Shovel and shovel control system

Abstract

The invention provides a shovel which reduces the operation burden of an operator. A shovel according to one embodiment of the present invention is provided with: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; a boom attached to the upper rotating body; an arm attached to the tip of the boom; an end attachment device attached to the tip of the arm; a tilt sensor for detecting the tilt of the shovel; and a control unit configured so as to control the height of the termination attachment during the turning operation of the upper turning body on the basis of a detection result from the tilt sensor.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2023-223244 filed on December 28, 2023. The entire content of the Japanese application is incorporated herein by reference.

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

[0003] Conventionally, there has been known a technique in which an operator can easily perform operations when an excavator performs a shaping operation (for example, refer to Patent Document 1).

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-029769

[0005] The technique described in Patent Document 1 is only considered in the case of performing a scribing operation or a ground leveling operation along the extending direction of a front-mounted attachment. However, there is an operation of leveling the side surface of a terminating attachment during the slewing operation of the excavator. When performing this leveling operation, when the excavator is inclined with respect to the surface to be the operation target, it is necessary to adjust the height of the terminating attachment according to the slewing condition of the excavator. Adjusting the height of the terminating attachment is a heavy burden on the operator. Summary of the Invention

[0006] One aspect of the present invention reduces the operation burden on an operator by controlling the height of a terminating attachment during a slewing operation when the excavator is inclined.

[0007] An excavator according to one aspect of the present invention includes: a lower traveling body; an upper slewing body rotatably mounted on the lower traveling body; an arm mounted on the upper slewing body; a boom mounted on the front end of the arm; a terminating attachment mounted on the front end of the boom; an inclination sensor that detects the inclination of the excavator; and a control unit configured to control the height of the terminating attachment during the slewing operation of the upper slewing body based on the detection result of the inclination sensor.

[0008] Advantageous Effects of the Invention: According to one aspect of the present invention, by controlling the height of the terminating attachment during the slewing operation, the operation burden on the operator is reduced. Brief Description of the Drawings

[0009] Figure 1 is a side view of an excavator according to the first embodiment.

[0010] Figure 2 is a block diagram showing an example of the structure of an excavator according to the first embodiment.

[0011] Figure 3 This is a diagram showing an example of the structure of the controller according to the first embodiment.

[0012] Figure 4 This is a diagram illustrating the height control of the back surface of the bucket during the slewing operation of the excavator according to the first embodiment.

[0013] Figure 5 This is a diagram explaining the operation of the boom corresponding to the load during the slewing operation of the excavator according to the first embodiment.

[0014] Figure 6 This is a diagram explaining the height control of the bucket when the arm is operated in the controller according to the first embodiment.

[0015] Figure 7 This is a diagram showing an example of the screen of the display device on which the output control unit according to the first embodiment is displayed.

[0016] Figure 8 This is the first flowchart showing the processing steps for the controller according to the first embodiment to level the ground by slewing operation with the height of the bucket when the MC switch is pressed as a reference.

[0017] Figure 9 This is the second flowchart showing the processing steps for the controller according to the first embodiment to level the ground by slewing operation with the height of the bucket when the MC switch is pressed as a reference.

[0018] Figure 10 This is a flowchart showing the processing steps for the controller according to the second embodiment to level the work object surface represented by the design data by slewing operation.

[0019] Figure 11 This is a schematic diagram showing an example of the structure of the remote support system of the excavator according to the third embodiment.

[0020] In the figure: 100 - excavator, 1 - lower traveling body, 2 - slewing mechanism, 3 - upper slewing body, 4 - boom, 5 - arm, 6 - bucket, S1 - boom angle sensor, S2 - arm angle sensor, S3 - bucket angle sensor, S4 - body tilt sensor, S5 - slewing angle sensor, S6 - imaging device, S10R - right slewing pressure sensor, S10L - left slewing pressure sensor, T1 - communication device, 30 - controller, 301 - operation receiving unit, 302 - acquisition unit, 303 - calculation unit, 304 - storage unit, 305 - motion control unit, 306 - output control unit, RC - remote operation room, R30 - remote controller, T2 - communication device. Detailed Embodiments

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the embodiments described below are illustrative rather than restrictive, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. Also, in the respective drawings, the same or corresponding structures may sometimes be denoted by the same or corresponding reference numerals, and the description thereof may be omitted.

[0022] Hereinafter, in an embodiment of the present invention, an example in which an excavator is used as an example of construction machinery will be described, but it is not limited to an excavator. It can also be applied to construction machinery, standard machines, application machines, forestry machinery, or conveying machinery based on hydraulic excavators.

[0023] (First Embodiment)

[0024] First, Figure 1 a summary of the excavator 100 according to the present embodiment will be described. Figure 1 FIG. is a side view of the excavator 100 according to the present embodiment.

[0025] The excavator 100 according to the present embodiment includes a lower traveling body 1; an upper revolving body 3 rotatably mounted on the upper part of the lower traveling body 1 via a slewing mechanism 2; a boom 4, an arm 5, and a bucket 6 as attachment devices; and a cab 10.

[0026] The lower traveling body 1 includes, for example, a pair of left and right crawlers, and the excavator 100 travels by hydraulic driving of each crawler by traveling hydraulic motors 2ML and 2MR (see Figure 2 ).

[0027] The upper revolving body 3 rotates relative to the lower traveling body 1 by being driven by a slewing hydraulic motor 2A (see Figure 2 ).

[0028] The attachment device AT (an example of an attachment device) includes a boom 4, an arm 5, and a bucket 6.

[0029] The boom 4 is pivotally mounted at the front center of the upper revolving body 3. The arm 5 is rotatably mounted at the front end of the boom 4, and the bucket 6 is rotatably mounted at the front end of the arm 5.

[0030] The bucket 6 is an example of a working tool. The bucket 6 is used, for example, for excavation work. The bucket 6 according to the present embodiment includes a cutting edge 6a and a back surface 6b as portions for forming a horizontal plane.

[0031] Moreover, at the front end of the arm 5, other working tools can be installed according to the work content or the like instead of the bucket 6. Other working tools can be, for example, other types of buckets such as a large bucket, a bucket for slopes, and a bucket for dredging. Also, other working tools can be working tools of types other than buckets such as a mixer, a crusher, and a grapple.

[0032] The boom 4, the arm 5, and the bucket 6 are respectively hydraulically driven by the working oil discharged from the main pump 14 (refer to Figure 2 ), by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 which are hydraulic actuators.

[0033] The cab 10 is an operation room for the operator to ride in, and is mounted on the front left side of the upper swing body 3.

[0034] In addition, the excavator 100 may have a structure in which a part of the driven components such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 are electrically driven. That is, the excavator 100 may be a hybrid excavator or an electric excavator in which a part of the driven components are driven by electric actuators.

[0035] [Structure of Excavator]

[0036] Next, in addition to referring to Figure 1 in addition, also refer to Figure 2 , the specific structure of the excavator 100 will be described.

[0037] Figure 2 is a block diagram showing an example of the structure of the excavator 100 according to the present embodiment.

[0038] In addition, in the figure, the mechanical power pipeline is represented by a double line, the high-pressure hydraulic pipeline is represented by a solid line, the pilot pipeline is represented by a dotted line, and the electric drive / control pipeline is represented by a dashed line.

[0039] The hydraulic drive system for hydraulically driving the hydraulic actuators of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. And, as described above, the hydraulic drive system of the excavator 100 according to the present embodiment includes hydraulic actuators such as the traveling hydraulic motors 2ML, 2MR, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 for hydraulically driving each of the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6.

[0040] The engine 11 is the main power source in the hydraulic drive system. For example, it is mounted on the rear part of the upper swing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under the direct or indirect control of the controller 30 described later, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine fueled by diesel.

[0041] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (deflection angle) of the swash plate of the main pump 14 according to the control command from the controller 30.

[0042] Similar to the engine 11, the main pump 14 (an example of a hydraulic pump) is mounted, for example, at the rear of the upper swing body 3, and supplies working oil to the control valve unit 17 through the high-pressure hydraulic pipeline 16. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable-capacity hydraulic pump. As described above, by adjusting the deflection angle of the swash plate by the regulator 13 under the control of the controller 30, the stroke length of the piston can be adjusted, and the discharge flow rate (discharge pressure) can be controlled.

[0043] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the present embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to be able to selectively supply the working oil discharged from the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, 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 actuators include the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the travel hydraulic motors 2ML, 2MR, and the swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left travel hydraulic motor 2ML, the control valve 172 corresponds to the right travel hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. And, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8.

[0044] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply working oil to the hydraulic control equipment via the pilot pipeline. In the present embodiment, the pilot pump 15 is a fixed-capacity hydraulic pump. However, the pilot pressure generating device can be implemented by the main pump 14. That is, in addition to the function of supplying working oil to the control valve unit 17 via the working oil pipeline, the main pump 14 can also have the function of supplying working oil to various hydraulic control equipment via the pilot pipeline. In this case, the pilot pump 15 can also be omitted.

[0045] 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.

[0046] The operating device 26 is a device for the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0047] A proportional valve 31 that functions as a control valve for device control is disposed in a pipeline connecting a pilot pump 15 and a pilot port of a control valve in a control valve unit 17, and is configured to be able to change the flow path area of the pipeline. In the present embodiment, the proportional valve 31 operates according to a control command output by a controller 30. Therefore, the controller 30 can supply the working oil discharged from the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31 regardless of the operation of the operator on the operation device 26.

[0048] With this configuration, even when the operation of a specific operation device 26 is not performed, the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26.

[0049] The control system of the excavator 100 according to the present embodiment includes a controller 30, an auxiliary storage device 47, a display device D1, an input device D2, a speaker A1, and a communication device T1. And, the control system of the excavator 100 includes a proportional valve 31, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a swing angle sensor S5, a camera device S6, and a positioning device PS as structures related to the semi-automatic operation function.

[0050] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the present embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected value to the controller 30. In the present embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. And, the controller 30 supplies the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure (pilot pressure) of the working oil supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to be able to supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0051] The display device D1 is provided at a position that is easily visually recognizable by the operator sitting in the cab 10, and displays various information images under the control of the controller 30. The display device D1 can be connected to the controller 30 via a vehicle-mounted network such as CAN (Controller Area Network), or can be connected to the controller 30 via a one-to-one dedicated line.

[0052] Moreover, the display device D1 is not limited to a device pre-set in the cab 10 and may also be a separately settable monitor. In addition, the display device D1 may be any device capable of displaying, for example, a tablet terminal communicable with the communication device T1 may be used.

[0053] The input device D2 is set within the reach of the hands of an operator sitting in the cab 10, accepts various operation inputs from the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device that displays various information images, a knob switch provided at the front end of the joystick device of the operation device 26, a button switch provided around the display device D1, a joystick, a toggle key, a rotary control dial, etc. A signal corresponding to the operation content of the input device D2 is input to the controller 30.

[0054] The speaker A1 is provided, for example, in the cab 10, converts the sound signal input from the controller 30 into physical sound and outputs it, in other words, converts it into vibrations of air and outputs it. The speaker A1 can be provided at any position, for example, near the display device D1, near the input device D2, or near the door of the cab.

[0055] The auxiliary storage device 47 is a readable and writable non-volatile storage medium and has a design data storage section 47A.

[0056] The design data storage section 47A stores design data. The design data includes construction data representing the three-dimensional shape after the excavator 100 is constructed at the work site. The construction data includes position data of the construction object in the world geodetic system represented by GNSS and three-dimensional shape data after construction. For example, the design data includes position data and three-dimensional shape data of the work object surface formed after the excavator 100 cuts the sand and soil.

[0057] The position data is expressed, for example, in the same reference coordinate system as the position data obtained by GNSS. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system with the center of gravity of the earth as the origin, the direction of the intersection of the Greenwich meridian and the equator as the X axis, the direction of 90 degrees east longitude as the Y axis, and the direction of the North Pole as the Z axis.

[0058] The controller 30 (an example of a control device) is provided, for example, inside the cab 10, and performs drive control of the excavator 100. The functions of the controller 30 can be implemented by any hardware, software, or a combination thereof. For example, the controller 30 is centered around a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage medium, and various input / output interfaces. The controller 30 implements various functions, for example, by executing various programs stored in the ROM or the non-volatile auxiliary storage medium on the CPU.

[0059] For example, the controller 30 sets a target rotational speed based on operations by the operator or the like, and performs drive control to keep the engine 11 rotating at a constant speed.

[0060] Further, for example, the controller 30 outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14.

[0061] Further, for example, the controller 30 controls the regulator 13 based on the detection value of the pilot pressure input from the operation sensor 29 and corresponding to the operation states of various operation elements (i.e., various hydraulic actuators) in the operation device 26, and adjusts the discharge amount of the main pump 14.

[0062] Further, for example, the controller 30 performs control related to a device guidance function that guides (directs) the manual operation of the excavator 100 by the operator through the operation device 26. Further, the controller 30 performs control related to a device control function that automatically supports the manual operation of the excavator 100 by the operator through the operation device 26.

[0063] In addition, a part of the functions of the controller 30 can also be implemented by other controllers (control devices). That is, the functions of the controller 30 can be implemented in a distributed manner by multiple controllers. For example, the device guidance function and the device control function can also be implemented by dedicated controllers (control devices).

[0064] More specifically, the controller 30 obtains information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the slewing angle sensor S5, the imaging device S6, the communication device T1, the positioning device PS, the input device D2, and the like. And the controller 30 calculates, for example, the distance between the bucket 6 and the design surface represented by the design data stored in the design data storage unit 47A based on the obtained information. And the controller 30 appropriately controls the proportional valve 31 according to the calculated distance between the bucket 6 and the design surface, etc., and individually and automatically adjusts the pilot pressure acting on the control valve corresponding to the hydraulic actuator, whereby each actuator can be automatically operated.

[0065] The proportional valve 31 is provided in the pilot line connecting the pilot pump 15 and the pilot ports of the control valves 171 to 176, and is configured to be able to change its flow path area (the cross-sectional area through which the working oil can pass). The proportional valve 31 operates according to the control command input from the controller 30. Thus, the controller 30 can supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31 even when the operating device 26 is not operated by the operator. And the controller 30 can make the pilot pressure generated by the proportional valve 31 act on the pilot port of the corresponding control valve.

[0066] With this structure, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. And even when the specific operating device 26 is operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26.

[0067] The boom angle sensor S1 is mounted on the boom 4 and detects the pitching angle of the boom 4 relative to the upper slewing body 3 (hereinafter referred to as "boom angle"), for example, the angle formed by the straight line connecting the two ends of the boom 4 and the slewing plane of the upper slewing body 3 when viewed from the side. The boom angle sensor S1 can include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. And the boom angle sensor S1 can also include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of the hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2, the bucket angle sensor S3, and the body tilt sensor S4 hereinafter. The detection signal corresponding to the boom angle based on the boom angle sensor S1 is input to the controller 30.

[0068] The boom angle sensor S2 is installed on the boom 5 and detects the rotation angle of the boom 5 relative to the arm 4 (hereinafter referred to as "boom angle"), for example, the angle formed by the straight line connecting the two ends of the boom 5 and the straight line connecting the two ends of the arm 4 when viewed from the side. The detection signal corresponding to the boom angle detected by the boom angle sensor S2 is input to the controller 30.

[0069] The bucket angle sensor S3 is installed on the bucket 6 and detects the rotation angle of the bucket 6 relative to the boom 5 (hereinafter referred to as "bucket angle"), for example, the angle formed by the straight line connecting the pivot point of the bucket 6 and the front end (bucket tip) and the straight line connecting the two ends of the boom 5 when viewed from the side. The detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

[0070] In the present embodiment, the arm angle sensor S1, the boom angle sensor S2, and the bucket angle sensor S3 are also referred to as the angle sensors of the attachment device AT. Also, the detection results of the angle sensors of the attachment device AT are also referred to as the angles of the attachment device AT. The angles of the attachment device AT represent, for example, the arm angle, the boom angle, and the bucket angle.

[0071] The body tilt sensor S4 detects the tilt state of the body (the upper swing body 3 or the lower traveling body 1) relative to the horizontal plane. The body tilt sensor S4 is installed, for example, on the upper swing body 3 and detects the tilt angles (hereinafter referred to as "front-back tilt angle" and "left-right tilt angle") of the excavator 100 (i.e., the upper swing body 3) around two axes in the front-back direction and the left-right direction. The detection signals corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) detected by the body tilt sensor S4 are input to the controller 30.

[0072] The swing angle sensor S5 outputs detection information related to the swing state of the upper swing body 3. The swing angle sensor S5 detects, for example, the swing angular velocity and the swing angle of the upper swing body 3. The swing angle sensor S5 includes, for example, a gyro sensor, a resolver, and a rotary encoder.

[0073] The present embodiment describes an example using the swing angle sensor S5, but the present embodiment is not limited to the method using the swing angle sensor S5. For example, an IMU (Inertial Measurement Unit) sensor can be used instead of the swing angle sensor S5. Moreover, the orientation of the excavator 100 can be detected by a positioning device PS described later instead of the swing angle sensor S5. Also, a geomagnetic sensor can be used instead of the swing angle sensor S5.

[0074] The imaging device S6 captures the surroundings of the excavator 100. The imaging device S6 includes a camera S6F that captures the front of the excavator 100, a camera S6L that captures the left side of the excavator 100, a camera S6R that captures the right side of the excavator 100, and a camera S6B that captures the rear of the excavator 100.

[0075] The camera S6F is installed, for example, on the ceiling of the cab 10 (i.e., inside the cab 10). Also, the camera S6F can be installed outside the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The camera S6L is installed at the left end of the upper surface of the upper swing body 3, the camera S6R is installed at the right end of the upper surface of the upper swing body 3, and the camera S6B is installed at the rear end of the upper surface of the upper swing body 3.

[0076] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is, for example, a monocular wide-angle camera with an extremely wide field of view. Also, the imaging device S6 can be a stereo camera or a distance image camera, etc. The captured images captured by the imaging device S6 are input to the controller 30.

[0077] The positioning device PS is configured to acquire information related to the position of the excavator 100. In the present embodiment, the positioning device PS is configured to measure the position and orientation of the excavator 100. Specifically, the positioning device PS is a GNSS receiver equipped with an electronic compass, which measures the latitude, longitude, and altitude of the current position of the excavator 100, and also measures the orientation of the excavator 100.

[0078] In the swing hydraulic motor 2A according to the present embodiment, a right swing pressure sensor S10R and a left swing pressure sensor S10L are installed.

[0079] The right swing pressure sensor S10R detects the pressure of the working oil in the right port of the swing hydraulic motor 2A. The left swing pressure sensor S10L detects the pressure of the working oil in the left port of the swing hydraulic motor 2A.

[0080] The communication device T1 communicates with an external device through a prescribed network including a mobile communication network terminated by a base station, a satellite communication network, an Internet network, etc. The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), etc., or a satellite communication module for connecting to a satellite communication network.

[0081] The excavator 100 operates an actuator (e.g., a hydraulic actuator) according to the operation of an operator riding in the cab 10, thereby driving moving components such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6 (hereinafter referred to as "driven components").

[0082] Moreover, the excavator 100 can be configured to be remotely operable (remotely controlled) from outside the excavator 100, in addition to or instead of being configured to be operable by the operator in the cab 10. When the excavator 100 is remotely operated, the interior of the cab 10 can be in an unmanned state.

[0083] Furthermore, the excavator 100 can also automatically operate the actuator regardless of the operation content of the operator. Thereby, the excavator 100 realizes the function of automatically operating at least a part of the driven components such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6, that is, the so-called "automatic operation function" or "equipment control function").

[0084] The automatic operation function can include a function of automatically operating driven components (actuators) other than the driven component (actuator) being operated, according to the operation or remote operation of the operator on the operation device 26, that is, the so-called "semi-automatic operation function" or "operation support type equipment control function". Also, in the automatic operation function, it can include a function of automatically operating at least a part of multiple driven components (hydraulic actuators) without the operation or remote operation of the operator on the operation device 26, that is, the so-called "fully automatic operation function" or "fully automatic type equipment control function". In the excavator 100, when the fully automatic operation function is effective, the interior of the cab 10 can be in an unmanned state. Also, in the semi-automatic operation function or the fully automatic operation function, etc., it can include a method of automatically determining the operation content of the driven component (actuator) that is the object of automatic operation according to a pre-specified rule. And in the semi-automatic operation function or the fully automatic operation function, etc., it can include a method in which the excavator 100 makes various judgments autonomously and determines the operation content of the driven component (hydraulic actuator) that is the object of automatic operation according to the judgment result (the so-called "automatic operation function").

[0085] Specifically, when the boom 5 is operated by the operator via the operating device 26, the controller 30 causes at least one of the arm 4 and the bucket 6 to automatically operate so that a predetermined target design surface (hereinafter, simply referred to as the "design surface") coincides with the front end position of the bucket 6. Further, the controller 30 can cause the boom 5 to automatically operate regardless of the operation state of the operating device 26 that operates the boom 5 together. That is, the controller 30 can use the operation of the operator on the operating device 26 as a trigger signal to cause the attachment device to perform a predetermined operation. Hereinafter, the function of the controller 30 that causes not only the boom 5 but also at least one of the arm 4 and the bucket 6 to operate according to the operation of the operating device 26 corresponding to the boom 5 is referred to as the "semi-automatic operation function". The semi-automatic operation function can be executed, for example, by operating a predetermined switch (hereinafter, "MC (Machine Control) switch") arranged at any front end of the joystick device included in the operating device 26.

[0086] [Functional Structure of Controller]

[0087] Next, with reference to Figure 3 , the structure of the controller 30 for controlling the height of the end attachment during the slewing operation will be described. Figure 3 is a diagram showing an example of the structure of the controller 30 according to the present embodiment. As Figure 3 shown, the controller 30 includes an operation reception unit 301, an acquisition unit 302, a calculation unit 303, a storage unit 304, an operation control unit 305, and an output control unit 306.

[0088] The controller 30 according to the present embodiment can execute an equipment control function that automatically supports the operator's manual direct operation and manual remote operation of the excavator 100. For example, when the operator manually performs an excavation operation, the controller 30 can cause at least one of the arm 4, the boom 5, and the bucket 6 to automatically operate so that the target design surface coincides with the front end position of the bucket 6.

[0089] The operation reception unit 301 receives, for example, an operation signal indicating the operation direction and operation amount of the operating device 26 from the operation sensor 29. Further, the operation reception unit 301 receives information indicating the operation content from the input device D2.

[0090] For example, the operation reception unit 301 receives the pressing of a predetermined switch included in the input device D2. The predetermined switch is, for example, an equipment control switch (hereinafter, referred to as the "MC switch"), and can be arranged as a rotary switch at the front end of the operating device 26. The present embodiment does not limit the position of the switch pressed to start the equipment control function, and it can be arranged at a position other than the operating device 26.

[0091] When the controller 30 according to this embodiment receives the pressing of the MC switch, it executes a device control function that automatically supports manual direct operation and manual remote operation. For example, when the controller 30 presses the MC switch or the like, in order to support excavation work or shaping work, at least one of the boom cylinder 7 and the bucket cylinder 9 can be automatically extended or retracted according to the movement of the arm cylinder 8.

[0092] The acquisition unit 302 acquires the detection results from various sensors provided in the excavator 100. For example, the acquisition unit 302 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the slewing angle sensor S5, the imaging device S6, the positioning device PS, the right slewing pressure sensor S10R, the left slewing pressure sensor S10L, and the like.

[0093] The calculation unit 303 calculates the height of a specified part of the bucket 6 from the ground. Specifically, the calculation unit 303 calculates the position coordinates of the specified part of the bucket 6 in the relative coordinate system with the origin at a specified position of the excavator 100 (for example, the center position of the bottom surface of the excavator 100) and the plane on which the excavator 100 can travel set as the XY plane, based on the detection results of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the dimensions of the attachment device AT. In this embodiment, the case where the specified part of the bucket 6 is the back surface 6b of the bucket 6 is described. In addition, the specified part of the bucket 6 is not limited to the back surface 6b of the bucket 6. The specified part of the bucket 6 may be any part that serves as a reference for the height control of the bucket 6 during the leveling operation, for example, the tip 6a of the bucket.

[0094] Then, the calculation unit 303 converts the position coordinates of the center of the back surface 6b of the bucket 6 in the relative coordinate system to the position coordinates in the above-mentioned reference coordinate system. The calculation unit 303 calculates the tilt angles (front-back tilt angle and left-right tilt angle) of the relative coordinate system with respect to the reference coordinate based on the detection result of the body tilt sensor S4. And the calculation unit 303 converts the position coordinates of the center of the back surface 6b of the bucket 6 in the relative coordinate system to the position coordinates in the reference coordinate system according to the tilt angle and the position coordinates of the reference coordinate corresponding to the origin of the relative coordinate system. Thus, the calculation unit 303 can derive the height of the back surface 6b of the bucket 6 in the reference coordinate system.

[0095] The storage unit 304 stores the current state of the excavator 100 as a setting for leveling by the bucket 6 in the auxiliary storage device 47. For example, when the MC switch is pressed, the storage unit 304 stores the inclination angle of the excavator 100 and the height of the back surface 6b of the bucket 6 in the auxiliary storage device 47. The height of the back surface 6b of the bucket 6 stored in the auxiliary storage device 47 becomes the height of the reference surface, which is the object to be leveled by the bucket 6. Assume an example where the reference surface according to this embodiment is the horizontal plane in the reference coordinate system. That is, the reference surface to be leveled by the bucket 6 is set as a surface whose height does not change in the reference coordinate system. The height of the reference surface corresponds to the height of the ground leveled by the bucket 6 during the slewing operation. In addition, in this embodiment, the case where the reference surface to be leveled is the horizontal plane is described, but it is not limited to the case where the reference surface is the horizontal plane and can be inclined along the height direction in the reference coordinate system. That is, in this embodiment, the ground can be leveled to this reference height.

[0096] The motion control unit 305 controls the motion of the excavator 100. For example, the motion control unit 305 controls the height of the back surface 6b (an example of a specified part) of the bucket 6 during the slewing operation of the upper slewing body 3 based on the detection result of the body inclination sensor S4.

[0097] The output control unit 306 performs control for displaying information on the display device D1. Specific examples of the information to be displayed will be described later.

[0098] Next, a specific example of the height control of the back surface 6b of the bucket 6 based on the controller 30 will be described.

[0099] Figure 4 FIG. is an example showing the height control of the back surface (an example of a specified part) 6b of the bucket 6 during the slewing operation of the excavator 100 according to this embodiment. Assume the following example: Figure 4 The shown excavator 100 performs the slewing operation of the upper slewing body 3 in a state where the back surface 6b of the bucket 6 is in contact with the ground (an example of a predetermined reference surface) 1401 to be leveled, and thus the side surface of the bucket 6 levels the ground 1401.

[0100] In this embodiment, the operator operates in such a way that the back surface 6b of the bucket 6 is in contact with the ground 1401 to be leveled. Then, the excavator 100 performs the slewing operation of the upper slewing body 3 according to the operator's operation. During the slewing operation of the excavator 100, the equipment control function is executed. Thus, the side surface of the bucket 6 cuts the sand above the ground 1401 to be leveled to perform the leveling operation.

[0101] In Figure 4In the example shown, it is assumed that the excavator 100 is inclined at an inclination angle θ with respect to the ground 1401 to be leveled. In this state, the upper swing body 3 of the excavator 100 swings with respect to the swing axis 1402. Without controlling the height of the bucket 6, the bucket 6 moves along a plane parallel to the plane 1403. That is, when the excavator 100 is inclined, it is difficult to move the bucket 6 along the ground 1401. In other words, in order to level the ground 1401 by a swinging operation when the excavator 100 is inclined, it is necessary to adjust the height of the bucket 6 so that the back surface 6b of the bucket 6 maintains contact with the ground 1401.

[0102] Specifically, at the position of the attachment device AT of the excavator 100 shown in Figure 4 , it is necessary to lower the boom 4 so that the bucket 6 is below the plane 1403 on which the excavator 100 can travel. On the other hand, at the position of the attachment device AT, it is necessary to raise the boom 4 so that the bucket 6 is above the plane 1403 on which the excavator 100 can travel.

[0103] Therefore, during the execution of the equipment control function by the motion control unit 305 according to the present embodiment, during the swinging operation of the upper swing body 3, the motion of the boom 4 is controlled so that the height of the bucket 6 maintains the height of the ground (an example of a predetermined reference plane) 1401. In other words, during the execution of the equipment control function by the motion control unit 305, during the swinging operation of the upper swing body 3, the excavation operation based on the bucket 6 is suppressed, and the rolling operation based on the bucket 6 is suppressed.

[0104] In the present embodiment, during the period when the operation reception unit 301 receives the pressing of the MC switch (an example of a predetermined switch), when a swing operation is received, the motion control unit 305 controls the motion of the boom 4 so that the height of the bucket 6 maintains the height of the ground (an example of a predetermined reference plane) 1401 during the swinging operation of the upper swing body 3. More specifically, the storage unit 304 according to the present embodiment stores the height of the bucket 6 when the MC switch (an example of a predetermined switch) is pressed as the height of the ground to be leveled in the auxiliary storage device 47. And the motion control unit 305 moves the boom 4 during the swinging of the upper swing body 3 during the period when the MC switch is pressed so that the stored height of the ground is substantially the same as the height of the back surface 6b of the bucket 6. Thereby, the height of the bucket 6 is adjusted to follow the ground to be leveled. In the present embodiment, the motion of the boom 4 is controlled by a simple operation by the operator, so that the operability can be improved.

[0105] In this embodiment, an example is described in which the height of the surface of the bucket 6 to be leveled is determined based on the position of the back surface 6b of the bucket 6 when the MC switch (an example of a prescribed switch) is pressed, in other words, when the equipment control function is executed. However, the method is not limited to this. For example, the controller 30 may determine the height of the surface to be leveled as the position where the plane contacted by the excavator 100 is lowered by a prescribed distance (e.g., several cm) in the height direction.

[0106] In addition, this embodiment shows one mode of operation and does not limit the case where a prescribed switch is pressed to the period when the MC switch is pressed. For example, it may be the case where the prescribed switch is pressed once or multiple times.

[0107] During the period when the MC switch is pressed and during the slewing operation of the upper slewing body 3, the calculation unit 303 calculates the height of the current back surface 6b of the bucket 6 in the reference coordinate system at each prescribed cycle based on the slewing angle and the tilt angle acquired in that cycle. The prescribed cycle may be, for example, the operation cycle of the controller 30 or another operation cycle.

[0108] And, the motion control unit 305 performs a raising or lowering operation of the boom 4 at each prescribed cycle so that the calculated height of the back surface 6b is substantially the same as the height of the back surface 6b of the bucket 6 stored by the storage unit 304. And, the motion control unit 305 performs an opening or closing operation of the bucket 6 at each prescribed cycle so that the back surface 6b of the bucket 6 is substantially parallel to the ground to be leveled.

[0109] Through the above control of the motion control unit 305, during the slewing operation of the upper slewing body 3, the height of the back surface 6b of the bucket 6 is controlled so that the sand and soil existing on the ground to be leveled can be removed by the side surface of the bucket 6. In addition, in this embodiment, the object to be removed by the side surface of the bucket 6 is not limited to sand and soil, as long as it is an object existing on the ground to be leveled. In this embodiment, leveling can be performed through the slewing operation, thereby reducing the workload of the operator.

[0110] In this embodiment, even when the excavator 100 is tilted, the controller 30 can perform a slewing operation in a state where the back surface of the bucket 6 is in contact with the ground through the above control, thereby being able to remove sand and soil located on the ground and perform leveling.

[0111] Moreover, the motion control unit 305 controls the operation of the boom according to the load generated during the slewing operation.

[0112] Figure 5This is a diagram showing the operation of the boom 4 corresponding to the slewing load during the slewing operation of the excavator 100 according to this embodiment. In Figure 5 In the example shown in (A), during the slewing operation of the excavator 100 with respect to the slewing axis 1402, the amount of sand and soil 1501 removed by the bucket 6 is small, so the slewing load is small.

[0113] In Figure 5 In the example shown in (B), during the slewing operation of the excavator 100, the amount of sand and soil 1502 removed by the bucket 6 is large, so the slewing load is large. At this time, it may cause the slewing speed of the upper slewing body 3 to decrease or the slewing to stop.

[0114] Therefore, the operation control unit 305 according to this embodiment performs a raising operation of the boom 4 when the slewing load is large.

[0115] Specifically, the acquisition unit 302 acquires the detection result of the slewing pressure sensor (right slewing pressure sensor S10R or left slewing pressure sensor S10L) corresponding to the current slewing direction.

[0116] Moreover, during the slewing operation, the operation control unit 305 determines whether the slewing load based on the detection result from the slewing pressure sensor (right slewing pressure sensor S10R or left slewing pressure sensor S10L) is greater than the first threshold value. And when the operation control unit 305 determines that the slewing load is greater than the first threshold value, as shown by the arrow 1503, it controls the raising operation of the boom 4. For example, the operation control unit 305 controls the raising operation of the boom 4 so that the height of the bucket 6 is raised by 1 cm to 2 cm. In addition, this embodiment shows an example of the raising operation of the boom 4, and is not limited to the raising operation of the boom 4 such that the height of the bucket 6 rises by 1 cm to 2 cm. According to the embodiment, it is sufficient to control the raising operation of the boom 4.

[0117] Moreover, the condition for performing the raising operation of the boom 4 is not limited to the determination based on the slewing load. For example, it may be a determination based on the operation amount and slewing speed of the slewing operation, or a determination based on a combination of the operation amount of the slewing operation, the slewing load, and the slewing speed. For example, when the operation control unit 305 determines that the slewing load becomes large and the slewing speed decreases despite the constant operation amount of the slewing operation, it may determine that the condition for performing the raising operation of the boom 4 is satisfied. As another example, when the operation control unit 305 determines that the slewing load rises and the slewing speed drops, it may determine that the condition for performing the raising operation of the boom 4 is satisfied.

[0118] Thus, during the slewing operation of the upper slewing body 3, the operation control unit 305 according to the current conditions such as the slewing load generated by the upper slewing body 3 through the slewing operation, performs the raising operation of the boom 4. By performing the raising operation of the boom 4, the slewing load can be reduced, so that the stop of the slewing operation or the reduction of the slewing operation speed can be suppressed.

[0119] Moreover, after the raising operation of the boom 4 is performed, when the slewing load becomes low, the operation control unit 305 performs the following control: performs the lowering operation of the boom 4 to restore the position of the bucket 6.

[0120] As a specific example, after the operation control unit 305 according to this embodiment performs the raising operation of the boom 4, when it is determined that the slewing load generated by the upper slewing body 3 through the slewing operation is less than the second threshold value, the lowering operation of the boom 4 is performed. In addition, the second threshold value is a value smaller than the first threshold value and is set as a threshold value determined according to the embodiment. In this embodiment, by performing the lowering operation of the boom 4, the operation control unit 305 can bring the bucket 6 closer to the surface to be shaped, so that the operator can approach the desired shaping operation. Therefore, the improvement of the accuracy of the shaping operation can be achieved.

[0121] Furthermore, in this embodiment, the operation receiving unit 301 can receive the operation of the arm 5 during the slewing operation while the MC switch is pressed.

[0122] Figure 6 It is a diagram for explaining the height control of the bucket 6 when the operation of the arm 5 is received in the controller 30 according to this embodiment. Figure 6 In the example shown, the bucket 6 is at position 1611. And when the operation receiving unit 301 receives the opening operation of the arm 5, the operation control unit 305 performs the opening operation 1651 of the arm 5 and performs the lowering operation of the boom 4 to keep the height of the bucket 6 at the ground 1601. Moreover, the operation control unit 305 performs the angle control of the bucket 6 so that the back surface 6b of the bucket 6 is substantially parallel to the ground 1601. Thus, the bucket 6 moves to the position 1612 where the back surface 6b of the bucket 6 contacts the ground 1601.

[0123] On the other hand, when the operation receiving unit 301 receives the retracting operation of the arm 5, the operation control unit 305 performs the retracting operation 1652 of the arm 5 and performs the raising operation of the boom 4 to keep the height of the bucket 6 at the ground 1601. Moreover, the operation control unit 305 performs the angle control of the bucket 6 so that the back surface 6b of the bucket 6 is substantially parallel to the ground 1601. Thus, the bucket 6 moves to the position 1613 where the back surface 6b of the bucket 6 contacts the ground 1601.

[0124] In addition, the operation control unit 305 according to the present embodiment is not limited to the method of controlling the operation of the boom 4 and the angle control of the bucket 6 when the arm 5 is retracted or extended, and may only perform either the control of the operation of the boom 4 or the angle control of the bucket 6. That is, even if only one of them is performed, the operation burden on the operator can be reduced.

[0125] When the operation control unit 305 according to the present embodiment performs the retraction or extension operation of the arm 5 according to the operation received by the operation device 26 during the rotation operation of the upper swing body 3, it performs at least one of maintaining the height of the back surface 6b of the bucket 6 at the height of the ground (an example of a predetermined reference surface) 1601 and the angle control of the bucket 6 according to the ground 1601.

[0126] In the present embodiment, the operator performs the extension operation or the retraction operation of the arm 5 during the rotation operation, thereby enabling the leveling operation of the desired position on the ground 1601. For example, the following control can be performed: moving the bucket 6 to the position to be leveled, or moving the bucket 6 from the position that does not need to be leveled. Moreover, the operation control unit 305 can level the ground 1601 over a large range by making the operation of the arm 5 follow the arm operation. Therefore, the controller 30 according to the present embodiment can improve the operation efficiency by performing the above control.

[0127] Moreover, during the rotation operation of the upper swing body 3, the operation control unit 305 controls the angle of the bucket 6 by the extension operation or the retraction operation of the bucket 6 according to the relationship between the ground and the back surface 6b of the bucket 6. For example, during the period when the MC switch is pressed, when the back surface 6b of the bucket 6 is inclined from the ground due to the operation of the boom 4 or the arm 5, the operation control unit 305 performs the extension operation or the retraction operation of the bucket 6 so that the back surface 6b of the bucket 6 is substantially parallel to the ground. As the method for adjusting the angle of the bucket 6, a known method can be used. For example, as long as the inclination angle of the back surface 6b of the bucket 6 with respect to the ground is detected based on the angle of the attachment device AT, and the angle of the bucket 6 is adjusted according to the detection result. Since the positional relationship between the back surface 6b of the bucket 6 and the ground can be adjusted by this operation, the ground can be properly leveled by the back surface 6b. Therefore, the accuracy of the leveling operation can be improved.

[0128] The output control unit 306 displays the area leveled by the rotation operation on the display device D1. The specific display content will be described later.

[0129] Figure 7 FIG. is a diagram showing an example of the screen displayed by the output control unit 306 according to the present embodiment on the display device D1. In Figure 7In the example shown, a bucket height display area 1701 and a leveling status display area 1702 are shown.

[0130] The bucket height display area 1701 is set as an area for displaying the current height of the bucket 6. The target section 1701f indicates the height of the ground to be leveled. The plurality of icons 1701a to 1701e are icons for indicating the current height of the bucket 6. One of the plurality of icons 1701a to 1701e is displayed in a different manner from the other icons. The icon displayed in a different manner from the other icons indicates the current height of the bucket 6. Figure 7 In, an example is assumed in which the display manner of the icon 1701b is different from the display manners of the other icons 1701a, 1701c to 1701e. Figure 7 In the example shown, as an example of making the display manner different, an example of making the colors different is assumed, but it is not limited to the method of making the colors different. For example, the shapes of the icons may also be different.

[0131] The icon 1701a indicates the position of the bucket 6 suitable for the ground shown in the leveling target section 1701f.

[0132] The icon 1701b indicates the height of the bucket 6 when the boom 4 is lifted once from the height of the bucket 6 shown by the icon 1701a. That is, Figure 7 the bucket height display area 1701 shown indicates that the boom 4 of the excavator 100 has been lifted once.

[0133] The icon 1701c indicates the height of the bucket 6 when the boom 4 is lifted once from the height of the bucket 6 shown by the icon 1701b. The icon 1701d indicates the height of the bucket 6 when the boom 4 is lifted once from the height of the bucket 6 shown by the icon 1701c. That is, it indicates moving away from the ground as it changes from the icon 1701a to 1701d.

[0134] The icon 1701e indicates the height of the bucket 6 when the boom 4 is lowered once from the height of the bucket 6 shown by the icon 1701a. The icon 1701e indicates that the bucket 6 has moved to a position lower than the ground to be leveled.

[0135] During the slewing operation, the output control unit 306 switches the display manners of the icons 1701a to 1701e each time the boom 4 is lifted. Moreover, during the slewing operation, the output control unit 306 outputs a warning sound from the speaker A1 each time the boom 4 is lifted.

[0136] Thus, the output control unit 306 gives a notification when the boom 4 is lifted. Therefore, the operator can recognize that the boom 4 has been lifted. Moreover, by referring to the bucket height display area 1701, the operator can recognize the current height of the bucket 6. Therefore, the operator can recognize the current situation during the leveling operation, and thus the convenience can be improved.

[0137] The leveling status display area 1702 indicates the area where the excavator 100 is leveled by the bucket 6 during the slewing operation while the MC switch is pressed. In the leveling status display area 1702, a display image 1711 of the excavator 100 and a leveling completion display area 1712 are displayed. In addition, in the leveling status display area 1702, the leveled area may be superimposed on the bird's-eye view image based on the image information obtained by photographing with the imaging device S6. Among the image information obtained by photographing, at least one or more of the image information obtained by the camera S6F photographing the front of the excavator 100, the image information obtained by the camera S6L photographing the left side (specifically, the left front side) of the excavator 100, the image information obtained by the camera S6R photographing the right side (specifically, the right front side) of the excavator 100, and the image information obtained by the camera S6B photographing the rear of the excavator 100 may be included.

[0138] The display image 1711 representing the excavator 100 shows the current status of the excavator 100 based on the slewing angle, boom angle, arm angle, and bucket angle of the excavator 100. Therefore, by referring to the display image 1711, the operator can recognize the current status of the excavator 100.

[0139] The leveling completion display area 1712 indicates the area leveled by the side of the bucket 6 of the excavator 100. The display mode of the leveling completion display area 1712 varies according to the height of the bucket 6 during leveling.

[0140] The first display area 1712a is set as the area leveled by the bucket 6 at the height of the bucket 6 indicated by the icon 1701a, that is, the height suitable for the ground indicated by the leveling target section 1701f.

[0141] The second display area 1712b is set as the area leveled by the bucket 6 at the height of the bucket 6 indicated by the icon 1701b, that is, the area leveled by the bucket 6 when the boom 4 is lifted once.

[0142] The third display area 1712c is set as the area leveled by the bucket 6 at the height of the bucket 6 indicated by the icon 1701c, that is, the area leveled by the bucket 6 when the boom 4 is lifted twice.

[0143] Thus, the output control unit 306 displays the leveling completed display area 1712 leveled by the bucket 6 through the slewing operation on the display device D1. By referring to the leveling status display area 1702, the operator can identify the area leveled by the excavator 100.

[0144] Moreover, in the leveling completed display area 1712 leveled by the bucket 6 through the slewing operation, the output control unit 306 makes the color different according to the height of the bucket 6 during leveling. By referring to the leveling completed display area 1712, the operator can identify the height of the sand and soil in the surrounding area. Moreover, the operator can identify the area that should be leveled again to make the ground height equal. By referring to the leveling completed display area 1712, the operator can identify the result of the leveling operation and can perform the operation based on this result, so that the occurrence of construction defects can be suppressed. Therefore, the controller 30 according to the present embodiment can improve the accuracy of the leveling operation and reduce the burden on the operator.

[0145] Figure 7 The illustrated screen shows an example and is not limited to this screen. For example, the output control unit 306 is not limited to the method of simultaneously displaying the bucket height display area 1701 and the leveling status display area 1702, and may display the bucket height display area 1701 or the leveling status display area 1702. And, the output control unit 306 may display one or more of the bucket height display area 1701 and the leveling status display area 1702 together with the peripheral monitoring information such as the image information obtained by photographing with the imaging device S6. Moreover, the output control unit 306 may display one or more of the bucket height display area 1701 and the leveling status display area 1702 together with the information indicating the current state of the excavator 100.

[0146] Next, the processing steps executed by the controller 30 according to the present embodiment will be described. Figure 8 It is the first flowchart showing the processing steps for the controller 30 according to the present embodiment to level by slewing operation with the height of the bucket 6 when the MC switch is pressed as a reference.

[0147] First, the operation reception unit 301 determines whether the pressing of the MC switch has been accepted (S1801). If it is determined that the pressing has not been accepted (S1801: "No"), the process ends.

[0148] When the operation reception unit 301 determines that the pressing of the MC switch has been received (S1801: "Yes"), the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment device AT acquired from the angle sensor of the attachment device AT (e.g., boom angle, arm angle, and bucket angle) (S1802).

[0149] The storage unit 304 stores the inclination angle of the excavator 100 and the height of the back surface 6b of the bucket 6 in the auxiliary storage device 47 (S1803). The height of the bucket 6 stored in the auxiliary storage device 47 becomes the height of the reference plane.

[0150] The motion control unit 305 adjusts the bucket angle to be substantially parallel to the ground (e.g., horizontal plane) (S1804).

[0151] The operation reception unit 301 determines whether the start of the slewing operation has been received (S1805). When it is determined that the start of the slewing operation has not been received (S1805: "No"), the process is repeated until the start of the slewing operation is received.

[0152] When the operation reception unit 301 determines that the start of the slewing operation has been received (S1805: "Yes"), the motion control unit 305 performs the slewing motion of the upper slewing body 3 (S1806).

[0153] In each prescribed cycle, the calculation unit 303 calculates the height of the current back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment device AT acquired from the angle sensor of the attachment device AT (e.g., boom angle, arm angle, and bucket angle) (S1807).

[0154] In each prescribed cycle, the motion control unit 305 controls the boom 4 based on the calculated height of the back surface 6b. Specifically, when the calculated height of the back surface 6b is different from the height of the back surface 6b of the bucket 6 stored by the storage unit 304, the motion control unit 305 performs a raising operation or a lowering operation of the boom 4 so that the calculated height of the back surface 6b is substantially the same as the height of the back surface 6b of the bucket 6 stored by the storage unit 304. Moreover, in each prescribed cycle, the motion control unit 305 performs an opening operation or a retracting operation of the bucket 6 so that the back surface 6b of the bucket 6 is substantially parallel to the ground to be leveled.

[0155] Further, the operation reception unit 301 determines whether the pressing of the MC switch has ended or the turning operation has ended (S1809). When the operation reception unit 301 determines that the pressing of the MC switch continues and the turning operation continues (S1809: "No"), the processing starts again from S1806.

[0156] On the other hand, when the operation reception unit 301 determines that the pressing of the MC switch has ended or the turning operation has ended (S1809: "Yes"), the processing ends.

[0157] By performing the above control, the controller 30 according to the present embodiment can control the back surface 6b of the bucket 6 along the ground to be leveled even when the excavator 100 is tilted, so that a leveling operation can be performed.

[0158] However, the controller 30 can also perform control corresponding to the condition of the ground to be leveled or the operation of the operator.

[0159] Next, the processing steps executed by the controller 30 according to the present embodiment will be described. Figure 9 It is a second flowchart showing the processing steps for the controller 30 according to the present embodiment to perform leveling by a turning operation with the height of the bucket 6 when the MC switch is pressed as a reference.

[0160] First, the operation reception unit 301 determines whether the pressing of the MC switch has been received (S1901). When it is determined that the pressing has not been received (S1901: "No"), the processing ends.

[0161] When the operation reception unit 301 determines that the pressing of the MC switch has been received (S1901: "Yes"), the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the tilt angle of the excavator 100 obtained from the body tilt sensor S4 and the angle of the attachment AT obtained from the angle sensor of the attachment AT (for example, boom angle, arm angle, and bucket angle) (S1902).

[0162] The storage unit 304 stores the tilt angle of the excavator 100 and the height of the back surface 6b of the bucket 6 in the auxiliary storage device 47 (S1903). The height of the bucket 6 stored in the auxiliary storage device 47 becomes the height of the reference plane.

[0163] The motion control unit 305 adjusts the bucket angle to be substantially parallel to the ground (for example, the horizontal plane) (S1904).

[0164] The operation acceptance unit 301 determines whether the start of the slewing operation has been accepted (S1905). If it is determined that the start of the slewing operation has not been accepted (S1905: "No"), the process is repeated until the start of the slewing operation is accepted.

[0165] If the operation acceptance unit 301 determines that the start of the slewing operation has been accepted (S1905: "Yes"), the motion control unit 305 performs the slewing motion of the upper slewing body 3 (S1906).

[0166] In each prescribed cycle, the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment device AT acquired from the angle sensor of the attachment device AT (for example, boom angle, arm angle, and bucket angle) (S1907).

[0167] In each prescribed cycle, the motion control unit 305 controls the boom 4 based on the calculated height of the back surface 6b. Specifically, similar to Figure 8 S1808, when the calculated height of the back surface 6b is different from the height of the back surface 6b of the bucket 6 stored in the storage unit 304, the motion control unit 305 performs a raising action or a lowering action of the boom 4 so that the calculated height of the back surface 6b is approximately the same as the height of the back surface 6b of the bucket 6 stored in the storage unit 304. However, when the motion control unit 305 is in the state of performing the raising action of the boom 4 in S1910 described later, it determines whether the slewing load detected by the slewing pressure sensor corresponding to the current slewing direction (right slewing pressure sensor S10R or left slewing pressure sensor S10L) is less than the second threshold (the second threshold < the first threshold). And when the motion control unit 305 determines that the slewing load is less than the second threshold, it performs a lowering action of the boom 4 to lower the height of the bucket 6 by 1 cm to 2 cm. That is, after the raising action of the boom 4 is performed and the slewing load becomes smaller, the motion control unit 305 performs the following control: performing a lowering action of the boom 4 to restore the height of the back surface 6b to the original height.

[0168] The motion control unit 305 determines whether the slewing load detected by the slewing pressure sensor corresponding to the current slewing direction (right slewing pressure sensor S10R or left slewing pressure sensor S10L) is greater than the first threshold (S1909). If it is determined that the slewing load is at the first threshold or less (S1909: "No"), the process proceeds to the process of S1911. In addition, the first threshold is set as a threshold determined according to the performance and other embodiments of the excavator 100.

[0169] On the other hand, when the operation control unit 305 determines that the slewing load is greater than the first threshold (S1909: "Yes"), it performs a raising operation of the boom 4 to raise the height of the bucket 6 by 1 cm to 2 cm (S1910).

[0170] The operation reception unit 301 determines whether an extending operation or a retracting operation of the arm 5 has been received (S1911). When it is determined that the extending operation or the retracting operation of the arm 5 has not been received (S1911: No), the process proceeds to the process of S1913.

[0171] On the other hand, when the operation reception unit 301 determines that an extending operation or a retracting operation of the arm 5 has been received (S1911: "Yes"), the operation control unit 305 controls the boom 4 and the bucket 6 together with the extending action or the retracting action of the arm 5 corresponding to the operation, so that the back surface 6b of the bucket 6 contacts the ground to be leveled (S1912).

[0172] Moreover, the operation reception unit 301 determines whether the pressing of the MC switch has ended or the slewing operation has ended (S1913). When the operation reception unit 301 determines that the pressing of the MC switch continues and the slewing operation continues (S1913: "No"), the process starts again from S1906.

[0173] On the other hand, when the operation reception unit 301 determines that the pressing of the MC switch has ended or the slewing operation has ended (S1913: "Yes"), the process ends.

[0174] In Figure 9 In the processing steps shown, according to the change of the ground to be shaped, a raising operation or a lowering operation of the boom 4 is performed, thereby reducing the slewing load generated by the excavator 100. Moreover, even when the operator's retracting operation or extending operation of the arm 5 is received, the state where the back surface 6b of the bucket 6 contacts the ground to be shaped can be maintained, so that the accuracy of the shaping operation can be improved.

[0175] In the present embodiment, an example of controlling the height of the bucket 6 so that the back surface 6b of the bucket 6 contacts the ground has been described. However, the height control of the bucket 6 according to the present embodiment is not limited to the control such as making the back surface 6b of the bucket 6 contact the ground, as long as it is a control corresponding to the operation performed by the excavator 100 during slewing.

[0176] (Second Embodiment)

[0177] In the above-described embodiment, an example was described in which, after the operator operates the back surface 6b of the bucket 6 to contact the surface to be leveled (an example of a reference surface), the leveling operation is performed during the slewing operation by the equipment control function. However, the above-described embodiment is not limited to the method by which the operator determines the surface to be leveled. Therefore, in the second embodiment, an example is assumed in which the back surface 6b of the bucket 6 is moved along the work object surface (an example of a predetermined reference surface) represented by the design data stored in the design data storage unit 47A and the leveling operation is performed.

[0178] Next, the processing steps executed by the controller 30 according to the present embodiment will be described. Figure 10 FIG. is a flowchart showing the processing steps for the controller 30 according to the present embodiment to level the work object surface represented by the design data by the slewing operation.

[0179] First, the operation reception unit 301 determines whether the pressing of the MC switch has been accepted (S2001). If it is determined that the pressing has not been accepted (S2001: "No"), the processing ends.

[0180] When the operation reception unit 301 determines that the pressing of the MC switch has been accepted (S2001: "Yes"), the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment device AT acquired from the angle sensor of the attachment device AT (for example, boom angle, arm angle, and bucket angle) (S2002).

[0181] The storage unit 304 stores the inclination angle of the excavator 100 in the auxiliary storage device 47 (S2003).

[0182] The motion control unit 305 performs control to move the boom 4 (for example, lower it) so that the bucket 6 contacts the work object surface represented by the design data (S2004).

[0183] Moreover, the motion control unit 305 adjusts the bucket angle so that the back surface 6b is substantially parallel to the work object surface (S2005).

[0184] The operation reception unit 301 determines whether the start of the slewing operation has been accepted (S2006). If it is determined that the start of the slewing operation has not been accepted (S2006: "No"), the processing is repeated until the start of the slewing operation is accepted.

[0185] When the operation reception unit 301 determines that the start of the slewing operation has been accepted (S2006: "Yes"), the motion control unit 305 performs the slewing operation of the upper slewing body 3 (S2007).

[0186] In each prescribed cycle, the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment device AT acquired from the angle sensor of the attachment device AT (for example, the boom angle, the arm angle, and the bucket angle) (S2008).

[0187] In each prescribed cycle, the motion control unit 305 controls the boom 4 based on the calculated height of the back surface 6b (S2009). Specifically, when the calculated height of the back surface 6b is different from the height of the work object surface represented by the design data, the motion control unit 305 performs a raising action or a lowering action of the boom 4 so that the calculated height of the back surface 6b is substantially the same as the height of the work object surface. Moreover, in each prescribed cycle, the motion control unit 305 performs an opening action or a retracting action of the bucket 6 so that the back surface 6b of the bucket 6 is substantially parallel to the work object surface.

[0188] In addition, the operation reception unit 301 determines whether the pressing of the MC switch or the rotation operation has ended (S2010). When the operation reception unit 301 determines that the pressing of the MC switch continues and the rotation operation continues (S2010: "No"), the processing starts again from S2007.

[0189] On the other hand, when the operation reception unit 301 determines that the pressing of the MC switch or the rotation operation has ended (S2010: "Yes"), the processing ends.

[0190] By performing the above control, the controller 30 according to the present embodiment can control the back surface 6b of the bucket 6 along the work object surface even when the excavator 100 is inclined, and thus can level the ground into the shape shown by the work object surface.

[0191] In addition, in the present embodiment, the raising action or the lowering action of the boom 4 is performed along the work object surface, and the opening action or the retracting action of the bucket 6 is performed so that the height of the back surface 6b of the bucket 6 is substantially the same as the height of the work object surface. That is, by performing the above control, the controller 30 according to the present embodiment can perform a leveling operation by making the back surface 6b of the bucket 6 follow the inclined work object surface even when the work object surface is inclined with respect to the horizontal plane of the reference coordinate system.

[0192] In this way, even when the ground is inclined, the controller 30 according to the present embodiment can perform a leveling operation using the back surface 6b of the bucket 6 during the rotation operation.

[0193] The excavator 100 according to this embodiment is controlled such that the back surface 6b of the bucket 6 follows the work object surface represented by the design data, so that the operation burden on the operator during the shaping operation can be reduced.

[0194] (Third Embodiment)

[0195] In the third embodiment, a case where the operator remotely operates the excavator 100 will be described.

[0196] Figure 11 It is a schematic diagram showing a structural example of a remote support system SYS (an example of a control system of an excavator) for the excavator 100 according to this embodiment. In Figure 11 In the illustrated example, the excavator 100 and the remote operation room RC are connected via a communication network NW. Thus, information transmission and reception can be achieved between the excavator 100 and the remote operation room RC.

[0197] The excavator 100 uses the communication device T1 provided in the excavator 100 to send the detection results from various sensors provided in the excavator 100 to the remote operation room RC. For example, the excavator 100 sends the image information captured by the imaging device S6 to the remote operation room RC.

[0198] In the remote support system SYS according to this embodiment, a remote operation room RC is provided. In the remote operation room RC, a display device DR, an operation device R26, an operation sensor R29, an operator's seat DS, a remote controller R30, and a communication device T2 are provided.

[0199] The display device DR is provided to enable the operator OP in the remote operation room RC to visually recognize the periphery of the excavator 100.

[0200] The operator OP sitting on the operator's seat DS in the remote operation room RC operates the operation device R26. And, the operation sensor R29 detects the operation content received by the operation device R26. And, the remote controller R30 generates a control signal corresponding to the operation content.

[0201] The remote controller R30 also receives the pressing of the MC switch provided at the front end of the operation device R26. The remote controller R30 also generates a control signal indicating whether the MC switch has been pressed.

[0202] And, the communication device T2 sends the generated control signal to the excavator 100. By sending the control signal, the remote controller R30 can remotely operate the excavator 100.

[0203] Moreover, the controller 30 of the excavator 100 controls the excavator 100 according to the received control signal. For example, the controller 30 can identify whether the MC switch has been pressed according to the received control signal. Further, the controller 30 can identify whether a slewing operation has been performed according to the received control signal.

[0204] Moreover, the controller 30 of the excavator 100 performs the same control as that in the above-described embodiment according to the recognition result.

[0205] Thus, in the present embodiment, even when the operator OP on the operator seat RC is present in the remote operation room RC, the grading operation can be performed by the slewing motion of the excavator 100.

[0206] In the above-described embodiment and modification, an example in which the bucket 6 is installed as an end attachment has been described. However, in the above-described embodiment and modification, the end attachment is not limited to the bucket 6, and for example, a dozer blade or the like can also be applied.

[0207] <Function>

[0208] In the above-described embodiment, even when the excavator 100 is tilted, the grading operation can be performed at a specified portion of the bucket 6 during the slewing motion of the excavator 100. Since the operator does not need to adjust the angle of the attachment AT according to the tilt of the excavator 100, the operation burden can be reduced. Therefore, even when the operator has insufficient experience, the grading operation can be easily performed.

[0209] In the excavator 100 according to the above-described embodiment, the height of a specified portion of the bucket 6 is controlled, so that the grading operation on the surface to be graded can be appropriately performed. Therefore, an improvement in the accuracy of the grading operation can be achieved. Conventionally, when performing a grading operation with a bucket by a slewing motion, adjustments such as horizontally setting the excavator are required. In contrast, in the above-described embodiment, the controller 30 performs the above-described control, so that adjustments such as horizontally setting the excavator 100 are not required, and thus the operation burden can be reduced.

[0210] The embodiments of the excavator and the control system of the excavator according to the present invention have been described above, but the present invention is not limited to the above-described embodiments and the like. Various changes, corrections, substitutions, additions, deletions, and combinations can be made within the scope described in the claims. Of course, these matters also belong to the technical scope of the present invention.

Claims

1. An excavator comprising: Lower walking body; An upper rotating body, mounted on the lower walking body so as to be rotatable; A movable arm, mounted on the upper rotating body; A bucket arm is mounted on the front end of the boom; A terminal attachment device is mounted on the front end of the arm; a tilt sensor for detecting the tilt of the excavator; and The control unit is configured to control the height of the terminal attachment device during the rotation operation of the upper rotation body based on the detection result of the tilt sensor.

2. The excavator according to claim 1, wherein: The control unit is configured to control the height of the terminal attachment during the swinging operation of the upper swing body based on a detection result by the tilt sensor when a predetermined switch is pressed.

3. The excavator according to claim 1 or 2, wherein: The control unit controls the boom so that the height of the end attachment is maintained at a height of a predetermined reference plane during the swinging operation of the upper swing body.

4. The excavator according to claim 3, wherein: The height of the predetermined reference surface corresponds to the height of the ground after being leveled by the termination attachment in a pivoting motion.

5. The excavator according to claim 3, wherein: The control unit is configured to control the angle of the terminal attachment device based on the reference plane during the rotation operation of the upper rotating body.

6. The excavator according to claim 3, wherein: The control unit performs at least one of maintaining the height of the terminal attachment at a height of a predetermined reference plane and controlling the angle of the terminal attachment based on the reference plane when the boom is retracted or opened according to an operation received by an operating device during the rotation movement of the upper rotating body.

7. The excavator according to claim 1, wherein: The control unit suppresses an excavation operation by the end connection attachment and suppresses a crushing operation by the end connection attachment during a swing operation of the upper swing body.

8. The excavator according to claim 1, wherein: The control unit controls the height of the terminal attachment during the rotation operation of the upper rotating body so that an object existing on the ground can be removed from a side surface of the terminal attachment.

9. The excavator according to claim 8, wherein: During the rotational movement of the upper rotating body, the object removed by the side surface of the end connection attachment is sand and soil of the ground to be leveled by the end connection attachment.

10. The excavator according to claim 1, wherein: The control unit is configured to perform a lifting operation of the boom according to a load generated on the upper revolving body by the revolving operation during the revolving operation of the upper revolving body.

11. The excavator according to claim 10, wherein: The control unit is configured to perform a lowering operation of the boom according to a load generated on the upper swing body by the swinging operation after performing a raising operation of the boom.

12. The excavator according to claim 10, wherein: The control unit is configured to issue a notification when the lifting operation of the boom is performed.

13. The excavator according to claim 1, wherein: The control unit is configured to display, on a display device, an area flattened by the terminating attachment through a rotational action.

14. The excavator according to claim 13, wherein: The control unit is configured to display the area leveled by the termination attachment through the rotational operation in a different manner according to the height of the termination attachment.

15. A control system for an excavator, comprising: An excavator comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a boom mounted on the upper rotating body, an arm mounted on the front end of the boom, an end attachment mounted on the front end of the arm, and an inclination sensor for detecting an inclination of the excavator; an operating device for receiving depression of a specified switch; and The control unit is configured to control the height of the terminal attachment during the rotation operation of the upper rotation body based on a detection result by the tilt sensor when the predetermined switch is pressed.

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