Shovel and shovel control device

Abstract

The invention relates to a shovel and a control device of the shovel. An operator can accurately determine whether the shovel faces a target construction surface or not. A shovel is provided with: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; and a control device that notifies, on the basis of information relating to a target construction surface and information relating to the orientation of the upper rotating body, whether or not the upper rotating body is facing the target construction surface.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2023-206068 filed on December 6, 2023. The entire contents of the Japanese Patent Application are incorporated herein by reference.

[0002] The present invention relates to an excavator and a control device for the excavator. Background Art

[0003] Conventionally, in shovels, so-called semi-automatic control is known that performs work not only by relying on operations performed by an operator but also by using information related to a construction area and the like (for example, refer to Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2023-118169

[0005] In order to perform semi-automatic control with high precision, it is necessary to make the excavator face the target construction surface. However, it is difficult for the operator to accurately judge whether the excavator faces the target construction surface only through semi-automatic control. Summary of the invention

[0006] Therefore, it is desirable to provide an excavator and an excavator control device that allow an operator to accurately determine whether the excavator is facing a target construction surface.

[0007] The excavator of the present invention comprises:

[0008] Lower walking body;

[0009] an upper rotating body rotatably mounted on the lower walking body; and

[0010] The control device notifies whether the upper rotating body is facing the target construction surface based on the information related to the target construction surface and the information related to the orientation of the upper rotating body.

[0011] Furthermore, the control device for the shovel of the present invention is a device comprising a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body, wherein:

[0012] The control device of the shovel notifies whether the upper rotating body is facing the target construction surface based on the information related to the target construction surface and the information related to the orientation of the upper rotating body.

[0013] Effects of the Invention

[0014] According to the present invention, the operator can accurately judge whether the excavator is facing the target construction surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1It is a side view of a shovel as the excavator according to the embodiment of the present invention.

[0016] Figure 2 This is a block diagram showing a configuration example of a drive system of a shovel.

[0017] Figure 3 It means that it is installed on Figure 1 A schematic diagram of a structural example of a hydraulic system of an excavator.

[0018] Figure 4A This is a diagram showing a portion of a hydraulic system extracted.

[0019] Figure 4B This is a diagram showing a portion of a hydraulic system extracted.

[0020] Figure 4C This is a diagram showing a portion of a hydraulic system extracted.

[0021] Figure 5 It is a block diagram showing another configuration example of the drive system of the shovel 100 .

[0022] Fig. 6A This is a top view of the excavator when performing facing control.

[0023] Figure 6B This is a top view of the excavator when performing facing control.

[0024] Fig. 7A It is a perspective view of the excavator when performing facing control.

[0025] Figure 7B It is a perspective view of the excavator when performing facing control.

[0026] Fig. 8A This is a top view of the excavator when performing facing control.

[0027] Figure 8B This is a top view of the excavator when performing facing control.

[0028] Fig.9A This is a flowchart for explaining the actions of the operator when confirming whether the upper rotating body is facing the target construction surface.

[0029] Fig. 9B This is a flowchart for explaining notification related to the facing control performed by the controller.

[0030] Fig.10 A configuration example of an operating system including an electric operating device is shown.

[0031] Fig.11 It is a schematic diagram showing an example of the construction system SYS.

[0032] Explanation of symbols

[0033] 1-Lower walking body, 1L-Left walking hydraulic motor, 1R-Right walking hydraulic motor, 2-Slewing mechanism, 2A-Slewing hydraulic motor, 3-Upper slewing body, 4-Boom, 5-Arm, 6-Bucket, 7-Boom cylinder, 8-Arm cylinder, 9-Bucket cylinder, 10-Cab, 11-Engine, 13, 13L, 13R-Regulator, 14, 14L, 14R-Main pump, 15-Pilot pump, 17-Regulating valve, 18L, 18R-Throttle, 19L , 19R-control pressure sensor, 26, 26E-operating device, 26A-boom operating lever, 26B-bucket operating lever, 26C-slewing operating lever, 28, 28L, 28R-discharge pressure sensor, 29, 29A, 29B, 29C, 129A-operating pressure sensor, 30-controller, 30R-remote controller, 31, 31AL, 31AR, 31BL, 31BR, 31CL, 31CR-proportional valve, 32, 32AL, 3 2AR, 32BL, 32BR, 32CL, 32CR-reciprocating valve, 40, RD-display device, 42-input device, 43, A2-sound output device, 47-storage device, 50-equipment guidance device, 51-position calculation unit, 52-distance calculation unit, 53-information transmission unit, 54-automatic control unit, 60, 62-solenoid valve, 75-control panel, 171~174, 175L, 175R, 176L, 176R-control valve, 20 0-support device, 260-joystick, 300-management device, C2-indoor camera device, RC-remote operation room, S1-boom angle sensor, S2-arm angle sensor, S3-bucket angle sensor, S4-body tilt sensor, S5-rotation angular velocity sensor, S6-camera, S6B-rear camera, S6F-front camera, S6L-left camera, S6R-right camera, P1-positioning device, T1, T2-communication device. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0035] Figure 1 It is a side view of the shovel 100 which is the excavator concerning embodiment of this invention.

[0036] An upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the excavator 100 via a revolving mechanism 2. A boom 4 is mounted on the upper revolving body 3. An arm 5 is mounted at the front end of the boom 4, and a bucket 6 as an attachment is mounted at the front end of the arm 5.

[0037] The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by 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.

[0038] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor that can detect the rotation angle of the boom 4 relative to the upper swing body 3 (hereinafter referred to as the "boom angle"). The boom angle is, for example, the minimum angle when the boom 4 is lowered to the maximum, and increases as the boom 4 is raised.

[0039] The arm angle sensor S2 is configured to detect 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 (hereinafter referred to as the "arm angle"). The arm angle is, for example, the smallest angle when the arm 5 is closed to the maximum, and increases as the arm 5 is opened.

[0040] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that can detect the rotation angle of the bucket 6 relative to the boom 5 (hereinafter referred to as the "bucket angle"). The bucket angle is, for example, the smallest angle when the bucket 6 is closed to the maximum, and increases as the bucket 6 is opened.

[0041] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer utilizing a variable resistor, a stroke sensor for detecting the stroke of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around a connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor.

[0042] 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, the upper rotating body 3 is equipped with a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, a body tilt sensor S4, a rotation angular velocity sensor S5, a camera S6, a communication device T1, a positioning device P1, and the like.

[0043] The controller 30 is configured to function as a main control unit that performs drive control on the excavator 100. In the present embodiment, the controller 30 is configured by a computer including a CPU, a RAM, a ROM, and the like. The various functions of the controller 30 are realized, for example, by the CPU executing a program stored in the ROM. The various functions include, for example, an equipment guidance function that guides the operator in manual operations on the excavator 100 and an equipment control function that automatically supports the operator in manual operations on the excavator 100. The equipment guidance device 50 included in the controller 30 is configured to perform the equipment guidance function and the equipment control function. In addition, the controller 30 has a function of notifying whether the upper rotating body 3 is facing the target construction surface.

[0044] The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

[0045] The input device 42 is configured so that the operator can input various information to the controller 30. The input device 42 includes a touch panel, a knob switch, a membrane switch, and the like provided in the cab 10.

[0046] The sound output device 43 is configured to output information by sound. The sound output device 43 may be, for example, a vehicle-mounted speaker connected to the controller 30, or an alarm such as a buzzer. In the present embodiment, the sound output device 43 is configured to output various information by sound according to a sound output instruction from the controller 30. In addition, the sound output device 43 can notify that the facing control described later is being executed, or notify that the facing control has been completed. In addition, the sound output device 43 can also notify whether the upper rotating body 3 is facing the target construction surface.

[0047] The storage device 47 is configured to store various information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 can store information output by various devices during the operation of the shovel 100, and can also store information obtained by various devices before the shovel 100 starts to operate. The storage device 47 can, for example, store information related to the target construction surface obtained via the communication device T1, etc. The target construction surface can be set by the operator of the shovel 100, or by a construction manager, etc.

[0048] The body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 relative to the imaginary horizontal plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the tilt angle around the front-rear axis and the tilt angle around the left-right axis of the upper rotating body 3. The front-rear axis and the left-right axis of the upper rotating body 3 are orthogonal to each other at, for example, a point on the rotating axis of the excavator 100, that is, the center point of the excavator.

[0049] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. The rotation angular velocity sensor S5 may be configured to detect or calculate the rotation angle 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, a rotary encoder, or the like.

[0050] The camera S6 is an example of a space recognition device, and is configured to acquire an image of the periphery of the shovel 100. In the present embodiment, the camera S6 includes a front camera S6F that captures the space in front of the shovel 100, a left camera S6L that captures the space to the left of the shovel 100, a right camera S6R that captures the space to the right of the shovel 100, and a rear camera S6B that captures the space behind the shovel 100.

[0051] The camera S6 is, for example, a monocular camera having an imaging element such as a CCD or a CMOS, and outputs the captured image to the display device 40. The camera S6 may be a stereo camera, a distance image camera, etc. Furthermore, the camera S6 may be replaced by other space recognition devices such as an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced by a combination of other space recognition devices and a camera.

[0052] The front camera S6F is installed, for example, on the ceiling of the cab 10, that is, inside the cab 10. However, the front camera S6F may be installed on the roof of the cab 10, that is, outside the cab 10. The left camera S6L is installed on the left end of the upper surface of the upper revolving body 3, the right camera S6R is installed on the right end of the upper surface of the upper revolving body 3, and the rear camera S6B is installed on the rear end of the upper surface of the upper revolving body 3.

[0053] The communication device T1 controls the communication with the external device located outside the excavator 100. In the present embodiment, the communication device T1 controls the communication with the external device via a satellite communication network, a mobile phone communication network, or the Internet. The external device may be, for example, a management device such as a server installed in an external facility, or a support device such as a smart phone carried by workers around the excavator 100. The external device may be configured to manage construction information related to one or more excavators 100. The construction information may include, for example, information related to at least one of the operating time, fuel consumption rate, and workload of the excavator 100. The workload may include, for example, the amount of sand and soil excavated and the amount of sand and soil loaded in the compartment of the dump truck. The excavator 100 may be configured to send the construction information related to the excavator 100 to the external device via the communication device T1 at a prescribed time interval.

[0054] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 is configured to be able to measure the orientation of the upper rotating body 3. In the present embodiment, the positioning device P1 is, for example, a GNSS compass, which detects the position and orientation of the upper rotating body 3 and outputs the detection value to the controller 30. Therefore, the positioning device P1 can function as an orientation detection device for detecting the orientation of the upper rotating body 3. The orientation detection device can be an azimuth sensor installed on the upper rotating body 3.

[0055] Figure 2 1 is a block diagram showing a configuration example of a drive system of the shovel 100 , and a mechanical power system, a hydraulic oil line, a pilot line, and an electric control system are represented by double lines, solid lines, broken lines, and dotted lines, respectively.

[0056] The driving system of the shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a regulating valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, and a proportional valve 31.

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

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

[0059] The regulator 13 is configured to control the discharge amount of the main pump 14. In the present embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate deflection angle of the main pump 14 according to a control command from the controller 30. For example, the controller 30 receives the output of the operating pressure sensor 29 and the like, and outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14.

[0060] The pilot pump 15 supplies the working oil to various hydraulic control devices including the operating device 26 and the proportional valve 31 via the pilot line. In the present embodiment, the pilot pump 15 is a fixed capacity hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function undertaken by the pilot pump 15 may also be achieved by the main pump 14. That is, in addition to the function of supplying the working oil to the regulating valve 17, the main pump 14 may also have the function of setting a circuit and supplying the working oil to the operating device 26 after reducing the supply pressure of the working oil through a throttle or the like.

[0061] The regulating valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the present embodiment, the regulating valve 17 includes control valves 171 to 176. The regulating valve 17 can selectively supply the working oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 are configured to control the flow rate of the working oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the working oil flowing from the hydraulic actuator to the working oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 1L, a right travel hydraulic motor 1R, and a rotation hydraulic motor 2A. The rotation hydraulic motor 2A can also be a rotation electric generator as an electric actuator.

[0062] The operating device 26 is a device including a joystick 260 for an operator to operate an actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the regulating valve 17 via the pilot line. The pressure of the working oil (pilot pressure) supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. At least one of the operating devices 26 is configured to be able to supply the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the regulating valve 17 via the pilot line and the reciprocating valve 32.

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

[0064] The operation pressure sensor 29 is configured to detect the operation content of the operator using the operating device 26. In the present embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each actuator in the form of pressure, and outputs the detected value to the controller 30. The operation content of the operating device 26 may be detected using a sensor other than the operation pressure sensor.

[0065] The proportional valve 31, which functions as a control valve for controlling the equipment, is arranged in the pipeline connecting the pilot pump 15 and the shuttle valve 32, and can change the flow path area of ​​the pipeline. In the present embodiment, the proportional valve 31 is operated according to the control command output by the controller 30. Therefore, regardless of the operation of the operating device 26 by the operator, the controller 30 can supply the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the regulating valve 17 through the proportional valve 31 and the shuttle valve 32.

[0066] The shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the regulating valve 17. Therefore, the shuttle valve 32 can allow the higher pilot pressure of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

[0067] With this configuration, even when a specific operating device 26 is not operated, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 .

[0068] Next, the device guiding apparatus 50 included in the controller 30 will be described.

[0069] The equipment guidance device 50 is configured to perform an equipment guidance function, for example. In the present embodiment, for example, the equipment guidance device 50 notifies the operator whether the upper rotating body 3 is facing the target construction surface. The information related to the target construction surface is, for example, pre-stored in the storage device 47. The equipment guidance device 50 can obtain information related to the target construction surface from an external device via the communication device T1. The information related to the target construction surface is, for example, expressed in a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system with the center of 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. Regarding the target construction surface, it can be set according to the relative positional relationship with the reference point. At this time, the operator can determine any point on the construction site as the reference point. The reference on the side of the excavator 100 for judging whether the upper rotating body 3 is facing the target construction surface is, for example, the tip of the shovel of the excavator 6 or the back of the bucket 6. The equipment guidance device 50 may be configured to guide the operation of the shovel 100 by notifying the operator via the display device 40 or the sound output device 43 whether the upper swing body 3 is facing the target construction surface.

[0070] The equipment guidance device 50 can perform an equipment control function that automatically supports the operator's manual operation of the excavator 100. For example, when the operator manually performs the excavation operation, the equipment guidance device 50 can automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface is consistent with the front end position of the bucket 6.

[0071] In this embodiment, the device guidance device 50 is assembled in the controller 30, but it may be a control device provided separately from the controller 30. In this case, the device guidance device 50 is constituted by a computer including a CPU and an internal memory, for example, similarly to the controller 30. In addition, various functions of the device guidance device 50 are realized by the CPU executing a program stored in the internal memory. In addition, the device guidance device 50 and the controller 30 are connected via a communication network such as CAN so as to be able to communicate with each other.

[0072] Specifically, the equipment guidance device 50 obtains information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the rotation angular velocity sensor S5, the camera S6, the positioning device P1, the communication device T1, and the input device 42. In addition, the equipment guidance device 50 calculates the distance between the bucket 6 and the target construction surface based on the acquired information, determines whether the upper rotating body 3 faces the target construction surface based on the calculated distance, and notifies whether the upper rotating body 3 faces the target construction surface through at least one of sound and display.

[0073] Therefore, the equipment guidance device 50 includes a position calculation unit 51 , a distance calculation unit 52 , an information transmission unit 53 , and an automatic control unit 54 .

[0074] The position calculation unit 51 is configured to calculate the position of the positioning object. In the present embodiment, the position calculation unit 51 calculates the coordinate point of the working part of the attachment in the reference coordinate system. Specifically, the position calculation unit 51 calculates the coordinate point of the shovel tip of the bucket 6 based on the rotation angles of the boom 4, the dipper arm 5 and the bucket 6. In order to determine whether the upper rotating body 3 is facing the target construction surface, the position calculation unit 51 can calculate not only the coordinate point of the center of the shovel tip of the bucket 6, but also the coordinate point of the left end of the shovel tip of the bucket 6 and the coordinate point of the right end of the shovel tip of the bucket 6.

[0075] The distance calculation unit 52 is configured to calculate the distance between the two positioning objects. In the present embodiment, the distance calculation unit 52 calculates the vertical distance between the blade tip of the bucket 6 and the target construction surface. The distance calculation unit 52 may also calculate the distance (e.g., vertical distance) between the coordinate points of the left and right ends of the blade tip of the bucket 6 and the target construction surface corresponding thereto, so that the equipment guidance device 50 can determine whether the excavator 100 is facing the target construction surface.

[0076] The information transmission unit 53 is configured to transmit various information to the operator of the shovel 100. In the present embodiment, the information transmission unit 53 notifies the operator of the shovel 100 whether the upper swing body 3 is facing the target construction surface using at least one of visual information and auditory information based on the distance calculated by the distance calculation unit 52. In addition, the size of the vertical distance between the blade tip of the bucket 6 and the target construction surface can be transmitted to the operator of the shovel 100.

[0077] For example, the information transmission unit 53 may use a sound based on the sound output device 43 to notify the operator whether the upper rotating body 3 is facing the target construction surface. In this case, the information transmission unit 53 may use different sounds when the upper rotating body 3 is facing the target construction surface and when it is not facing the target construction surface. In this way, the operator can distinguish and recognize when the upper rotating body 3 is facing the target construction surface and when it is not facing the target construction surface.

[0078] Furthermore, the information transmitting unit 53 can cause the display device 40 to display whether the upper rotating body 3 is facing the target construction surface. The display device 40 displays the information received from the information transmitting unit 53 together with the image data received from the camera S6 on the screen. The information transmitting unit 53 can notify the operator whether the upper rotating body 3 is facing the target construction surface using information based on characters or icons, for example.

[0079] The automatic control unit 54 supports the operator's manual operation of the excavator 100 by automatically operating the actuator. For example, when the operator manually performs the boom closing operation, the automatic control unit 54 can automatically extend and retract at least one of the boom cylinder 7, the boom cylinder 8, and the bucket cylinder 9 so that the target construction surface is aligned with the position of the blade tip of the bucket 6. At this time, the operator can close the boom 5 while aligning the blade tip of the bucket 6 with the target construction surface, for example, only by operating the boom operating lever in the closing direction. The automatic control can be configured to be executed when a predetermined switch that is one of the input devices 42 is pressed or the like. The predetermined switch is, for example, a device control switch (hereinafter referred to as an "MC switch"), and can be configured as a knob switch at the front end of the operating device 26.

[0080] When a specified switch such as the MC switch is pressed, the automatic control unit 54 can automatically rotate the swing hydraulic motor 2A so that the upper swing body 3 faces the target construction surface. At this time, the operator can make the upper swing body 3 face the target construction surface only by pressing the specified switch or by operating the swing operating lever while the specified switch is pressed. Alternatively, the operator can make the upper swing body 3 face the target construction surface and start the equipment control function only by pressing the specified switch. Hereinafter, the control of making the upper swing body 3 face the target construction surface is referred to as "facing control". In facing control, when the vertical distance between the coordinate point of the left end of the shovel tip of the bucket 6 and the target construction surface, i.e., the left end vertical distance, and the vertical distance between the coordinate point of the right end of the shovel tip of the bucket 6 and the target construction surface, i.e., the right end vertical distance, become equal, the equipment guidance device 50 determines that the excavator 100 faces the target construction surface. However, when the left end vertical distance and the right end vertical distance are not equal, that is, when the difference between the left end vertical distance and the right end vertical distance is not zero but the difference is less than a specified value, it can be determined that the excavator 100 is facing the target construction surface. The equipment guidance device 50 may be, when it is determined that the excavator 100 is facing the target construction surface after the swing hydraulic motor 2A is automatically rotated, to notify the operator of the completion of the facing control using at least one of visual information and auditory information. That is, the equipment guidance device 50 may notify the operator of the situation that the upper swing body 3 is facing the target construction surface. And, when the facing control is being executed, the equipment guidance device 50 may notify the operator of the content of the facing control being executed.

[0081] In addition, the switch (the third switch) used to be pressed when performing the above-mentioned automatic control and the switch (the second switch) used to be pressed when performing the facing control may not be the same switch, and as long as they can be operated, these switches are not limited to the type of pressing. However, if the switch used to be pressed when performing the automatic control and the switch used to be pressed when performing the facing control are set to the same switch, it is possible to perform the facing control by operating the rotary operating lever while pressing the switch to make the upper rotating body 3 face the target construction surface, and then perform the automatic control by operating other joysticks while continuing to press the switch. Thus, the facing control and automatic control can be performed through a series of operations. Moreover, the first switch set as one of the input devices 42 in order to confirm whether the upper rotating body 3 faces the target construction surface can be set to the same switch as the third switch pressed when performing the above-mentioned automatic control and the second switch pressed when performing the facing control. Thus, the operation of confirming whether the upper rotating body 3 faces the target construction surface can also be performed through a series of operations.

[0082] In the present embodiment, the automatic control unit 54 individually and automatically adjusts the pilot pressure acting on the control valve corresponding to each actuator, so that each actuator can be automatically actuated. For example, in the facing control, the automatic control unit 54 can actuate the rotary hydraulic motor 2A according to the difference between the vertical distance at the left end and the vertical distance at the right end. Specifically, if the rotary operating lever is operated in a state where a specified switch is pressed, the automatic control unit 54 determines whether the rotary operating lever is operated in a direction that causes the upper rotary body 3 to face the target construction surface. For example, in the case where the rotary operating lever is operated in a direction in which the vertical distance between the shovel tip of the bucket 6 and the target construction surface (upward slope) increases, the automatic control unit 54 does not perform the facing control. On the other hand, in the case where the rotary operating lever is operated in a direction in which the vertical distance between the shovel tip of the bucket 6 and the target construction surface (upward slope) decreases, the automatic control unit 54 performs the facing control. As a result, the automatic control unit 54 can operate the hydraulic motor 2A for rotation so that the difference between the vertical distance at the left end and the vertical distance at the right end becomes smaller. Then, if the difference becomes less than a specified value or zero, the automatic control unit 54 stops the hydraulic motor 2A for rotation. Alternatively, the automatic control unit 54 can set the rotation angle at which the difference becomes less than a specified value or zero as a target angle, and perform rotation angle control so that the angle difference between the target angle and the current rotation angle (detection value) becomes zero. At this time, the rotation angle is, for example, the angle of the front and rear axes of the upper rotating body 3 relative to the reference direction.

[0083] Furthermore, when performing operations related to the target construction surface, such as excavation operations or slope trimming operations, the automatic control unit 54 can automatically operate the actuator to maintain the state in which the upper rotating body 3 faces the target construction surface. For example, when the orientation of the upper rotating body 3 changes due to the excavation reaction force and the upper rotating body 3 does not face the target construction surface, the automatic control unit 54 can automatically operate the rotation hydraulic motor 2A to quickly make the upper rotating body 3 face the target construction surface. Alternatively, when performing operations related to the target construction surface, the automatic control unit 54 can preventively operate the actuator so that the orientation of the upper rotating body 3 does not change due to the excavation reaction force and the like.

[0084] Furthermore, the automatic control unit 54 controls the upper rotating body 3 to not rotate the hydraulic motor 2A or the electric actuator 2A when the predetermined switch is pressed and the upper rotating body 3 rotates and faces the target construction surface, and the upper rotating body 3 is kept facing the target construction surface by maintaining the state in which the upper rotating body 3 faces the target construction surface. Furthermore, when the rotation operating lever is made neutral and the rotation operating lever is operated again, the upper rotating body 3 can be rotated.

[0085] Next, refer to Figure 3A configuration example of a hydraulic system mounted on the shovel 100 will be described.

[0086] Figure 3 It means that it is installed on Figure 1 Schematic diagram of a configuration example of a hydraulic system of a shovel 100. Figure 3 and Figure 2 Similarly, the mechanical power system, the working oil pipeline, the pilot pipeline and the electrical control system are represented by double lines, solid lines, dashed lines and dotted lines respectively.

[0087] The hydraulic system circulates hydraulic oil from the main pumps 14L, 14R driven by the engine 11 to the hydraulic oil tank via at least one of the intermediate bypass lines 40L, 40R and the parallel lines 42L, 42R. The main pumps 14L, 14R correspond to Figure 2 The main pump 14.

[0088] The intermediate bypass line 40L is a hydraulic oil line passing through the control valves 171, 173, 175L, and 176L arranged in the regulating valve 17. The intermediate bypass line 40R is a hydraulic oil line passing through the control valves 172, 174, 175R, and 176R arranged in the regulating valve 17. The control valves 175L and 175R correspond to Figure 2 Control valve 175. Control valves 176L and 176R correspond to Figure 2 of control valve 176.

[0089] The control valve 171 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the 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.

[0090] The control valve 172 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the main pump 14R to the right travel hydraulic motor 1R and discharge hydraulic oil discharged from the right travel hydraulic motor 1R to a hydraulic oil tank.

[0091] The control valve 173 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the main pump 14L to the turning hydraulic motor 2A and discharge hydraulic oil discharged from the turning hydraulic motor 2A to a hydraulic oil tank.

[0092] 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 main pump 14R to the bucket cylinder 9 and discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0093] The control valves 175L and 175R are spool valves for switching the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0094] The control valves 176L and 176R are spool valves for switching the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the main pumps 14L and 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0095] The parallel line 42L is a working oil line parallel to the intermediate bypass line 40L. The parallel line 42L is configured to supply working oil to a control valve further downstream when the flow of working oil through the intermediate bypass line 40L is restricted or cut off by any one of the control valves 171, 173, and 175L. The parallel line 42R is a working oil line parallel to the intermediate bypass line 40R. The parallel line 42R is configured to supply working oil to a control valve further downstream when the flow of working oil through the intermediate bypass line 40R is restricted or cut off by any one of the control valves 172, 174, and 175R.

[0096] The regulators 13L and 13R control the discharge amounts of the main pumps 14L and 14R by adjusting the tilt angles of the swash plates of the main pumps 14L and 14R according to the discharge pressures of the main pumps 14L and 14R. Figure 2 The regulator 13L adjusts the tilting angle of the swash plate of the main pump 14L to reduce the discharge volume, for example, according to the increase in the discharge pressure of the main pump 14L. The same is true for the regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge volume from exceeding the output power (output horsepower) of the engine 11.

[0097] The discharge pressure sensor 28L is an example of the discharge pressure sensor 28, detects the discharge pressure of the main pump 14L, and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0098] Here, Figure 3 The negative control used in the hydraulic system is explained.

[0099] In the intermediate bypass line 40L, a 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 main pump 14L is restricted by the throttle 18L. In addition, the throttle 18L generates a control pressure for controlling the regulator 13L. The control pressure sensor 19L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30. Similarly, in the intermediate bypass line 40R, a 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 main pump 14R is restricted by the throttle 18R. In addition, the throttle 18R generates a control pressure for controlling the regulator 13R. The control pressure sensor 19R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.

[0100] The controller 30 controls the discharge volume of the main pump 14L by adjusting the tilt angle of the swash plate of the main pump 14L according to the control pressure detected by the control pressure sensor 19L. The controller 30 is configured such that the discharge volume of the main pump 14L is reduced as the control pressure is increased, and the discharge volume of the main pump 14L is increased as the control pressure is decreased.

[0101] Specifically, if Figure 3 As shown in FIG. 1 , in the standby state where none of the hydraulic actuators in the shovel 100 is operated, the hydraulic oil discharged from the main pump 14L reaches the throttle 18L through the intermediate bypass line 40L. Furthermore, the flow of the hydraulic oil discharged from the main pump 14L increases the control pressure generated upstream of the throttle 18L. As a result, the controller 30 reduces the discharge amount of the main pump 14L to the minimum allowable discharge amount, thereby suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the intermediate bypass line 40L.

[0102] On the other hand, when one of the hydraulic actuators is operated, the working oil discharged by the main pump 14L flows into the hydraulic actuator of the operated object via the control valve corresponding to the hydraulic actuator of the operated object. In addition, the flow of the working oil discharged by the main pump 14L reduces or eliminates the amount reaching the throttle 18L, thereby reducing the control pressure generated upstream of the throttle 18L. As a result, the controller 30 increases the discharge amount of the main pump 14L so that sufficient working oil circulates to the hydraulic actuator of the operated object, thereby ensuring the driving of the hydraulic actuator of the operated object. In addition, the description related to the above-mentioned main pump 14L is also applied to the main pump 14R.

[0103] According to the above structure, Figure 3 The hydraulic system can suppress unnecessary energy consumption in the main pumps 14L and 14R in the standby state. The unnecessary energy consumption includes the pumping loss of the hydraulic oil discharged by the main pumps 14L and 14R in the intermediate bypass pipes 40L and 40R. In addition, when the hydraulic actuator is operated, Figure 3 The hydraulic system can supply a required and sufficient amount of hydraulic oil from the main pumps 14L, 14R to the hydraulic actuator of the working object.

[0104] Next, refer to Figure 4A to Figure 4C , the structure for automatically operating the actuator is explained.

[0105] Figure 4A to Figure 4C This is a diagram that extracts part of the hydraulic system. Specifically, Figure 4A is a diagram showing a portion of the hydraulic system related to the operation of the boom cylinder 7. Figure 4B This is a diagram showing a portion of the hydraulic system related to the operation of the bucket cylinder 9. Figure 4C This is a diagram in which a hydraulic system portion related to the operation of the turning hydraulic motor 2A is extracted.

[0106] Figure 4A The boom operating lever 26A in FIG. 2 is an example of a joystick 260 included in the operating device 26, and is used to operate the boom 4. The boom operating lever 26A uses the hydraulic oil discharged by the pilot pump 15 to make the pilot pressure corresponding to the operation content act on the pilot ports of the control valves 175L and 175R. Specifically, when the boom operating lever 26A is operated in the boom raising direction, the pilot pressure corresponding to the operation amount is made to act on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. And, when the boom operating lever 26A is operated in the boom lowering direction, the pilot pressure corresponding to the operation amount is made to act on the right pilot port of the control valve 176R.

[0107] The operating pressure sensor 29A is an example of the operating pressure sensor 29, and detects the operator's operation content on the boom operating lever 26A in the form of pressure, and outputs the detected value to the controller 30. The operation content is, for example, the operation direction and the operation amount (operation angle).

[0108] The proportional valves 31AL and 31AR are examples of the proportional valve 31, and the reciprocating valves 32AL and 32AR are examples of the reciprocating valve 32. The proportional valve 31AL operates according to the current command output by the controller 30. In addition, the proportional valve 31AL adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the reciprocating valve 32AL. The proportional valve 31AR operates according to the current command output by the controller 30. In addition, the proportional valve 31AR adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the reciprocating valve 32AR. The proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 175L and 175R can stop at any valve position.

[0109] Through this structure, the controller 30 can, for example, supply the working 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 and the reciprocating valve 32AL 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 working oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the reciprocating valve 32AR regardless of the boom lowering operation performed by the operator. That is, the controller 30 can automatically lower the boom 4.

[0110] Figure 4B The bucket operating lever 26B in FIG. 2 is an example of a joystick 260 included in the operating device 26, and is used to operate the bucket 6. The bucket operating lever 26B uses the hydraulic oil discharged from the pilot pump 15 to make the pilot pressure corresponding to the operation content act on the pilot port of the control valve 174. Specifically, when the bucket operating lever 26B is operated in the bucket opening direction, the pilot pressure corresponding to the operation amount is made to act on the right pilot port of the control valve 174. And, when the bucket operating lever 26B is operated in the bucket closing direction, the pilot pressure corresponding to the operation amount is made to act on the left pilot port of the control valve 174.

[0111] The operating pressure sensor 29B is an example of the operating pressure sensor 29 , detects the operation content of the bucket operating lever 26B by the operator in the form of pressure, and outputs the detected value to the controller 30 .

[0112] The proportional valves 31BL and 31BR are examples of the proportional valve 31, and the reciprocating valves 32BL and 32BR are examples of the reciprocating valve 32. The proportional valve 31BL operates according to the current command output by the controller 30. In addition, the proportional valve 31BL adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31BL and the reciprocating valve 32BL. The proportional valve 31BR operates according to the current command output by the controller 30. In addition, the proportional valve 31BR adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31BR and the reciprocating valve 32BR. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valve 174 can stop at any valve position.

[0113] With this structure, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31BL and the shuttle valve 32BL regardless of the bucket closing operation performed by the operator. That is, the controller 30 can automatically close the bucket 6. And, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31BR and the shuttle valve 32BR regardless of the bucket opening operation performed by the operator. That is, the controller 30 can automatically open the bucket 6.

[0114] Figure 4C The swing operation lever 26C in FIG. 2 is an example of a joystick 260 included in the operating device 26, and is used to swing the upper swing body 3. The swing operation lever 26C uses the hydraulic oil discharged from the pilot pump 15 to make the pilot pressure corresponding to the operation content act on the pilot port of the control valve 173. Specifically, when the swing operation lever 26C is operated in the left swing direction, the pilot pressure corresponding to the operation amount is made to act on the left pilot port of the control valve 173. And, when the swing operation lever 26C is operated in the right swing direction, the pilot pressure corresponding to the operation amount is made to act on the right pilot port of the control valve 173.

[0115] The operation pressure sensor 29C is an example of the operation pressure sensor 29 , detects the operation content of the operator on the swing operation lever 26C in the form of pressure, and outputs the detected value to the controller 30 .

[0116] The proportional valves 31CL and 31CR are examples of the proportional valve 31, and the reciprocating valves 32CL and 32CR are examples of the reciprocating valve 32. The proportional valve 31CL operates according to the current command output by the controller 30. In addition, the proportional valve 31CL adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31CL and the reciprocating valve 32CL. The proportional valve 31CR operates according to the current command output by the controller 30. In addition, the proportional valve 31CR adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31CR and the reciprocating valve 32CR. The proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valve 173 can stop at any valve position.

[0117] With this structure, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31CL and the shuttle valve 32CL regardless of the left turning operation performed by the operator. That is, the controller 30 can automatically turn the upper turning body 3 to the left. And, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31CR and the shuttle valve 32CR regardless of the right turning operation performed by the operator. That is, the controller 30 can automatically turn the upper turning body 3 to the right.

[0118] The excavator 100 may include a structure that automatically opens and closes the boom 5 and a structure that automatically moves the lower traveling body 1 forward and backward. In this case, the hydraulic system portion related to the operation of the boom cylinder 8, 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 to be the same as the hydraulic system portion related to the operation of the boom cylinder 7.

[0119] In this way, the controller 30 can operate the attachment regardless of the operation of the operating device 26. At this time, the controller 30 can operate the attachment according to the operation of the operating device 26, the information obtained about the position and orientation of the excavator 100, and the pre-registered information when the operating device 26 is operated in the state where the MC switch is pressed. For example, as described above, when the operator manually performs the boom closing operation, the controller 30 can automatically extend and retract at least one of the boom cylinder 7, the boom cylinder 8, and the bucket cylinder 9 so that the target construction surface is consistent with the position of the blade tip of the bucket 6. Thereby, the burden related to the operator's operation can be reduced. In addition, for example, the position and orientation of the excavator 100 measured by the positioning device P1 and output to the controller 30 can be used. In addition, the information related to the target construction surface stored in the storage device 47 can be used as pre-registered information.

[0120] Next, refer to Figure 5 , another structural example of the device guiding device 50 is described.

[0121] Figure 5 is a block diagram showing another configuration example of the drive system of the shovel 100, corresponding to Figure 2 . Figure 5 The drive system and Figure 2 The driving system of the device guide device 50 is different in that it includes a rotation angle calculation unit 55 and a relative angle calculation unit 56, but is the same in other points. Therefore, the description of the same parts is omitted, and the different parts are described in detail.

[0122] The rotation angle calculation unit 55 calculates the rotation angle of the upper rotating body 3. This is to determine the current orientation of the upper rotating body 3. In the present embodiment, the rotation angle calculation unit 55 calculates the angle of the front and rear axes of the upper rotating body 3 relative to the reference direction as the rotation angle based on the output of the GNSS compass as the positioning device P1. The rotation angle calculation unit 55 can calculate the rotation angle based on the output of the rotation angular velocity sensor S5. In addition, when a reference point is set at the construction site, the rotation angle calculation unit 55 can set the direction of the reference point observed from the rotation axis as the reference direction.

[0123] The rotation angle indicates the direction in which the attachment operation plane extends. The attachment operation plane is, for example, an imaginary plane that longitudinally cuts the attachment and is arranged perpendicular to the rotation plane. The rotation plane is, for example, an imaginary plane that includes the bottom surface of the rotating frame perpendicular to the rotation axis. The equipment guide device 50 is, for example, determined to be the attachment operation plane AF (reference Fig. 7A . ) When the normal line of the target construction surface is included, it is judged that the upper rotating body 3 is facing the target construction surface.

[0124] The relative angle calculation unit 56 calculates the relative angle as the rotation angle required to make the upper rotating body 3 face the target construction surface. The relative angle is, for example, the relative angle formed between the direction of the front and rear axes of the upper rotating body 3 when the upper rotating body 3 faces the target construction surface and the current direction of the front and rear axes of the upper rotating body 3. In the present embodiment, the relative angle calculation unit 56 calculates the relative angle based on the information related to the target construction surface stored in the storage device 47 and the rotation angle calculated by the rotation angle calculation unit 55.

[0125] If the swing operating lever is operated while the predetermined switch is pressed, the automatic control unit 54 determines whether the swing operating lever is operated in a direction that causes the upper swing body 3 to face the target construction surface. If it is determined that the swing operating lever is operated in a direction that causes the upper swing body 3 to face the target construction surface, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. If the swing angle change after the swing operating lever is operated reaches the target angle, it is determined that the upper swing body 3 faces the target construction surface, and the operation of the swing hydraulic motor 2A is stopped.

[0126] in this way, Figure 5 The device guide device 50 and Figure 2 Similarly, the equipment guiding device 50 can make the upper rotating body 3 face the target construction surface.

[0127] Next, refer to Fig. 6A , Figure 6B , Fig. 7A and Figure 7B, an example of facing control in which the controller 30 makes the upper rotating body 3 face the target construction surface is described.

[0128] Fig. 6A and Figure 6B is a top view of the shovel 100 when performing facing control. Fig. 7A and Figure 7B This is a perspective view of the shovel 100 when the shovel 100 is performing facing control as viewed from the left rear. Fig. 6A and Fig. 7A Indicates the state where the upper rotating body 3 is not facing the target construction surface. Figure 6B and Figure 7B Indicates the state where the upper rotating body 3 faces the target construction surface. Fig. 6A , Figure 6B , Fig. 7A and Figure 7B For example, the target construction surface in Figure 1 Furthermore, the area NS represents the state where the upward slope BS is not completed, that is, Figure 1 As shown in the figure, the ground surface ES and the upward slope BS are not aligned, and the area CS shows a state where the upward slope BS is completed, that is, a state where the ground surface ES and the upward slope BS are aligned.

[0129] like Figure 6B As shown, the state in which the upper rotating body 3 faces the target construction surface includes, for example, a state in which the angle α formed between the line segment L1 representing the direction (extension direction) of the target construction surface on the imaginary horizontal plane and the line segment L2 representing the front and rear axes of the upper rotating body 3 is 90 degrees. The extension direction of the slope represented by the line segment L1 as the direction of the target construction surface is, for example, a direction perpendicular to the length direction of the slope. The length direction of the slope is, for example, a direction along an imaginary line segment connecting the upper end (top of the slope) and the lower end (toe of the slope) of the slope with the shortest distance. The state in which the upper rotating body 3 faces the target construction surface can be defined as the angle β (reference) formed between the line segment L2 representing the front and rear axes of the upper rotating body 3 on the imaginary horizontal plane and the line segment L3 perpendicular to the direction (extension direction) of the target construction surface. Fig. 6A . ) becomes a state of 0 degrees. In addition, the direction represented by the line segment L3 corresponds to the direction of the horizontal component of the vertical line falling to the target construction surface.

[0130] Fig. 7A and Figure 7B The imaginary cylinder CB represents a part of the normal line of the target construction surface (upward slope BS), the dashed line represents a part of the imaginary rotation plane SF, and the dotted line represents a part of the imaginary attachment operation surface AF. The attachment operation surface AF is arranged in a manner perpendicular to the rotation plane SF. Figure 7BAs shown, when the upper rotating body 3 faces the target construction surface, the attachment operating surface AF is configured to include a portion of the normal line represented by the virtual cylinder CB, that is, the attachment operating surface AF extends along a portion of the normal line.

[0131] The automatic control unit 54 sets the rotation angle when the attachment operation surface AF is perpendicular to the target construction surface (upward slope BS) as the target angle. In addition, the automatic control unit 54 detects the current rotation angle based on the output of the positioning device P1 and the like, and calculates the difference between the target angle and the current rotation angle (detected value). In addition, the automatic control unit 54 operates the rotation hydraulic motor 2A so that the difference becomes less than a specified value or zero. Specifically, when the difference between the target angle and the current rotation angle becomes less than a specified value or zero, the automatic control unit 54 determines that the upper rotating body 3 is facing the target construction surface. In addition, if the rotation operating lever is operated in a state where a specified switch is pressed, the automatic control unit 54 determines whether the rotation operating lever is operated in a direction that causes the upper rotating body 3 to face the target construction surface. For example, when the rotation operating lever is operated in a direction in which the difference between the target angle and the current rotation angle becomes larger, the automatic control unit 54 determines that the rotation operating lever is not operated in a direction that causes the upper rotating body 3 to face the target construction surface, and does not perform the facing control. On the other hand, when the swing operating lever is operated in a direction in which the difference between the target angle and the current swing angle becomes smaller, the automatic control unit 54 determines that the swing operating lever is operated in a direction in which the upper swing body 3 faces the target construction surface, and performs facing control. As a result, the swing hydraulic motor 2A can be operated in a manner that the difference between the target angle and the current swing angle becomes smaller. Then, when the difference between the target angle and the current swing angle becomes less than a predetermined value or zero, the automatic control unit 54 stops the swing hydraulic motor 2A.

[0132] Figure 6B The example shown is an example showing a state where the attachment operating surface AF includes the normal line (virtual cylinder CB), and the angle α formed between the line segment L1 indicating the direction of the target construction surface and the line segment L2 indicating the front-rear axis of the upper swing body 3 is 90 degrees. However, as long as the attachment operating surface AF includes the normal line (virtual cylinder CB), the angle α does not necessarily need to be 90 degrees. For example, the reason for this is that the ground on which the excavator 100 is installed is often a ground with large undulations, so even in the state where the attachment operating surface AF includes the normal line (virtual cylinder CB), the angle α is not limited to 90 degrees.

[0133] The controller 30 performs the facing control when the MC switch is pressed.

[0134] First, the equipment guiding device 50 included in the controller 30 determines whether a positive offset occurs. In this embodiment, the equipment guiding device 50 determines whether a positive offset occurs based on the information related to the target construction surface pre-stored in the storage device 47 and the output of the positioning device P1 as the orientation detection device. The information related to the target construction surface includes information related to the orientation of the target construction surface. The positioning device P1 outputs information related to the orientation of the upper rotating body 3. Fig. 7A As shown, for example, when the attachment operation surface AF does not include the normal line of the target construction surface, the equipment guidance device 50 determines that a positive offset occurs between the target construction surface and the excavator 100. Fig. 6A As shown in FIG. 1 , the angle α formed between the line segment L1 indicating the orientation of the target construction surface and the line segment L2 indicating the orientation of the upper swing body 3 is an angle other than 90 degrees.

[0135] In addition, the equipment guidance device 50 can determine whether a positive offset occurs based on the image captured by the camera S6. For example, the equipment guidance device 50 can derive information related to the shape of the slope as the work object by performing various image processing on the image captured by the camera S6, and determine whether a positive offset occurs based on the derived information. Alternatively, the equipment guidance device 50 can also determine whether a positive offset occurs based on the output of other space recognition devices other than the camera S6, such as ultrasonic sensors, millimeter wave radars, distance image sensors, LIDAR or infrared sensors.

[0136] When it is determined that no facing deviation has occurred, the device guidance apparatus 50 does not perform the facing control and ends the current facing control.

[0137] When it is determined that there is a facing deviation, the equipment guidance device 50 determines whether there is no obstacle around the shovel 100. And when it is determined that there is no obstacle around the shovel 100, the equipment guidance device 50 performs the facing control. Fig. 6A , Figure 6B , Fig. 7A and Figure 7B In the example of FIG. 1 , the automatic control unit 54 of the equipment guide device 50 controls the proportional valve 31CL (reference Figure 4C. ) outputs a current command. Furthermore, the pilot pressure generated by the working oil discharged from the pilot pump 15 and passing through the proportional valve 31CL and the reciprocating valve CL acts on the left pilot port of the control valve 173. The control valve 173 that receives the pilot pressure at the left pilot port is displaced to the right, causing the working oil discharged from the main pump 14L to flow into the first port 2A1 of the rotary hydraulic motor 2A. Furthermore, the control valve 173 causes the working oil flowing out of the second port 2A2 of the rotary hydraulic motor 2A to flow into the working oil tank. As a result, the rotary hydraulic motor 2A rotates in the forward direction, as shown in FIG. Fig. 6A As shown by the arrow, the upper rotating body 3 is rotated to the left around the rotating axis 2X. Figure 6B As shown, when the angle α becomes 90 degrees or when the angle β becomes 0 degrees, the automatic control unit 54 stops outputting the current command to the proportional valve 31CL, and reduces the pilot pressure acting on the left pilot port of the control valve 173. The control valve 173 is displaced to the left and returns to the neutral position, and the flow of the working oil from the main pump 14L to the first port 2A1 of the rotary hydraulic motor 2A is cut off. In addition, the control valve 173 cuts off the flow of the working oil from the second port 2A2 of the rotary hydraulic motor 2A to the working oil tank. As a result, the rotary hydraulic motor 2A stops rotating in the forward direction, and the upper rotary body 3 stops rotating to the left. In addition, the target construction surface includes, for example, at least one of a downward slope, an upward slope, a horizontal plane, and a vertical plane. The information related to the target construction surface includes, for example, information related to the direction of the target construction surface. The direction of the target construction surface is determined, for example, based on at least one of the extending direction of the target construction surface and the direction of the horizontal component of the vertical line falling to the target construction surface. According to this structure, the shovel 100 can reduce the trouble felt by the operator of the shovel 100 when making the shovel 100 face the target construction surface. This is because the operator of the shovel 100 does not need to manually operate the actuator such as the swing hydraulic motor 2A in order to make the upper swing body 3 face the target construction surface. In addition, this is because the operator of the shovel 100 does not need to observe the image such as the facing compass displayed on the display device 40 to confirm whether the upper swing body 3 faces the target construction surface.

[0138] In this way, the controller 30 can perform facing control for rotating the upper rotating body 3 so that the upper rotating body 3 faces the target construction surface based on the information about the target construction surface and the information about the orientation of the upper rotating body 3 .

[0139] The controller 30 may be configured to perform facing control when a predetermined switch is operated. For example, the controller 30 may be configured to perform facing control when the MC switch is pressed. In this case, the controller 30 can automatically make the upper rotating body 3 face the target construction surface when the MC switch for starting the equipment control function is pressed. That is, the controller 30 can perform facing control as part of the equipment control function. Therefore, when the controller 30 performs the mechanical control function, it is possible to reduce the trouble felt by the operator of the excavator 100 when making the excavator 100 face the target construction surface. As a result, the controller 30 can improve the working efficiency of the excavator 100. In this case, it may also be configured that, when the predetermined switch is operated, when the rotation operating lever is operated in the direction in which the difference between the target angle and the current rotation angle becomes smaller, the automatic control unit 54 determines that the rotation operating lever is operated in the direction in which the upper rotating body 3 faces the target construction surface, and performs facing control. That is, the facing control may be performed when the operation of rotating the upper rotating body is performed while the predetermined switch is operated. This can assist the operator in making the upper slewing body 3 face the target construction surface.

[0140] In addition, the controller 30 can also make the upper rotating body 3 face the target construction surface by actuating other actuators. Fig. 8A and Figure 8B As shown, the controller 30 can make the upper slewing body 3 face the target construction surface by automatically operating the left travel hydraulic motor 1L and the right travel hydraulic motor 1R.

[0141] Fig. 8A and Figure 8B is a top view of the shovel 100 when performing the facing process, corresponding to Fig. 6A and Figure 6B .Right now, Fig. 8A Indicates the state where the upper rotating body 3 is not facing the target construction surface. Figure 8B Indicates the state where the upper rotating body 3 faces the target construction surface.

[0142] exist Fig. 8A and Figure 8B In the example of FIG. 1 , the controller 30 rotates the right travel hydraulic motor 1R in the forward direction and the left travel hydraulic motor 1L in the reverse direction to perform the pivoting so that the upper revolving body 3 faces the target construction surface.

[0143] As described above, when the excavator 100 is used for work, the blade tip or the back of the bucket 6, which is the working part, needs to face the target construction surface. That is, the upper rotating body 3 needs to face the target construction surface. Therefore, it is preferred that the controller 30 executes the above-mentioned facing control, but it is recommended that the operator also confirm whether the upper rotating body 3 faces the target construction surface.

[0144] Fig.9A This is a flowchart for explaining the operation of the operator when confirming whether the upper rotating body 3 and the target construction surface are facing each other.

[0145] The shovel 100 is provided with a first switch as one of the input devices 42 for confirming whether the upper swing body 3 and the target construction surface are facing each other.

[0146] When the first switch is pressed or the like (step ST1), the equipment guidance device 50 of the controller 30 determines whether the upper rotating body 3 is facing the target construction surface. The equipment guidance device 50 calculates the distance between the coordinate points of the left and right ends of the blade tip of the bucket 6 and the target construction surface corresponding thereto in the distance calculation unit 52, so that it can determine whether the upper rotating body 3 is facing the target construction surface based on the distance.

[0147] When the upper rotating body 3 is facing the target construction surface ("Yes" in step ST2), the information transmission unit 53 of the equipment guidance device 50 notifies the content that the upper rotating body 3 is facing the target construction surface via the sound output device 43 (step ST3). The sound output device 43 can, for example, notify the content that the upper rotating body 3 is facing the target construction surface through a buzzer. In addition, the information transmission unit 53 can notify the content that the upper rotating body 3 is facing the target construction surface through the display device 40. The display device 40 can notify the content that the upper rotating body 3 is facing the target construction surface through characters or icons. In addition, the information transmission unit 53 can use the lighting state of the light to notify the content that the upper rotating body 3 is facing the target construction surface.

[0148] On the other hand, when the upper rotating body 3 is not directly opposite to the target construction surface ("No" in step ST2), the information transmission unit 53 of the equipment guidance device 50 notifies the content that the upper rotating body 3 is not directly opposite to the target construction surface via the sound output device 43 (step ST4). The sound output device 43 can, for example, notify the content that the upper rotating body 3 is not directly opposite to the target construction surface through a buzzer. At this time, the sound output device 43 activates the buzzer in a distinguishable manner in the case where the upper rotating body 3 is directly opposite to the target construction surface and the case where the upper rotating body 3 is not directly opposite to the target construction surface. In addition, the information transmission unit 53 can notify the content that the upper rotating body 3 is not directly opposite to the target construction surface via the display device 40. The display device 40 can notify the content that the upper rotating body 3 is not directly opposite to the target construction surface through characters or icons. In addition, the information transmission unit 53 can use the lighting state of the lamp to notify the content that the upper rotating body 3 is not directly opposite to the target construction surface. At this time, the information transmission unit 53 can distinguish between the case where the upper rotating body 3 faces the target construction surface and the case where the upper rotating body 3 does not face the target construction surface by making the lighting state of the light different. For example, the light can be lit when the upper rotating body 3 faces the target construction surface, and the light can be flashed when the upper rotating body 3 does not face the target construction surface.

[0149] In addition, the equipment guidance device 50 does not judge whether the upper rotating body 3 and the target construction surface are facing each other after the first switch is operated, but can always judge whether the upper rotating body 3 and the target construction surface are facing each other. In this case, when the first switch is operated, it is notified whether the upper rotating body 3 and the target construction surface are facing each other based on the current judgment.

[0150] Thus, the excavator 100 according to the embodiment of the present invention comprises: a lower traveling body 1; an upper swing body 3 rotatably mounted on the lower traveling body 1; and a controller 30 as a control device, which notifies whether the upper swing body 3 is facing the target construction surface based on information related to the target construction surface and information related to the orientation of the upper swing body 3. Thus, the operator can accurately determine whether the excavator is facing the target construction surface.

[0151] Furthermore, when the first switch is pressed or the like, the operator is informed whether the upper swing body 3 faces the target construction surface, thereby being informed whether the upper swing body 3 faces the target construction surface at the time when the operator wants to confirm.

[0152] In addition, use Fig.9AThe series of processes described above can be performed by the operator operating the first switch even when the facing control in the controller 30 is not executed. In the case where the operator rotates the upper rotating body 3 itself to face the target construction surface without executing the facing control, the operator can first operate the first switch before the operation to confirm whether the upper rotating body 3 faces the target construction surface, and then perform the operation of rotating the upper rotating body 3 itself to face the target construction surface. In addition, when the operator determines that the upper rotating body 3 faces the target construction surface, the operator can confirm whether the upper rotating body 3 faces the target construction surface by operating the first switch.

[0153] And, the content can be notified based on the fact that the controller 30 is performing the facing control.

[0154] Fig. 9B This is a flowchart for explaining notification related to facing control performed by the controller 30 .

[0155] As described above, for example, when a prescribed switch is operated, the automatic control unit 54 of the controller 30 can rotate the upper rotating body 3 based on information related to the target construction surface and information related to the orientation of the upper rotating body 3 so that the automatic facing function of the upper rotating body 3 faces the target construction surface, thereby performing the above-mentioned facing control.

[0156] The equipment guidance device 50 is such that, if the automatic control unit 54 performs the facing control (step ST11), the information transmission unit 53 notifies the content of the facing control being performed via the sound output device 43 (step ST12). The sound output device 43 can, for example, notify the content of the facing control being performed via a buzzer. Furthermore, the information transmission unit 53 can notify the content of the facing control being performed via the display device 40. The display device 40 can notify the content of the facing control being performed via characters. Furthermore, the information transmission unit 53 can notify the content of the facing control being performed by using the lighting state of the lamp.

[0157] Then, if the upper rotating body 3 faces the target construction surface and the facing control in the automatic control unit 54 is completed ("Yes" in step ST13), the information transmission unit 53 notifies the completion of the facing control via the sound output device 43 (step ST14). The sound output device 43 can, for example, notify the completion of the facing control via a buzzer. At this time, the sound output device 43 activates the buzzer in a distinguishable manner when the facing control is being executed and when the facing control is completed. In addition, the information transmission unit 53 can notify the completion of the facing control via the display device 40. The display device 40 can notify the completion of the facing control via characters. In addition, the information transmission unit 53 can notify the completion of the facing control by using the lighting state of the lamp. At this time, the information transmission unit 53 can distinguish between the situation where the facing control is being executed and the situation where the facing control is completed by making the lighting state of the lamp different. For example, the lamp can be flashed when the facing control is being executed, and lit when the facing control is completed.

[0158] Thus, in the excavator 100 according to the embodiment of the present invention, the controller 30 as a control device can execute facing control for rotating the upper rotating body so that the upper rotating body 3 faces the target construction surface based on information related to the target construction surface and information related to the orientation of the upper rotating body 3, and notify that the facing control is being executed when the facing control is being executed. Thus, when the facing control for rotating the upper rotating body so that the upper rotating body 3 faces the target construction surface is being executed, the operator can recognize that the facing control is being executed.

[0159] Furthermore, the controller 30 notifies the completion of the facing control when the upper rotating body 3 faces the target construction surface by executing the facing control. Thus, the facing control of rotating the upper rotating body 3 so that the upper rotating body 3 faces the target construction surface is completed, and the operator can recognize that the upper rotating body 3 faces the target construction surface. In addition, the facing control in the automatic control unit 54 of the controller 30 sometimes makes the upper rotating body 3 slower the closer it is to the state where the upper rotating body 3 faces the target construction surface. At this time, even if the facing control is completed and the upper rotating body 3 faces the target construction surface, the operator may not be able to recognize that. Therefore, as in the excavator 100 involved in the present embodiment, if the completion of the facing control is notified when the upper rotating body 3 faces the target construction surface by executing the facing control, the operator can reliably recognize that the facing control is completed and the upper rotating body 3 faces the target construction surface.

[0160] Furthermore, in the excavator 100 involved in the embodiment of the present invention, the controller 30 as a control device can distinguish between the following situations: a situation where the upper rotating body 3 is facing the target construction surface; a situation where the upper rotating body 3 is not facing the target construction surface; a situation where the facing control is being executed; and a situation where the facing control is completed. As a result, the operator can distinguish between the following situations: a situation where the upper rotating body 3 is facing the target construction surface; a situation where the upper rotating body 3 is not facing the target construction surface; a situation where the facing control is being executed; and a situation where the facing control is completed. At this time, it is preferred that at least the situation where the upper rotating body 3 is facing the target construction surface and the situation where the upper rotating body 3 is not facing the target construction surface can be distinguished, and the situation where the facing control is being executed and the situation where the facing control is completed can be distinguished.

[0161] Furthermore, in the excavator 100 according to the embodiment of the present invention, the controller 30 as a control device can make notifications of the following situations via the sound output device 43: the upper rotating body 3 is facing the target construction surface; the upper rotating body 3 is not facing the target construction surface; the facing control is being executed; and the facing control is completed. As a result, the operator can safely recognize the contents of the following situations without taking his eyes away from the working area when operating the excavator 100: the upper rotating body 3 is facing the target construction surface; the upper rotating body 3 is not facing the target construction surface; the facing control is being executed; and the facing control is completed. Furthermore, the following situations can be notified via the display device 40: the upper rotating body 3 is facing the target construction surface; the upper rotating body 3 is not facing the target construction surface; the facing control is being executed; and the facing control is completed. As a result, the operator can reliably identify the content through characters in the following situations, for example: the upper rotating body 3 is facing the target construction surface; the upper rotating body 3 is not facing the target construction surface; the facing control is being executed; and the facing control is completed.

[0162] Furthermore, in the above-described embodiment, a hydraulic operating device is used as the operating device 26 , but an electric operating device may also be used.

[0163] Fig.10 A configuration example of an operating system including an electric operating device is shown.

[0164] Specifically, Fig.10 The operating system is an example of a boom operating system, and is mainly composed of a pilot pressure-operated regulating valve 17, a boom operating lever 26A as an electric operating lever, a controller 30, a boom raising operating solenoid valve 60, and a boom lowering operating solenoid valve 62. Fig.10 The operating system can also be applied to the arm operating system, bucket operating system, etc.

[0165] like Figure 3 As shown, the pilot pressure-operated regulating valve 17 includes control valves 175L and 175R associated with the boom cylinder 7. The solenoid valve 60 is configured to be able to adjust the flow area of ​​the oil path connecting the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The solenoid valve 62 is configured to be able to adjust the flow area of ​​the oil path connecting the pilot pump 15 to the right pilot port of the control valve 175R.

[0166] In the case of manual operation, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) based on the operation signal (electrical signal) output by the operation signal generating unit of the boom operating lever 26A. The operation signal output by the operation signal generating unit of the boom operating lever 26A is an electric signal that changes according to the operation amount and operation direction of the boom operating lever 26A.

[0167] Specifically, when the boom operating lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 60. The solenoid valve 60 adjusts the flow path area according to the boom raising operation signal (electrical signal) and controls the pilot pressure acting on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Similarly, when the boom operating lever 26A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 62. The solenoid valve 62 adjusts the flow path area according to the boom lowering operation signal (electrical signal) to control the pilot pressure acting on the right pilot port of the control valve 175R.

[0168] When automatic control is performed, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) based on the correction operation signal (electrical signal) instead of the operation signal output by the operation signal generating unit of the boom operating lever 26A. The correction operation signal may be an electric signal generated by the equipment guiding device 50 or an electric signal generated by a control device other than the equipment guiding device 50.

[0169] The excavator 100 can be used in a construction system. Fig.11 The construction system SYS will be described.

[0170] Fig.11 It is a schematic diagram showing an example of the construction system SYS.

[0171] like Fig.11As shown, the construction system SYS includes a shovel 100, a support device 200, and a management device 300. The construction system SYS is configured to be able to support construction performed by one or a plurality of shovels 100.

[0172] The information obtained by the shovel 100 can be shared with managers and other shovel operators through the construction system SYS. The shovel 100, the support device 200, and the management device 300 constituting the construction system SYS can be one or more. In this example, the construction system SYS includes one shovel 100, one support device 200, and one management device 300.

[0173] The support device 200 is typically a mobile terminal device, such as a laptop terminal, a tablet terminal, or a smart phone carried by a worker at a construction site. The support device 200 may also be a mobile terminal carried by an operator of the shovel 100. The support device 200 may also be a fixed terminal device.

[0174] The management device 300 is typically a fixed terminal device, such as a server computer (so-called cloud server) installed in a management center outside the construction site. In addition, the management device 300 may also be an edge server installed at the construction site. In addition, the management device 300 may also be a mobile terminal device (for example, a laptop terminal, a tablet terminal, or a mobile terminal such as a smartphone).

[0175] At least one of the support device 200 and the management device 300 may also include a monitor and a remote operation device. In this case, an operator using the support device 200 or a manager using the management device 300 may also use the remote operation device to operate the shovel 100. The remote operation device is connected to the controller 30 mounted on the shovel 100 so as to be communicable through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.

[0176] Furthermore, various information displayed on the display device 40 provided in the cab 10 (e.g., image information indicating the state around the shovel 100 or various setting screens, etc.) can also be displayed by a display device connected to at least one of the support device 200 and the management device 300. Image information indicating the state around the shovel 100 can be generated based on an image captured by a camera device (e.g., a camera as the space recognition device 70). Thus, an operator using the support device 200 or an administrator using the management device 300 can remotely operate the shovel 100 or perform various settings related to the shovel 100 while confirming the state around the shovel 100.

[0177] For example, in the construction system SYS, the controller 30 of the shovel 100 may also send information related to at least one of the time and position when the switch of the input device 42 is pressed, the target track used when the shovel 100 is autonomously operated, and the track actually followed by the specified part during the autonomous operation to at least one of the support device 200 and the management device 300. At this time, the controller 30 may also send the camera image of the camera device to at least one of the support device 200 and the management device 300. The camera image may also be a plurality of images captured during the autonomous operation. In addition, the controller 30 may also send information related to at least one of the data related to the operation content of the shovel 100 in the autonomous operation, the data related to the posture of the shovel 100, and the data related to the posture of the excavation attachment to at least one of the support device 200 and the management device 300. Thus, the operator using the support device 200 or the manager using the management device 300 can obtain information related to the shovel 100 in the autonomous operation. Furthermore, the controller 30 may send information related to the facing control to at least one of the support device 200 and the management device 300. For example, the controller 30 may send information indicating that the facing control is being executed and information indicating that the facing control is completed. Furthermore, the controller 30 may send information indicating whether the upper rotating body 3 faces the target construction surface.

[0178] In this way, the construction system SYS can share information related to the shovel 100 between the operator of the shovel 100 , a manager, and operators of other shovels.

[0179] In addition, if Fig.11 As shown, the communication device mounted on the shovel 100 may be configured to transmit and receive information with the communication device T2 installed in the remote control room RC via wireless communication. Fig.11 In the illustrated example, the communication device T1 and the communication device T2 mounted on the shovel 100 are configured to transmit and receive information via a fifth-generation mobile communication line (5G line), an LTE line, a satellite line, or the like.

[0180] The remote control room RC is provided with a remote controller 30R, a sound output device A2, an indoor camera device C2, a display device RD, a communication device T2, etc. The remote control room RC is also provided with a driver's seat DE where an operator OP who remotely operates the shovel 100 sits.

[0181] The remote controller 30R is a computing device that performs various operations. In the present embodiment, the remote controller 30R is composed of a microcomputer including a CPU and a memory, similarly to the controller 30. In addition, the various functions of the remote controller 30R are realized by the CPU executing a program stored in the memory. The remote controller 30R can constitute an example of the control device of the present invention by having at least a part of the functions of the controller 30 possessed by the excavator 100. Thus, the above-mentioned facing control can be performed even in remote operation.

[0182] The sound output device A2 is configured to output sound. In the present embodiment, the sound output device A2 is a speaker configured to play the sound collected by a sound collecting device (not shown) installed on the excavator 100. In addition, the sound output device A2 can output a sound corresponding to the information sent from the controller 30 using a buzzer or the like. Thus, for example, it is possible to notify that the facing control is being executed, or to notify that the facing control is completed. In addition, it is possible to notify whether the upper rotating body 3 is facing the target construction surface.

[0183] The indoor camera device C2 is configured to capture the interior of the remote operation room RC. In the present embodiment, the indoor camera device C2 is a camera installed inside the remote operation room RC, and is configured to capture the operator OP sitting in the driver's seat DE.

[0184] The communication device T2 is configured to control wireless communication with a communication device mounted on the shovel 100 .

[0185] In the present embodiment, the driver's seat DE has the same structure as the driver's seat provided in the cab 10 of a general excavator. Specifically, a left control console is arranged on the left side of the driver's seat DE, and a right control console is arranged on the right side of the driver's seat DE. In addition, a left operating lever is arranged at the front end of the upper surface of the left control console, and a right operating lever is arranged at the front end of the upper surface of the right control console. In addition, a travel lever and a travel pedal are arranged in front of the driver's seat DE. In addition, a control panel 75 is arranged in the center of the upper surface of the right control console. The left operating lever, the right operating lever, the travel lever and the travel pedal respectively constitute the operating device 26E.

[0186] The control panel 75 is a control panel for adjusting the rotation speed of the engine 11 and is configured to be able to switch the engine rotation speed in four stages, for example.

[0187] Specifically, the control panel 75 is configured to be able to switch the engine speed in four stages: the SP mode, the H mode, the A mode, and the idle mode. The control panel 75 transmits data related to the setting of the engine speed to the controller 30 .

[0188] The SP mode is a speed mode selected when the operator OP wants to give priority to the workload, and uses the highest engine speed. The H mode is a speed mode selected when the operator OP wants to balance the workload and fuel consumption rate, and uses the second highest engine speed. The A mode is a speed mode selected when the operator OP wants to operate the excavator with low noise while giving priority to fuel consumption rate, and uses the third highest engine speed. The idle mode is a speed mode selected when the operator OP wants to set the engine to an idle state, and uses the lowest engine speed. In addition, the engine 11 is controlled to a constant speed at the engine speed of the speed mode selected via the control panel 75.

[0189] An operating pressure sensor 129A for detecting the operation content of the operating device 26E is provided in the operating device 26E. The operating pressure sensor 129A is, for example, an inclination sensor for detecting the inclination angle of the operating lever or an angle sensor for detecting the swing angle of the operating lever around the swing axis. The operating pressure sensor 129A may also be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor or a distance sensor. The operating pressure sensor 129A outputs information related to the detected operation content of the operating device 26E to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and sends the generated operation signal to the excavator 100. The operating sensor 129A may be configured to generate an operation signal. At this time, the operating pressure sensor 129A may output the operation signal to the communication device T2 without passing through the remote controller 30R.

[0190] The display device RD is configured to display information related to the conditions around the excavator 100. In the present embodiment, the display device RD is a multi-display composed of 9 monitors in 3 vertical levels and 3 horizontal columns, and is configured to display the state of the space in front, on the left, and on the right of the excavator 100. Each monitor is a liquid crystal monitor or an organic EL monitor, etc. However, the display device RD may be composed of one or more curved monitors, or may be composed of a projector. Furthermore, the display device RD may also be configured to display the state of the space in front, on the left, on the right, and on the rear of the excavator 100. Furthermore, the display device RD may display information sent from the controller 30. Thus, for example, it is possible to notify by characters that the content of the facing control is being executed, or to notify by characters that the content of the facing control is completed. Furthermore, it is also possible to notify by characters whether the upper rotating body 3 is facing the target construction surface.

[0191] The display device RD may be a display device that the operator OP can wear. For example, the display device RD is a head-mounted display, and may be configured to be able to send and receive information with the remote controller 30R through wireless communication. The head-mounted display may be connected to the remote controller 30R by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0192] The display device RD is configured to display an image that allows the operator OP in the remote operation room RC to visually recognize the surroundings of the shovel 100. That is, the display device RD displays an image so that the operator can check the surroundings of the shovel 100 as if he is in the cab 10 of the shovel 100 even in the remote operation room RC.

Claims

1. An excavator comprising: Lower walking body; an upper rotating body rotatably mounted on the lower walking body; and The control device notifies whether the upper rotating body is facing the target construction surface based on the information related to the target construction surface and the information related to the orientation of the upper rotating body.

2. The excavator according to claim 1, wherein: The control device performs the notification when the first switch is operated.

3. The excavator according to claim 1, wherein: The control device is capable of executing facing control to rotate the upper rotating body so that the upper rotating body faces the target construction surface based on information related to the target construction surface and information related to the orientation of the upper rotating body, and notifying that the facing control is being executed when the facing control is executed.

4. The excavator according to claim 3, wherein: The control device notifies completion of the facing control when the upper rotating body faces the target construction surface by executing the facing control.

5. The excavator according to claim 4, wherein: The control device can distinguishably notify the following situations: a situation where the upper rotating body is facing the target construction surface; a situation where the upper rotating body is not facing the target construction surface; a situation where the facing control is being executed; and a situation where the facing control is completed.

6. The excavator according to claim 3, wherein: The control device executes the facing control when an operation for rotating the upper rotating body is performed while the second switch is operated.

7. The excavator according to claim 1, comprising: An auxiliary device installed on the upper rotating body; and an operating device for operating the auxiliary device, When the operating device is operated in a state where the third switch is operated, the control device operates the attachment based on the operation of the operating device, information acquired about the position and orientation of the shovel, and pre-registered information.

8. The excavator according to claim 1, wherein: The control device performs the notification through sound or display.

9. A control device for an excavator, the excavator comprising a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body, wherein: The control device of the shovel notifies whether the upper rotating body is facing the target construction surface based on the information related to the target construction surface and the information related to the orientation of the upper rotating body.

10. The excavator according to claim 1, comprising: An auxiliary device installed on the upper rotating body; and an operating device for operating the auxiliary device, The control device performs the following control: Based on the information about the target construction surface and the information about the orientation of the upper rotating body, facing control can be performed to rotate the upper rotating body so that the upper rotating body faces the target construction surface. When the first switch is operated, the notification is performed. When the operation of rotating the upper rotating body is performed while the second switch is operated, the facing control is performed. When the operating device is operated in a state where the third switch is operated, the attachment is actuated based on the operation of the operating device, the information acquired about the position and orientation of the shovel, and the pre-registered information. The first switch, the second switch and the third switch are the same switch.

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