stores design data. The design data includes construction data representing the three-dimensional shape after construction by the excavator 100 at the work site. The construction data includes the position data of the construction object in the world coordinate system represented by the GNSS and the three-dimensional shape data after construction. For example, the design data includes the position data and three-dimensional shape data of the target construction surface formed after the excavator 100 excavates the sand.

[0080] The position data is represented, for example, by the same reference coordinate system as the position data acquired by the GNSS. 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.

[0081] The space correspondence storage unit D42 stores the attributes assigned to the space according to the detected object. In this embodiment, the object is stored in association with the size and attribute of the space assigned based on the object. The specific space attributes will be described later.

[0082] The shovel assistance device 50 includes an acquisition unit 501 , a design data acquisition unit 502 , an object recognition unit 503 , a setting unit 504 , a path generation unit 505 , an operation acceptance unit 506 , and a movement control unit 507 .

[0083] The acquisition unit 501 acquires various information from various sensors. For example, the acquisition unit 501 acquires image information captured by the camera device S6 (front camera S6F, left camera S6L, right camera S6R, rear camera S6B, and boom camera S6A). For example, the acquisition unit 501 acquires measurement information indicating the results of measurement by the space recognition device S7 (rear space recognition device S7B, left space recognition device S7L, right space recognition device S7R, front space recognition device S7F, and boom space recognition device S7A).

[0084] The acquisition unit 501 acquires detection information detected by the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, and the swing angular velocity sensor S5. The acquisition unit 501 acquires the position and orientation of the shovel 100 from the positioning device S8.

[0085] The design data acquisition unit 502 acquires, from the storage device D4 , design data corresponding to the work site where the shovel 100 is working.

[0086] The object recognition unit 503 recognizes an object existing around the shovel 100 by combining the image information captured by the imaging device S6 and the measurement information measured by the space recognition device S7 .

[0087] The object recognition unit 503 recognizes the distance, direction, and size of an object existing around the shovel 100 based on the result of three-dimensional measurement of the periphery of the shovel 100 indicated by the measurement information measured by the space recognition device S7 .

[0088] Furthermore, the object recognition unit 503 applies image recognition processing to the image information captured by the camera S6 to recognize the type of object present around the shovel 100. The image recognition processing is, for example, pattern matching processing, processing using machine learning (a learned model such as deep learning), processing using a pattern recognition model such as a support vector machine, or processing using a SIFT feature quantity. The processing using machine learning is a processing that outputs the area where the object is captured and the type of the object by inputting the image information into the learned model. In order to generate the learned model, for example, a neural network can be used and learning can be performed by back propagation.

[0089] Then, the object recognition unit 503 combines the distance and direction to the object measured based on the measurement information with the position and orientation of the shovel 100 detected by the positioning device S8 for the object recognized by the image recognition process, thereby determining the position of the object in the reference coordinate system.

[0090] The object recognition unit 503 determines the size of the object recognized by the image based on the measurement information. The size of the specified object is determined, for example, by coordinates (latitude, longitude, and altitude) associated with a virtual three-dimensional figure surrounding the object. The virtual three-dimensional figure is, for example, a sphere, a cuboid, a cylinder, a prism, a cone, or a quadrangular pyramid. Moreover, the coordinates associated with the virtual three-dimensional figure are, for example, the coordinates of the vertices or the center point of the virtual three-dimensional figure.

[0091] The objects to be identified are objects that the operator of the excavator 100 should pay attention to when using the excavator 100 to perform work, such as the completed part, the surface or sand to be the construction object, obstacles (such as cones) existing around the excavator 100, and dump trucks for loading sand. The completed part is a slope part where the slope finishing work has been completed, a surface part where the horizontal pulling work has been completed, or an excavated part where the excavation work has been completed.

[0092] The objects to be specified also include people. Thus, when there are people around the shovel 100, the shovel 100 can be controlled in consideration of the presence of the people.

[0093] In this embodiment, the camera image used to identify the object is not limited to the image information output by the camera device S6 installed outside the shovel 100, but may be a camera image from a camera device mounted on an aircraft such as a drone existing at the work site. Furthermore, it may be a camera device installed on a tower or the like at the construction site, or may be a camera device installed on another shovel operating at the same construction site.

[0094] Similarly, in this embodiment, the measurement information for identifying the distance to the object, the direction, and the size of the object is not limited to the measurement information output by the space recognition device S7 installed outside the excavator 100, but may also be measurement information from a space recognition device installed on an aircraft such as a drone existing at the work site. Furthermore, it may be a space recognition device installed on a tower or the like at the construction site, or it may be a space recognition device installed on another excavator operating at the same construction site.

[0095] The recognition of the object existing around the shovel 100 by the object recognition unit 503 is updated at a predetermined timing.

[0096] The setting unit 504 determines the size of the space based on the detected object (the setting target of the attribute) by referring to the space correspondence storage unit D42. Furthermore, the setting unit 504 sets the attribute associated with the detected object in the space according to the correspondence relationship shown in the space correspondence storage unit D42.

[0097] As the attributes set for the space, it is set as a movement prohibited space, a movable space, an excavation object space, an excavation restricted space, a sand and soil fall suppression space, a sand and soil fall permission space, a soil removal permission space and others (other areas). In addition, an example of the attributes set for the space is shown in this embodiment, and other attributes can also be assigned to the space.

[0098] The movement prohibited space is a space where the movement of the main body of the shovel 100 and the attachment of the shovel 100 is prohibited because an obstacle or a person exists.

[0099] The movable space (an example of the second permissible attribute) is set as a space in which the excavator 100 is allowed to move. There are multiple movable spaces. For example, the setting unit 504 can set at least one of the attachment movement permission space (an example of an attribute) indicating that the attachment of the excavator 100 is movable, the walking permission space (an example of an attribute) which is a space on the detected road surface and indicates that the lower walking body 1 can walk, and the load movement permission space (an example of an attribute) indicating that the bucket 6 can move even when there is a load. By being able to set these attributes, specific control that takes into account the conditions around the excavator 100 can be achieved.

[0100] The movable space is allocated when no object is detected in the corresponding space. In addition, the movable space is not limited to the attribute set when no object is detected in the space. Furthermore, the setting unit 504 is not limited to the method of setting any one of the attachment movement permission space (an example of an attribute), the walking permission space (an example of an attribute), and the load movement permission space for the specified space, and multiple attributes may be set.

[0101] The excavation target space is a space where sand is detected and is a movement-permitted space (an example of the first permissible attribute) for the bucket 6. For example, when sand is recognized by the object recognition unit 503, the space where the sand exists can be set as the excavation target space (a space where the bucket 6 can move) based on the detected sand.

[0102] The excavation restricted space is set as a space where excavation of sand and soil is suppressed (indicating the attribute of the space where excavation of sand and soil is suppressed). For example, the excavation restricted space is set for a space inside the target construction surface included in the design data in the space where sand and soil are detected.

[0103] The soil drop suppression space is a space that suppresses the movement of the bucket 6 when the bucket 6 is loaded with soil (in other words, it indicates the attribute of the space that suppresses the movement of the bucket 6 loaded with soil). For example, the soil drop suppression space is set for the space above the detected object.

[0104] The soil drop permission space is a space to which soil is allowed to move during soil work performed by the bucket 6 (in other words, it indicates the attribute of the space that allows soil to be scattered, etc.).

[0105] In addition, the present embodiment is not limited to the method of setting the sand drop permission space and the sand drop suppression space separately according to the detected object. For example, the space other than the space where the sand drop permission space is set may be automatically set as the sand drop suppression space.

[0106] The soil discharge permission space is set as a space that allows the discharge of the sand and soil loaded in the bucket 6 (indicating the attribute of the space that allows the load to be unloaded from the bucket 6). The soil discharge permission space is set as, for example, the space above the dump truck. When the soil discharge permission space is set, the moving destination of the bucket 6 can be determined, so it is easy to generate a moving path. Therefore, in this embodiment, the bucket 6 can be guided to the soil discharge permission space along the moving path, so the operation burden from excavation to discharge can be reduced.

[0107] Furthermore, when setting attributes for the entire space around the shovel 100, the setting unit 504 may set an unknown space as "other" if such space exists. For example, the setting unit 504 may set "other" for a space other than the measurement target of the space recognition device S7, such as the sky.

[0108] The path generation unit 505 generates a movement path for the shovel 100 to move based on the attribute set for the space by the setting unit 504. A specific moving object may be the lower traveling body 1 of the shovel 100 or an attachment of the shovel 100.

[0109] For example, the path generation unit 505 generates a movement trajectory in a manner that passes through a movable space but not through a movement-prohibited space. Specifically, when generating a movement path for the bucket 6 used for excavation by the excavator 100, the path generation unit 505 generates a movement path as follows: after the bucket 6 is moved to the excavation object space, the bucket 6 is guided to the soil discharge permitted space through the movement permitted space without passing through the movement prohibited space and the sand and soil falling suppression space. Furthermore, when the path generation unit 505 generates a movement path, the movement path is generated by considering not only the position of the bucket 6 but also the posture and shape of the entire attachment of the excavator 100. Specifically, the path generation unit 505 generates a movement trajectory in consideration of the space through which the structure of the attachment passes respectively. For example, the path generation unit 505 generates a movement trajectory in a manner that not only the bucket 6 but also the boom 4 and the dipper arm 5 do not pass through the movement-prohibited space. Thus, the possibility of a part of the attachment of the excavator 100 contacting an obstacle can be suppressed. As another example, when the bucket 6 is loaded with sand, the path generation unit 505 may generate a movement path in a manner that prevents the bucket 6 from passing through the sand drop suppression space and allows the boom 4 and the arm 5 to pass through the sand drop suppression space. For example, the path generation unit 505 may determine whether the upper swing body 3 is to swing right or left so as not to pass through the movement prohibition space.

[0110] In addition, the present embodiment is not limited to generating a moving path for the bucket 6, and may also generate a moving path for the lower traveling body 1 of the excavator 100. For example, in order to move to a target position according to the operation process shown in the design data, the path generating unit 505 may generate a moving path such that the lower traveling body 1 travels in a movement permission space (travel permission space) that allows the lower traveling body 1 to move.

[0111] The operation receiving unit 506 receives the operation details of the operating device 26 from the pressure sensor 29 .

[0112] The movement control unit 507 controls the shovel 100 according to the operation content received by the operation receiving unit 506 so that the shovel 100 moves along the movement path generated by the path generating unit 505. The control object may be the bucket 6 or the lower traveling body 1. In the present embodiment, the movement control unit 507 performs movement control along the movement path by the operator performing operations such as tilting the lever of the operating device 26. By performing operation support based on the movement control along the movement path by the movement control unit 507, the operation burden of the operator can be reduced.

[0113] In this way, the shovel assist device 50 according to the present embodiment sets attributes for the space around the shovel 100 based on the outputs from the space recognition device S7 and the imaging device S6 , and controls the shovel 100 based on the attributes set for the space.

[0114] The excavator support device 50 according to the present embodiment performs semi-automatic control of the excavator 100 according to the operation content from the operator. For example, when the operation receiving unit 506 receives the operation of opening the boom from the operator during excavation, the movement control unit 507 performs hydraulic drive control of the bucket 6, the boom 5, and the boom 4 so that the bucket 6 moves along the movement path generated by the path generating unit 505.

[0115] Next, refer to Figure 4 A configuration example of a hydraulic system mounted on the shovel 100 will be described. Figure 4 It means that it is installed on Figure 1 FIG. 1 is a diagram showing a configuration example of a hydraulic system of an excavator 100. Figure 4 Double lines, solid lines, dashed lines and dotted lines are used to represent mechanical power transmission pipelines, working oil pipelines, pilot pipelines and electrical control circuits respectively.

[0116] The hydraulic system circulates hydraulic oil from the left main pump 14L driven by the engine 11 to the hydraulic oil tank through the left center bypass line 40L or the left parallel line 42L, and circulates hydraulic oil from the right main pump 14R driven by the engine 11 to the hydraulic oil tank through the right center bypass line 40R or the right parallel line 42R.

[0117] The left center bypass line 40L 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 40R is a hydraulic oil line passing through the control valves 172, 174, 175R and 176R arranged in the control valve unit 17.

[0118] The control valve 171 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 1L and discharge hydraulic oil discharged from the left travel hydraulic motor 1L to a hydraulic oil tank.

[0119] The control valve 172 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 right traveling hydraulic motor 1R and discharge hydraulic oil discharged from the right traveling hydraulic motor 1R to a hydraulic oil tank.

[0120] The control valve 173 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the left main pump 14L to the turning hydraulic motor 2A and to discharge hydraulic oil discharged from the turning hydraulic motor 2A to a hydraulic oil tank.

[0121] The control valve 174 is a spool valve that switches the flow of the hydraulic oil in order to supply the 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.

[0122] The control valve 175L is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7 .

[0123] The control valve 175R is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0124] The control valve 176L is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0125] The control valve 176R is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0126] The left parallel line 42L is a working oil line parallel to the left middle bypass line 40L. When the flow of working oil through the left middle bypass line 40L is restricted or cut off by any one of the control valves 171, 173, and 175L, the left parallel line 42L can supply working oil to a control valve further downstream. The right parallel line 42R is a working oil line parallel to the right middle bypass line 40R. When the flow of working oil through the right middle bypass line 40R is restricted or cut off by any one of the control valves 172, 174, and 175R, the right parallel line 42R can supply working oil to a control valve further downstream.

[0127] The left regulator 13L is configured to control the discharge volume of the left main pump 14L. In the present embodiment, the left regulator 13L adjusts the swash plate deflection angle of the left main pump 14L, for example, according to the discharge pressure of the left main pump 14L, thereby controlling the discharge volume of the left main pump 14L. The right regulator 13R is configured to control the discharge volume of the right main pump 14R. In the present embodiment, the right regulator 13R adjusts the swash plate deflection angle of the right main pump 14R, for example, according to the discharge pressure of the right main pump 14R, thereby controlling the discharge volume of the right main pump 14R. The left regulator 13L, for example, adjusts the swash plate deflection angle of the left main pump 14L in accordance with the increase in the discharge pressure of the left main pump 14L to reduce the discharge volume. The same is true for the right regulator 13R. This is to prevent the pump absorption horsepower represented by the product of the discharge pressure and the discharge volume from exceeding the output horsepower of the engine 11. The pump absorption horsepower is the sum of the absorption horsepower of the left main pump 14L and the absorption horsepower of the right main pump 14R.

[0128] The left discharge pressure sensor 28L is an example of the discharge pressure sensor 28, 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.

[0129] Here, Figure 4 The negative control used in the hydraulic system is explained.

[0130] In the left intermediate bypass line 40L, a left throttle 18L is arranged between the control valve 176L located at the most downstream and the working oil tank. 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 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. In the right intermediate bypass line 40R, a right throttle 18R is arranged between the control valve 176R located at the most downstream and the working oil tank. The flow of the working oil discharged by the right main pump 14R is restricted by the right throttle 18R. In addition, the right throttle 18R generates a control pressure for controlling the right regulator 13R. The right control pressure sensor 19R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.

[0131] The controller 30 adjusts the tilt angle of the swash plate of the left main pump 14L according to the control pressure, thereby controlling the discharge volume of the left main pump 14L. The controller 30 reduces the discharge volume of the left main pump 14L as the control pressure increases, and increases the discharge volume of the left main pump 14L as the control pressure decreases. The discharge volume of the right main pump 14R is similarly controlled.

[0132] Specifically, if Figure 4 As shown, in the standby state where none of the hydraulic actuators in the excavator 100 is operated, the hydraulic oil discharged from the left main pump 14L reaches the left throttle 18L through the left intermediate bypass line 40L. And the flow of the hydraulic oil discharged from 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, thereby suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left intermediate bypass line 40L. On the other hand, when one of the hydraulic actuators is operated, the hydraulic oil discharged from 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. And the flow of the hydraulic oil discharged from 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 circulates to the hydraulic actuator to be operated, thereby ensuring the driving of the hydraulic actuator to be operated. The same applies to the hydraulic oil discharged by the right main pump 14R.

[0133] According to the above structure, Figure 4The hydraulic system can suppress unnecessary energy consumption in the left main pump 14L and the right main pump 14R in the standby state. The unnecessary energy consumption includes the pumping loss of the hydraulic oil discharged by the left main pump 14L in the left intermediate bypass line 40L and the pumping loss of the hydraulic oil discharged by the right main pump 14R in the right intermediate bypass line 40R. In addition, when the hydraulic actuator is operated, Figure 4 The hydraulic system can supply a required sufficient amount of hydraulic oil from the left main pump 14L and the right main pump 14R to the hydraulic actuator of the working object.

[0134] Next, the structure for automatically operating the actuator is described. The boom operating lever 26A is an example of an electric operating lever as an operating device 26, and is used to operate the boom 4. The boom operating lever 26A detects the operating direction and the operating amount, and outputs the detected operating direction and the operating amount as operating data (electrical signal) to the controller 30. When manual control is performed, when the boom operating lever 26A is operated in the boom raising direction, the controller 30 controls the opening of the proportional valve 31AL according to the operating amount of the boom operating lever 26A. Thus, the pilot pressure corresponding to the operating amount of the boom operating lever 26A is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R by using the working oil discharged by the pilot pump 15. And, when manual control is performed, when the boom operating lever 26A is operated in the boom lowering direction, the controller 30 controls the opening of the proportional valve 31AR according to the operating amount of the boom operating lever 26A. Thus, a pilot pressure corresponding to the operation amount of the boom operating lever 26A is applied to the right pilot port of the control valve 175R using the hydraulic oil discharged from the pilot pump 15 .

[0135] The proportional valves 31AL and 31AR constitute an example of the proportional valve 31 as a solenoid valve, namely, a boom proportional valve 31A. The proportional valve 31AL operates according to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure generated by the working oil introduced from the pilot pump 15 via the proportional valve 31AL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The proportional valve 31AR operates according to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure generated by the working oil introduced from the pilot pump 15 via the proportional valve 31AR to the right pilot port of the control valve 175R. The proportional valves 31AL and 31AR can regulate the pilot pressure in such a way that the control valves 175L and 175R can be stopped at any valve position.

[0136] With this structure, when the automatic excavation control is performed, the controller 30 can supply the hydraulic 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 proportional valve 31AL regardless of the boom raising operation performed by the operator. That is, the controller 30 can automatically raise the boom 4. And, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR regardless of the boom lowering operation performed by the operator. That is, the controller 30 can automatically lower the boom 4.

[0137] The boom operating lever 26B is another example of an electric operating lever as the operating device 26, and is used to operate the boom 5. The boom operating lever 26B detects the operating direction and the operating amount, and outputs the detected operating direction and the operating amount as operating data (electrical signal) to the controller 30. When manual control is performed, when the boom operating lever 26B is operated in the boom opening direction, the controller 30 controls the opening of the proportional valve 31BR according to the operating amount of the boom operating lever 26B. Thus, the pilot pressure corresponding to the operating amount of the boom operating lever 26B is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R by using the working oil discharged by the pilot pump 15. And, when manual control is performed, when the boom operating lever 26B is operated in the boom retracting direction, the controller 30 controls the opening of the proportional valve 31BL according to the operating amount of the boom operating lever 26B. Thus, the pilot pressure corresponding to the operation amount of the arm operating lever 26B is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R by the hydraulic oil discharged from the pilot pump 15 .

[0138] The proportional valves 31BL and 31BR constitute an example of the proportional valve 31, namely, the boom proportional valve 31B. The proportional valve 31BL operates according to the current command regulated by the controller 30. The controller 30 regulates the pilot pressure generated by the working oil introduced from the pilot pump 15 via the proportional valve 31BL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. The proportional valve 31BR operates according to the current command regulated by the controller 30. The controller 30 regulates the pilot pressure generated by the working oil introduced from the pilot pump 15 via the proportional valve 31BR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valves 31BL and 31BR can regulate the pilot pressure in such a way that the control valves 176L and 176R can be stopped at any valve position.

[0139] With this structure, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL regardless of the boom retracting operation performed by the operator. That is, the controller 30 can automatically retract the boom 5. Moreover, the controller 30 can supply the hydraulic oil discharged by 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 proportional valve 31BR regardless of the boom opening operation performed by the operator. That is, the controller 30 can automatically open the boom 5.

[0140] Thus, when the automatic excavation control is performed, the arm cylinder 8 and the boom cylinder 7 are automatically operated according to the operation amount of the arm operating lever 26B, thereby performing speed control or position control of the working part. In the above embodiment, the position control of the arm 5 and the boom 4 is described, but the control objects are not limited to the arm 5 and the boom 4, and the bucket 6 and the lower traveling body 1 can also be positionally controlled by using the same method. Thus, in this embodiment, it is possible to automatically control the bucket 6 and the like to move along the moving path generated by the path generating unit 505 according to the operation amount of the arm operating lever 26B.

[0141] The excavator 100 may include a structure for automatically rotating the upper rotating body 3 to the left or right, a structure for automatically opening or retracting the bucket 6, and a structure for automatically moving the lower traveling body 1 forward and backward. In this case, the hydraulic system portion related to the rotating hydraulic motor 2A, the hydraulic system portion related to the operation of the bucket cylinder 9, the hydraulic system portion related to the operation of the left traveling hydraulic motor 1L, and the hydraulic system portion related to the operation of the right traveling hydraulic motor 1R may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7.

[0142] Next, refer to Figure 5 The electric operating system of the shovel 100 according to the present embodiment will be further described. Figure 5 1 schematically shows a configuration example of an electric operating system of the shovel 100 according to the present embodiment. Figure 5 In the description, as an example of an electric operating system, a boom operating system for raising and lowering the boom 4 is taken as an example. In addition, the electric operating system can also be similarly applied to a traveling operating system for moving the lower traveling body 1 forward or backward, a rotating operating system for rotating the upper rotating body 3, an arm operating system for opening or retracting the boom 5, and a bucket operating system for opening or retracting the bucket 6.

[0143] Figure 5The electric operating system shown includes a boom operating lever 26A as an electric operating lever, a pilot pump 15, a pilot pressure-operated control valve unit 17, a boom raising proportional valve 31AL, a boom lowering proportional valve 31AR, a controller 30, a door lock rod D5 and a door lock valve D6.

[0144] The boom operating lever 26A (operation signal generating unit) as an example of an operating device is provided with a sensor such as an encoder or a potentiometer that can detect the operation amount (tilting amount) and the tilting direction. The operation signal (electrical signal) corresponding to the operation of the boom operating lever 26A detected by the sensor of the boom operating lever 26A is input to the controller 30.

[0145] The proportional valve 31AL is provided between the pilot pump 15 and the control valve unit 17 (refer to Figure 4 The proportional valve 31AL is a solenoid valve with adjustable opening, and the opening of the proportional valve 31AL is controlled according to the control signal from the controller 30, that is, the boom lifting operation signal (electrical signal). The pilot pressure acting on the boom lifting side pilot port as the boom lifting operation signal (pressure signal) is controlled by controlling the opening of the proportional valve 31AL. Similarly, the proportional valve 31AR is set to the control valve unit 17 (reference number) from the pilot pump 15. Figure 4 The proportional valve 31AR is an electromagnetic valve with adjustable opening, and the opening of the proportional valve 31AR is controlled according to the control signal from the controller 30, that is, the boom lowering operation signal (electrical signal). The pilot pressure acting on the boom lowering side pilot port as the boom lowering operation signal (pressure signal) is controlled by controlling the opening of the proportional valve 31AR.

[0146] The controller 30 outputs a boom raising operation signal (electrical signal) and a boom lowering operation signal (electrical signal) for controlling the opening of the proportional valves 31AL and 31AR. Thus, the controller 30 can control the movement of the boom 4 by controlling the flow rate and flow direction of the working oil supplied from the left main pump 14L and the right main pump 14R to the boom cylinder 7 via the proportional valves 31AL and 31AR and the control valve unit 17 (control valves 175L and 175R).

[0147] For example, when the shovel 100 is manually operated, the controller 30 generates and outputs a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) based on the operation signal (electrical signal) of the boom operating lever 26A. Also, when the shovel 100 is automatically controlled, the controller 30 generates and outputs a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) based on a set program or the like.

[0148] The door lock rod D5 is provided near the entrance and exit of the cab 10. The door lock rod D5 is provided to be swingable. The operator pulls up the door lock rod D5 to make it almost horizontal to release the door lock valve D6, and presses down the door lock rod D5 to lock the door lock valve D6. When the door lock rod D5 is pulled up, the door lock rod D5 blocks the entrance and exit of the cab 10 and restricts the operator from leaving the cab 10. On the other hand, when the door lock rod D5 is pressed down, the door lock rod D5 opens the entrance and exit of the cab 10 and allows the operator to leave the cab 10.

[0149] The limit switch 61 is a switch that is turned on (energized) when the door lock rod D5 is pulled up, and is turned off (disconnected) when the door lock rod D5 is pressed down.

[0150] The door lock valve D6 is an on-off valve provided on the pilot line between the pilot pump 15 and the proportional valve 31 (31AL, 31AR). The door lock valve D6 is, for example, a solenoid valve that opens when power is supplied and closes when power is not supplied. A limit switch 61 is arranged in the power supply circuit of the door lock valve D6. Thus, when the limit switch 61 is ON, the door lock valve D6 is opened. When the limit switch 61 is OFF, the door lock valve D6 is closed. That is, when the limit switch 61 is ON, the door lock valve D6 is opened and becomes a released state, and becomes a state in which the boom 4 can be operated via the boom operating lever 26A. On the other hand, when the limit switch 61 is OFF, the door lock valve D6 is closed and becomes a locked state, and becomes a state in which the boom 4 cannot be operated via the boom operating lever 26A.

[0151] The lock state detection sensor 63 detects whether the door lock valve D6 is in the released state or the locked state. For example, the lock state detection sensor 63 is a voltage sensor (or a current sensor) provided on the electrical circuit connecting the door lock valve D6 and the limit switch 61, and detects the released state / locked state of the door lock valve D6 by detecting the ON / OFF of the limit switch 61. The detection result is output to the controller 30. In addition, the lock state detection sensor 63 may also be a structure that detects the released state / locked state of the door lock valve D6 by directly detecting the position of the rod.

[0152] The controller 30 may be configured to switch the limit switch 61 to OFF to close the door lock valve D6 and render the boom 4 inoperable even when the door lock rod D5 is pulled up.

[0153] exist Figure 5, a structure for switching the operable state and the inoperable state of the boom 4 (boom cylinder 7) by means of the door lock rod D5 is shown. However, the door lock rod D5 is configured to be able to simultaneously switch the operable state and the inoperable state of the boom 5 (boom cylinder 8), the bucket 6 (bucket cylinder 9), the rotation (hydraulic motor 2A for rotation) and the travel (hydraulic motor 2M for travel), etc. However, the door lock rod D5 may also be configured to be able to individually switch the operable state and the inoperable state of the boom 5 (boom cylinder 8), the bucket 6 (bucket cylinder 9), the rotation (hydraulic motor 2A for rotation) and the travel (hydraulic motor 2M for travel), etc.

[0154] Next, a method in which the setting unit 504 uses the information stored in the space correspondence storage unit D42 to set the attribute of the space according to the detected object will be described.

[0155] Figure 6 is a diagram showing the correspondence between the detected object and the space divided according to the object (an example of a divided space). Figure 6 An example is shown in FIG. 1 , in which various attributes are set according to the detected object.

[0156] exist Figure 6 In the first example shown, it is assumed that the object recognition unit 503 recognizes an obstacle (e.g., a cone) 601. In the space correspondence storage unit D42, the size of the space that is the setting target of the attribute is determined based on the size of the obstacle 601. For example, in the space correspondence storage unit D42, the size of the cylindrical space 611 is determined in a manner that includes the obstacle 601, the size of the space 612 above the space 611 is determined, and the space 611 and the space 612 above are determined as the setting targets of the attribute. In addition, the size of the space that is the setting target of the attribute is shown as an example and is determined according to the implementation method of the excavator 100. For example, when determining the size of the space, it is possible to consider setting a boundary for the size of the obstacle.

[0157] The space corresponding storage unit D42 stores the attributes set for the space. Thus, the setting unit 504 sets the movement prohibition space (an example of an attribute for inhibiting the movement of the shovel 100) for the space 611, and sets the sand and soil falling inhibition space (an example of an attribute) for the upper space 612. Thus, the shovel 100 can be inhibited from contacting an obstacle, and sand and soil can be inhibited from falling onto the obstacle (e.g., cone) 601.

[0158] Furthermore, the setting unit 504 can set a plurality of attributes for a space associated with an identified object. For example, the object recognition unit 503 can set a movable space for a first space that is within a predetermined distance (1.5 m) based on the center of the identified obstacle 601 but is further outside than the space 611, and set a sand drop suppression space for the first space. Furthermore, the setting unit 504 can set a movable space for a second space that is separated from the identified obstacle 601 by a predetermined distance (1.5 m) or more, and set a sand drop permission space for the second space.

[0159] exist Figure 6 In the second example shown, it is assumed that the object recognition unit 503 recognizes a person 602. In the space correspondence storage unit D42, the size of the space that is the setting target of the attribute is determined based on the size of the person 602. Moreover, when a person is recognized, the size of the space 621 is determined in the space correspondence storage unit D42, which is a size of the space 621 plus a predetermined boundary (for example, 1.5m in the horizontal direction) based on the person, and the size of the space 622 above the space 621 is determined. Furthermore, the case where the space 621 and the space 622 above are determined as the setting targets of the attribute in the space correspondence storage unit D42 is shown.

[0160] Then, the setting unit 504 sets a movement prohibition space (an example of an attribute) for the space 621, and sets a soil drop suppression space (an example of an attribute indicating that the movement of the load of the attachment is suppressed) for the upper space 622. Thus, the shovel 100 can be suppressed from approaching the person 602, and soil can be suppressed from falling on the person 602. Since the shovel 100 is suppressed from approaching the person 602, the person 602 can be suppressed from contacting the shovel 100 even when the person 602 is moving.

[0161] exist Figure 6 In the third example shown, it is assumed that the object recognition unit 503 recognizes a dump truck 603. In the space correspondence storage unit D42, the size of the space to be set as the attribute is determined based on the size of the dump truck 603. When the dump truck 603 is recognized, the size of the space 631 corresponding to the dump truck 603 is determined in the space correspondence storage unit D42, and the size of the space 632 above the cabin of the dump truck 603 is determined. The size of the space 632 above can be set based on the size of the cabin of the dump truck 603, for example.

[0162] Furthermore, the setting unit 504 sets a movement-prohibited space (an example of an attribute) for the space 631, and sets a soil-discharging-allowed space (an example of an attribute) for the upper space 632. Thus, the shovel 100 can be prevented from contacting the dump truck 603, and soil can be discharged into the compartment of the dump truck 603. Furthermore, as described above, the setting unit 504 can set a plurality of attributes for any space. For example, the object recognition unit 503 can set a soil-discharging-allowed space and a movement-allowed space for the space 632.

[0163] exist Figure 6 In the example shown, an example of setting attributes for a space based on the recognized object is described. However, the present embodiment does not limit the conditions for setting attributes for a space to the recognized object. Therefore, next, an example of setting attributes for a space in consideration of the construction data included in the design data is described.

[0164] Figure 7 is a diagram showing the correspondence between the detected object, the construction data showing the three-dimensional shape after construction, and the space divided according to the construction data and the object. Figure 7 An example is shown in FIG. 1 , in which various attributes are set according to the detected object.

[0165] exist Figure 7 In the first example shown, it is assumed that the object recognition unit 503 recognizes sand 701. Furthermore, the three-dimensional shape 702 of the sand after construction and the target construction surface 702A are shown in the construction data (information related to the construction of the space) included in the design data stored in the design data storage unit D41.

[0166] In addition, since the detected position of the soil 701 and the position of the three-dimensional shape 702 of the soil use the reference coordinate system, the setting unit 504 can recognize the relationship between the position of the soil 701 and the position where the target construction surface 702A is formed.

[0167] The setting unit 504 determines the size of the space 712 (space for suppressing the movement of the bucket 6, etc.) outside the excavation object further inside than the target construction surface 702A and the size of the space 711 of the excavation object further outside than the target construction surface 702A based on the shape of the detected sand and construction data (information related to the construction of the space).

[0168] Furthermore, the setting unit 504 sets the excavation restriction space (an attribute that inhibits the movement of the construction machine) to the space 712 , and sets the excavation target space (an example of an attribute indicating that the attachment is movable) to the space 711 .

[0169] Figure 81 is a diagram showing a first example of a space set by the setting unit 504 according to the present embodiment based on an object existing around the shovel 100 . Figure 8 This is an example in which the shovel 100 performs excavation work and loads the dump truck 603 with soil.

[0170] exist Figure 8 In the illustrated example, the setting unit 504 sets an excavation target space 711 on the shovel 100 side and an excavation restricted space 712 on the opposite side to the shovel 100 based on the target construction surface 713 based on the construction data, image information, and measurement information.

[0171] Furthermore, the setting unit 504 sets the space adjacent to the excavation object space 711 and where there are no obstacles as the sand drop permission space 802. The sand drop permission space 802 where sand can be dropped is not limited to the above setting, and the on-site manager or the operator of the excavator 100 can manually set it according to the situation of the work site. By setting the sand drop permission space 802, the path generation unit 505 can generate a moving path when the bucket 6 is excavated. Furthermore, the setting unit 504 can set a movable space in addition to the sand drop permission space 802 for the space adjacent to the excavation object space 711 and where there are no obstacles.

[0172] The dump truck 603 is present on the dump road 801 . The setting unit 504 sets the movement prohibited space 631 according to the dump truck 603 , and sets the soil dumping permitted space 632 at a position above the movement prohibited space 631 .

[0173] Furthermore, the setting unit 504 sets the movement prohibited space 611 according to the obstacle 601 , and sets the soil and sand fall suppression space 612 at a position above the movement prohibited space 611 .

[0174] Furthermore, the path generation unit 505 generates the moving path 811 of the bucket 6 according to the above-mentioned spatial attributes. The path generation unit 505 may generate the moving path in consideration of the sand-dropping permission space 802. For example, when the bucket 6 is used for excavation, the path generation unit 505 may generate the moving track of the bucket 6 in such a manner that the sand that is not loaded in the bucket 6 but is moved (scattered) by excavation moves to the sand-dropping permission space 802 (an example of an adjacent space). Furthermore, the path generation unit 505 may generate the moving path of the bucket 6 in such a manner that the sand loaded in the bucket 6 is discharged after moving to the soil-discharging permission space 632.

[0175] The moving path 811 indicates the path of the bucket 6 until the sand in the bucket 6 is loaded into the dump truck 603 after the sand is excavated in the excavation target space 711. The moving path 811 is a path generated so as not to move to the movement prohibited spaces 611 and 631 and so as not to move the bucket 6 to the sand drop suppression space 612. The moving path 811 is a path generated so as to allow the sand to fall into the sand drop permission space 802 when the sand is excavated in the excavation target space 711.

[0176] When the operator instructs the excavator to dig, the movement control unit 507 of the excavator support device 50 controls the boom 4, the arm 5, the bucket 6, and the upper swing body 3 so that the bucket 6 moves along the movement path 811. Thus, the excavator 100 can perform operations from excavating soil to loading the dump truck 603.

[0177] Conventionally, when performing actual work, an action such as pushing away the sand and soil existing above the target construction surface 713 with an excavator may be performed in order to form the target construction surface 713. Therefore, in this embodiment, a movement path for performing an action such as pushing away the sand and soil can be generated.

[0178] For example, the path generation unit 505 generates a movement path of the bucket 6 such that the bucket 6 moves along the target construction surface 713, which is the surface of the excavation restricted space 712. When the bucket 6 moves along the target construction surface 713 and pushes away the soil, the path generation unit 505 generates a movement path such that the soil moved by the pushing away moves to the drop-allowed space 802. By generating this movement path, the target construction surface 713 is easily formed, so the workload can be reduced.

[0179] Fig. 9 This is a diagram showing a second example of a space set by the setting unit 504 according to the present embodiment based on an object existing around the shovel 100 . Fig. 9 This is an example of moving the shovel 100 when the shovel 100 performs excavation work.

[0180] exist Fig. 9 In the example shown, an area where excavation is completed and a target construction surface 713 is revealed and an excavation target space 711 are shown. Furthermore, a movement prohibited space 621 and a soil and earth fall suppression space 612 are set based on the person 602.

[0181] When the shovel 100 performs excavation work in the excavation target space 711, it is necessary to move in the arrow direction 901. In order to move in the arrow direction 901, the path generation unit 505 generates a movement path 902 before the movement prohibited space 621. When the shovel 100 moves along the movement path 902, it stops at the position shown by the shovel 100A. By preventing the shovel 100 from moving to the movement prohibited space 621, the safety of the person 602 can be improved.

[0182] Next, the processing performed by the shovel assisting device 50 according to the present embodiment will be described. Fig.10 It is a flowchart showing the processing performed by the shovel assisting device 50 .

[0183] like Fig.10 As shown, the acquisition unit 501 acquires measurement information from the space recognition device S7 (S1001).

[0184] Next, the acquisition unit 501 acquires image information captured by the imaging device S6 ( S1002 ).

[0185] Then, the design data acquisition unit 502 acquires the design data from the design data storage unit D41 ( S1003 ).

[0186] Then, the object recognition unit 503 recognizes objects existing around the shovel 100 based on the measurement information and the image information (S1004). Specifically, the object recognition unit 503 recognizes the type, size, and position of each object.

[0187] Furthermore, the setting unit 504 divides the space according to the size and type of the detected object, and sets the space attribute according to the type of the detected object for each divided space (an example of the divided space) (S1005). Furthermore, the setting unit 504 divides the space according to the three-dimensional shape after construction shown in the construction data, and sets the attribute for each divided space.

[0188] The path generation unit 505 generates a movement path of the lower traveling body 1 or the bucket 6 based on the attributes set for each of the divided spaces ( S1006 ).

[0189] Then, the movement control unit 507 controls one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 so as to move along the movement path according to the operation content received by the pressure sensor 29 (S1007).

[0190] In the present embodiment, by performing the above-mentioned control, the bucket 6 or the lower traveling body 1 moves along the moving path, thereby reducing the operator's operating burden. Furthermore, it is also possible to obtain measurement information from the space recognition device S7 and image information from the camera device S6 while the lower traveling body 1 or the bucket 6 moves along the moving path. Furthermore, the object recognition unit 503 can re-recognize the object based on the acquired measurement information and image information. In the case where the movement of the object or a new object is detected by the re-recognition of the object, the setting unit 504 can reset the spatial attributes. At this time, the path generation unit 505 can regenerate the moving path with the current position as the starting point in consideration of the reset spatial attributes. Furthermore, in the case where it is recognized that the excavator 100 is adjacent to the movement-prohibited space based on the regenerated moving path, the movement control unit 507 can stop the movement of the excavator 100.

[0191] (Variation of the first embodiment)

[0192] In the above embodiment, the case where semi-automatic control is performed to support the operator's operation is described. However, the above embodiment is not limited to the method of performing semi-automatic control. Therefore, in this modification, the case where the operator performs manual control is described.

[0193] In this modification, similarly to the above-described embodiment, attributes are set for each of the divided spaces based on objects detected around the shovel 100 .

[0194] The operation receiving unit 506 receives an operation by the operator from the pressure sensor 29. The movement control unit 507 controls one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 according to the received operation.

[0195] The movement control unit 507 controls one or more of the boom 4 , the arm 5 , the bucket 6 , and the lower traveling body 1 according to the received operation.

[0196] Furthermore, the movement control unit 507 restricts the movement of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 according to the set spatial attribute. For example, when the movement control unit 507 controls the movement of one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 according to the operation of the operator, when one of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 approaches the movement prohibited space, the movement of one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 is restricted. Thus, a part of the excavator 100 is prevented from moving into the movement prohibited space.

[0197] The excavator support device 50 according to this modification enables the operator to perform the intended operation by performing the above control. Furthermore, even if the excavator support device 50 is a movement control based on the operation, it can improve safety by supporting the control in a manner that follows the attributes set for the space such as the movement prohibited space.

[0198] (Variation 2 of the first embodiment)

[0199] In the above embodiment, the case where the shovel 100 performs object recognition, setting of space attributes, and generation of a moving path is described. However, in this embodiment, the method of performing object recognition, setting of space attributes, and generation of a moving path is not limited to the shovel 100 side, and can also be processed in an external device such as a cloud service.

[0200] For example, the acquisition unit 501, design data acquisition unit 502, object recognition unit 503, setting unit 504 and path generation unit 505 may be implemented on a cloud service. Also, the design data storage unit D41 and the space correspondence storage unit D42 may be uploaded in advance to a storage device on the cloud service.

[0201] The shovel 100 transmits detection results from various sensors installed in the shovel 100 to the cloud service using the communication device T1 installed in the shovel 100. For example, the shovel 100 transmits image information captured by the camera S6 and measurement information measured by the space recognition device S7 to the cloud service.

[0202] Then, the cloud service generates a travel route based on the image information and measurement information received from the shovel 100 , and transmits the travel route to the shovel 100 .

[0203] The excavator 100 receives the moving path from the cloud service. Thus, similarly to the above embodiment, the excavator 100 controls one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 according to the operation from the operator so that the excavator 100 moves along the moving path. Thus, similarly to the above embodiment, the operator's operating burden can be reduced.

[0204] Furthermore, the cloud service is not limited to the method up to the generation of the moving path. For example, the cloud service may be performed until the attributes of the space are set. Furthermore, the excavator 100 receives the result of the attribute setting of the cloud service. Furthermore, the excavator support device 50 in the excavator 100 may generate the moving path based on the result of the attribute setting of the space.

[0205] In this modification, by performing the above-mentioned processing on the cloud service side, it is possible to reduce the calculation load of the shovel 100. Therefore, it is possible to suppress the installation of a controller with high calculation performance on the shovel 100, and thus it is possible to achieve cost reduction.

[0206] (Second embodiment)

[0207] In the above-mentioned embodiment and modification, the case where the shovel 100 is controlled by supporting the operation of the operator is described. However, the present invention is not limited to the case where the shovel 100 is controlled by supporting the operation of the operator. Therefore, in the second embodiment, the case where the shovel 100 is automatically controlled is described.

[0208] In the shovel assisting device 50 according to the second embodiment, the steps up to the generation of the movement path are performed in the same manner as in the first embodiment.

[0209] Then, the movement control unit 507 controls any one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 to move along the movement path. That is, in this embodiment, unlike the above-mentioned embodiment, the movement control unit 507 controls any one or more of the boom 4, the arm 5, the bucket 6, and the lower traveling body 1 without accepting the operation performed by the operator.

[0210] In the shovel 100 according to the present embodiment, the operator may or may not ride in the cab 10. Furthermore, when the operator performs an operation while the movement control unit 507 is performing automatic control, the control based on the operation may be prioritized.

[0211] Furthermore, the shovel 100 according to the present embodiment can transmit the image information captured by the imaging device S6 to an external device via the communication device T1 , thereby enabling remote monitoring of the automatic control performed by the shovel 100 .

[0212] In the present embodiment, the operation by the operator is suppressed, so the operation burden can be reduced.

[0213] (Third embodiment)

[0214] In the third embodiment, a case where an operator performs remote control of the shovel 100 will be described.

[0215] Fig.11 1 is a schematic diagram showing a configuration example of a support system SYS of the shovel 100 according to the present embodiment. Fig.11 In the illustrated example, the shovel 100 and the remote operation room RC are connected via the information center 200. This enables transmission and reception of information between the shovel 100 and the remote operation room RC.

[0216] The shovel 100 transmits detection results from various sensors installed in the shovel 100 to the remote operation room RC using the communication device T1 installed in the shovel 100. For example, the shovel 100 transmits image information captured by the imaging device S6 and measurement information measured by the space recognition device S7 to the remote operation room RC.

[0217] The support system SYS according to the present embodiment is provided with a remote operation room RC. The remote operation room RC is provided with a display device DR, an operation device 26R, a pressure sensor 29R, an operation seat DS, a remote controller 80, and a communication device T2.

[0218] The remote controller 80 includes the acquisition unit 501, the design data acquisition unit 502, the object recognition unit 503, the setting unit 504, the path generation unit 505, the operation acceptance unit 506, and the movement control unit 507 provided in the excavator support device 50 of the above-mentioned embodiment. In addition, a design data storage unit D41 and a space correspondence storage unit D42 are provided in a storage device provided in the remote controller 80 (not shown).

[0219] By having the above-described configuration, the remote controller 80 can generate a movement path for moving the bucket 6 or the lower traveling body 1 of the shovel 100 based on information (including image information and measurement information) transmitted from the shovel 100 .

[0220] Then, the remote controller 80 displays the image information transmitted from the shovel 100 on the display device DR. Thus, even when the operator OP in the operator's seat DS is in the remote operator's room RC, the operator can check the situation around the shovel 100 .

[0221] The operator OP in the operator seat DS in the remote control room RC operates the operating device 26R. The pressure sensor 29R detects the operation content received by the operating device 26R. The movement control unit 507 generates a control signal for moving the bucket 6 or the lower traveling body 1 along the moving path according to the detected operation content. Then, the communication device T2 sends the generated control signal to the shovel 100. The remote controller 80 can control the shovel 100 in the same manner as in the first embodiment by sending the control signal.

[0222] The operation performed by the operator OP according to the present embodiment is not limited to the semi-automatic control described in the first embodiment, and may be a manual operation described in the first modification of the first embodiment.

[0223] In the present embodiment, the shovel 100 can be controlled even from a remote location by operating in the remote control room RC. Therefore, even when the work site is located in a remote location, it is easy to secure an operator for the shovel 100.

[0224] (Variation Example)

[0225] In the above embodiment, an example of assigning attributes corresponding to a space according to the correspondence stored in the space correspondence storage unit D42 is described. However, it is not limited to the method of pre-storing the correspondence. For example, the setting unit 504 may also use a learning model generated by machine learning to assign attributes to the space. Machine learning may use deep learning, for example, a neural network may be used and learning may be performed by back propagation.

[0226] For example, the setting unit 504 inputs image information from the camera S6 , measurement information from the space recognition device S7 , design data, setting conditions for prohibited movement spaces, etc. into the learned model, thereby acquiring information on attributes set for each space divided around the shovel 100 .

[0227] The learned model is not limited to the method of being mounted on the shovel 100, and can also be implemented on a cloud service. That is, the shovel 100 sends the image information of the camera S6, the measurement information of the space recognition device S7, the design data, and the setting conditions of the movement-prohibited space to the cloud service, so that the information of the attributes set for each space obtained by dividing the area around the shovel 100 can be received. In addition, the shovel 100 can generate a movement path based on the received information.

[0228] The learned model of this variant example is a model that has been learned using input information (image information from the camera device S6, measurement information from the space recognition device S7, design data, and setting conditions for the prohibited movement space) and output information (information on attributes set for each divided space) as training data.

[0229] In addition, the information input to the learned model is not limited to the image information of the camera device S6, the measurement information of the space recognition device S7, the design data, and the setting conditions of the movement-prohibited space. It is sufficient to input at least one of these information. In addition, information other than the image information of the camera device S6, the measurement information of the space recognition device S7, the design data, and the setting conditions of the movement-prohibited space may also be input.

[0230] Furthermore, the learned model can be relearned each time the image information of the camera S6, the measurement information of the space recognition device S7, the design data, and the setting conditions of the movement-prohibited space are input. The relearning is performed, for example, on a cloud service or a learning server. At this time, a combination of input information and output information corresponding to the input information (for example, information that assigns an incorrect attribute to the space) that has been corrected for errors is used as training data. By using the relearned learned model, the accuracy of the information output in the future can be improved. The correction of errors in the output information can be performed automatically or manually by the operator.

[0231] In the above embodiment and modification, an example is described in which the working tool includes the bucket 6. However, the above embodiment is not limited to the bucket 6, and any working tool may be used as long as it can load an object, such as a lifting magnet.

[0232] Furthermore, in the above-mentioned embodiment and modification, an example of using the excavator 100 having the engine 11 as the power source of the hydraulic drive system is described. However, the above-mentioned embodiment and modification are not limited to the method applied to the excavator having the engine as the power source, and for example, can also be applied to an electric excavator having an electric motor as the power source instead of the engine. Furthermore, in the above-mentioned embodiment and modification, an example of using the excavator 100 as a construction machine is described. However, the above-mentioned embodiment and modification do not limit the construction machine to the excavator, and any construction machine that can lift the loaded object can be used.

[0233] <Function>

[0234] According to the above-mentioned embodiment and modification, an example of setting attributes for the space around the shovel 100 based on the output from the space recognition device S7 and the camera device S6 has been described. However, the data used to set the attributes is not limited to the data output from the space recognition device S7 and the camera device S6. For example, the attributes of the space around the shovel 100 may be set based only on the measurement information output from the space recognition device S7.

[0235] Furthermore, according to the above-described embodiment and the modified example, attributes are set for each space divided according to the objects existing around the shovel 100. Furthermore, by performing control according to the attributes set for each space, control can be achieved that takes into account the characteristics of the objects existing around the shovel 100. Thus, the shovel 100 can achieve improved work efficiency. Furthermore, the characteristics of the detected object can be considered according to the attributes set for the space (for example, whether the object is moving, etc.), so that safety can be improved.

[0236] Furthermore, according to the above-mentioned embodiment and the modified example, a sand drop suppression space or a sand drop permission space can be set for a space. For example, by setting the drop permission space, control can be achieved that takes into account the sand moved by the action of the bucket 6 of the excavator 100. Therefore, it is possible to improve work efficiency. Furthermore, by setting the sand drop suppression space, control can be achieved that suppresses the sand loaded in the bucket 6 from falling onto a person or an obstacle. Therefore, it is possible to improve safety.

[0237] Furthermore, according to the above-described embodiment and modified example, when a person is detected, a space including a boundary based on the position of the person is set as a prohibited movement space. Thus, the prohibited movement space can be set in consideration of the movement of the person, thereby improving safety.

[0238] Furthermore, according to the above-mentioned embodiment and modification, an example is described in which an attribute is set according to the type of the detected object for each space divided according to the object detected from the output from the space recognition device S7 around the shovel 100. In this way, by setting the attribute for each divided space, it is possible to realize control that takes into account various conditions around the shovel 100. Therefore, it is possible to achieve improved work efficiency.

[0239] In the above embodiment, an example of generating a movement path in such a manner that the sand not loaded in the bucket 6 is moved to the sand drop permission space is described. By generating this movement path, the sand moves to the sand drop permission space and the movement of the sand to other spaces is suppressed, so that the work of removing the sand in other spaces can be reduced, thereby achieving an improvement in work efficiency.

[0240] The above is an explanation of the implementation of the construction machinery involved in the present invention, but the present invention is not limited to the above implementation, etc. Various changes, corrections, replacements, additions, deletions and combinations can be made within the scope of the technical solution. Of course, these also fall within the technical scope of the present invention.

[0241] This application claims priority based on Japanese Patent Application No. 2022-173789 filed on October 28, 2022, the entire contents of which are incorporated herein by reference.

[0242] Explanation of symbols

[0243] 100-excavator, 1-lower walking body, 2-rotating mechanism, 3-upper rotating body, 4-boom (accessory), 5-arm (accessory), 6-bucket (working tool), 7-boom cylinder, 8-arm cylinder, 9-bucket cylinder, S6-camera device, S7-space recognition device, S8-positioning device, D4-storage device, D41-design data storage unit, D42-space corresponding storage unit, 30-controller, 50-support device for excavator, 501-acquisition unit, 502-design data acquisition unit, 503-object recognition unit, 504-setting unit, 505-path generation unit, 506-operation acceptance unit, 507-movement control unit.

Claims

1. An excavator comprising: Lower walking body; and The upper rotating body is mounted on the lower traveling body so as to be rotatable. The shovel is configured to set attributes for a space around the shovel based on an output from a space recognition device provided on the upper swing body, and to control the shovel based on the attributes set for the space.

2. The excavator according to claim 1, wherein: It also has an attachment mounted on the upper rotating body, The shovel generates a movement path for controlling at least one of the attachment and the lower traveling body according to the attribute set for the space.

3. The excavator according to claim 2, wherein: When an object is detected in the space based on the output from the space recognition device, a first permission attribute for allowing the excavator to move is set for the space based on the detected object, or when the object is not detected in the space, a second permission attribute for allowing the excavator to move is set for the space.

4. The excavator according to claim 3, wherein: As the second permission attribute, one or more of an attribute indicating that the attachment is movable, an attribute indicating that the attachment is movable by the lower traveling body, and an attribute indicating that the attachment load is movable can be set.

5. The excavator according to claim 3, wherein: As the second permission attribute, an attribute that allows the load loaded on the attachment to be moved and allows the load to be unloaded from the attachment can be set.

6. The excavator according to claim 3, wherein: The movement path is generated so as to pass through the space in which the second permission attribute is set.

7. The excavator according to claim 6, wherein: The moving path is a path for the lower walking body to walk.

8. The excavator according to claim 1, wherein: It also has an attachment mounted on the upper rotating body, When an object is detected in the space based on the output from the space recognition device, the attribute for suppressing movement of the shovel is set based on the detected object, or the attribute for suppressing movement of the attachment is set based on information related to construction in the space.

9. The excavator according to claim 8, wherein: When a person is detected in the space, the attribute for suppressing the movement of the shovel is set to the space obtained by adding a predetermined boundary to the position of the person.

10. The excavator according to claim 9, wherein: When the person is detected in the space, the attribute indicating that movement of the load of the attachment is suppressed is set in the space above the person.

11. The excavator according to claim 2, wherein: When sand is detected in the space according to the output from the space recognition device, the attribute of allowing the sand to move is set for an adjacent space adjacent to the space in which the sand is detected according to the position of the detected sand, When excavation is performed using the attachment, the movement path of the attachment is generated so that the soil and sand that is not loaded on the attachment and is moved by the excavation is moved to the adjacent space.

12. The excavator according to claim 2, wherein: When sand is detected in the space according to the output from the space recognition device, the attribute of allowing the sand to move is set for an adjacent space adjacent to the space in which the sand is detected according to the position of the detected sand, When the control of pushing the soil and sand using the attachment is performed, the movement path of the attachment is generated so that the soil and sand moved by the pushing control moves to the adjacent space.

13. The excavator according to claim 2, wherein: The excavator is controlled in such a manner as to follow the generated movement path.

14. The excavator according to claim 1, wherein: The attribute is set according to the type of the detected object for each divided space obtained by dividing the space around the shovel according to the object detected based on the output from the space recognition device.

15. The excavator according to claim 1, wherein: The shovel is configured to be capable of setting a plurality of attributes for the space around the shovel based on the output from the space recognition device.

Images