Construction machine and remote support system

Abstract

The purpose of the present invention is to provide a construction machine and a remote support system that improve work efficiency. This construction machine is provided with: a lower traveling body; an upper revolving body that revolves with respect to the lower traveling body; an attachment device attached to the upper rotating body and having at least a boom and an arm; the operating device is provided with one operating rod and the other operating rod; and a control unit that controls the accessory device in a first control mode when one of the operating levers is operated, and controls the accessory device in a second control mode when the other operating lever is operated.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2023-223162 filed on December 28, 2023, and Japanese Patent Application No. 2024-212903 filed on December 5, 2024. The entire contents of the Japanese applications are incorporated herein by reference. Technical Field

[0002] The present invention relates to a construction machine and a remote support system. Background Art

[0003] In Patent Document 1, an excavator is disclosed in which data related to a target construction surface is input in advance, and which has an equipment control function in which, when an operator operates a switch while operating an operating lever, an attachment is automatically operated so that the target construction surface coincides with the front end position of a bucket.

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2021-181732

[0005] However, in the excavator disclosed in Patent Document 1, there is a workload of preparing data related to a target construction surface in advance and inputting it into the controller of the excavator. Summary of the Invention

[0006] Therefore, in view of the above problems, an object is to provide a construction machine and a remote support system that improve work efficiency.

[0007] To achieve the above object, a construction machine according to an embodiment of the present invention includes: a lower traveling body; an upper revolving body that revolves relative to the lower traveling body; an attachment that is mounted on the upper revolving body and has at least a boom and an arm; an operating device having one operating lever and another operating lever; and a control unit that performs the following control: when one of the operating levers is operated, the attachment is controlled in a first control mode, and when the other operating lever is operated, the attachment is controlled in a second control mode.

[0008] Advantages of the Invention

[0009] According to the above embodiment, a construction machine that improves work efficiency can be provided. Brief Description of the Drawings

[0010] Figure 1 It is a side view of an excavator according to the first embodiment.

[0011] Figure 2 It is a block diagram showing an example of the structure of the excavator according to the first embodiment.

[0012] Figure 3 It is a diagram showing a structural example of the hydraulic system mounted on the excavator according to the first embodiment.

[0013] Figure 4A It is a diagram showing the part of the hydraulic system related to the operation of the arm cylinder according to the first embodiment.

[0014] Figure 4B It is a diagram showing the part of the hydraulic system related to the operation of the boom cylinder according to the first embodiment.

[0015] Figure 4C It is a diagram showing the part of the hydraulic system related to the operation of the bucket cylinder according to the first embodiment.

[0016] Figure 4D It is a diagram showing the part of the hydraulic system related to the operation of the swing hydraulic motor according to the first embodiment.

[0017] Figure 5 It is a schematic diagram showing an example of the operation of the excavator.

[0018] Figure 6 It is a flowchart showing an example of the control in the excavator according to the first embodiment.

[0019] Figure 7 It is a flowchart showing another example of the control in the excavator according to the first embodiment.

[0020] Figure 8 It is a schematic diagram showing another example of the operation of the excavator.

[0021] Figure 9 It is a graph showing an example of the height control of the bucket tip.

[0022] Figure 10 It is a flowchart showing yet another example of the control in the excavator according to the first embodiment.

[0023] Figure 11 It is a schematic diagram showing yet another example of the operation of the excavator.

[0024] Figure 12 It is a schematic diagram showing an example of the operation of the excavator according to the second embodiment.

[0025] Figure 13 It is a flowchart showing an example of the control in the excavator according to the second embodiment.

[0026] Figure 14 It is a schematic diagram showing a structural example of the remote support system of the excavator according to the third embodiment.

[0027] In the figure: 100 - excavator, 1 - lower traveling body, 2 - slewing mechanism, 3 - upper slewing body, 4 - boom, 5 - arm, 6 - bucket, 26 - operating device, 26L - left operating lever (one of the operating levers), 26R - right operating lever (the other operating lever), 30 - controller (control unit). Detailed implementation mode

[0028] Hereinafter, with reference to the drawings, embodiments of the present invention will be described. Moreover, the embodiments described below are illustrative rather than restrictive of the embodiments of the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. In addition, in each drawing, the same or corresponding structures may sometimes be labeled with the same or corresponding reference numerals, and the description thereof may be omitted.

[0029] Hereinafter, in the embodiments of the present invention, an example of using an excavator as an example of construction machinery will be described, but it is not limited to excavators. It can also be applied to construction machinery, standard machines, application machines, forestry machinery, or conveying machinery based on hydraulic excavators.

[0030] (First Embodiment)

[0031] Hereinafter, with reference to the drawings, a mode for implementing the invention will be described.

[0032] [Outline of Excavator]

[0033] First, with reference to Figure 1 , an outline of the excavator 100 according to the first embodiment will be described.

[0034] Figure 1 is a side view of the excavator 100 according to the first embodiment.

[0035] The excavator 100 according to the first embodiment includes a lower traveling body 1, an upper slewing body 3 rotatably mounted on the lower traveling body 1 via a slewing mechanism 2, a boom 4, an arm 5, a bucket 6, and a cab 10 as an attachment device (working device).

[0036] The lower traveling body 1 (an example of a traveling body) 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, 2MR (refer to Figure 2 ).

[0037] The upper slewing body 3 (an example of a slewing body) rotates relative to the lower traveling body 1 by being driven by a slewing hydraulic motor 2A (refer to Figure 2 ).

[0038] The attachment device AT (an example of an attachment device) includes a boom 4, an arm 5, and a bucket 6.

[0039] The boom 4 is pivotally mounted at the front center of the upper slewing body 3. The stick 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 stick 5.

[0040] The bucket 6 is an example of a working tool. The bucket 6 is used, for example, in excavation work. The bucket 6 according to the first embodiment includes a cutting edge 6a and a bottom surface 6b as portions for forming a horizontal plane.

[0041] Moreover, at the front end of the stick 5, other working tools can be installed instead of the bucket 6 according to the work content and the like.

[0042] The boom 4, the stick 5, and the bucket 6 are respectively hydraulically driven by hydraulic cylinders for the boom 7, the stick 8, and the bucket 9 as hydraulic actuators by the working oil discharged from the main pump 14 (refer to Figure 2 ).

[0043] The cab 10 is an operation room for an operator (hereinafter, also referred to as an operator), and is mounted on the front left side of the upper slewing body 3.

[0044] 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 slewing body 3, the boom 4, the stick 5, and the bucket 6 is electrically driven. That is, the excavator 100 may be a hybrid excavator or an electric excavator in which a part of the driven components is driven by an electric actuator.

[0045] [Structure of Excavator]

[0046] 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.

[0047] Figure 2 is a block diagram showing an example of the structure of the excavator 100 according to the first embodiment.

[0048] In addition, in the figure, mechanical power pipelines are represented by double lines, high-pressure hydraulic pipelines are represented by solid lines, pilot pipelines are represented by dashed lines, and electric drive / control pipelines are represented by dotted lines. Hereinafter, the same applies to Figure 3 and FIG. 4.

[0049] The hydraulic drive system that hydraulically drives the hydraulic actuators of the excavator 100 according to the first 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 first embodiment includes hydraulic actuators such as travel hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive each of the lower travel body 1, upper swing body 3, boom 4, arm 5, and bucket 6.

[0050] 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 preset target speed under the direct or indirect control of a controller (control unit) 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.

[0051] 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 a control command from the controller 30. As will be described later, the regulator 13 includes, for example, regulators 13L and 13R.

[0052] Similar to the engine 11, the main pump 14 (an example of a hydraulic pump) is, for example, mounted on the rear part of the upper swing body 3, and supplies working oil to the control valve unit 17 through a 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. As will be described later, the main pump 14 includes, for example, main pumps 14L and 14R. The high-pressure hydraulic pipeline 16 is a pipeline that converts the power from the engine 11 into hydraulic pressure through the main pump 14 and is used to transmit this hydraulic pressure to the control valve unit 17.

[0053] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the first embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured 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 and 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. Also, 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.

[0054] The pilot pump 15 is an example of a pilot pressure generating device and is configured to be able to supply the working oil to the hydraulic control equipment via the pilot line. In the first embodiment, the pilot pump 15 is a fixed displacement type 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 the working oil to the control valve unit 17 via the working oil line, the main pump 14 can also have the function of supplying the working oil to various hydraulic control equipment via the pilot line. In this case, the pilot pump 15 can also be omitted.

[0055] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the first embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0056] The operation device 26 is a device for the operator to operate the actuator. The operation device 26 includes, for example, an operation lever and an operation pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0057] The proportional valve 31 that functions as a control valve for equipment control is arranged in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17 and is configured to be able to change the flow path area of the pipeline. In the first embodiment, the proportional valve 31 operates according to the control command output by the controller 30. Therefore, the controller 30 can supply the working oil discharged from the pilot pump 15 to the pilot port of the 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.

[0058] With this structure, even when the operator does not operate a specific operation device 26, the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26.

[0059] The control system of the excavator 100 according to the first embodiment includes a controller 30, a display device D1, an input device D2, and a communication device T1. Moreover, 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, a boom rod pressure sensor S7R, a boom cylinder bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, and a bucket bottom pressure sensor S9B, as structures related to the semi-automatic operation function.

[0060] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the first embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values to the controller 30. In the first embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. Moreover, 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.

[0061] 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 network such as CAN (Controller Area Network), or can be connected to the controller 30 via a one-to-one dedicated line.

[0062] Moreover, the display device D1 is not limited to a device pre-set in the cab 10, and can also be a separately settable monitor. In addition, the display device D1 can be any device that can display, for example, a tablet terminal that can communicate with the communication device T1 can be used.

[0063] The input device D2 is arranged within the reach of the hands of the operator sitting in the cab 10, receives 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 installed on the display of the display device that displays various information images, a rotary switch provided at the front end of the joystick portion of the operating device 26, a button switch provided around the display device D1, a joystick, a changeover key, a rotary control dial, etc. A signal corresponding to the operation content of the input device D2 is input to the controller 30.

[0064] The controller 30 (an example of a control device) is arranged, for example, within the cab 10 and performs drive control of the excavator 100. The functions of the controller 30 can be realized 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, etc. The controller 30 realizes various functions, for example, by executing various programs stored in the ROM or the non-volatile auxiliary storage medium on the CPU.

[0065] For example, the controller 30 sets a target rotational speed according to operations by the operator, etc., and performs drive control to keep the engine 11 rotating at a constant speed.

[0066] Moreover, 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.

[0067] Moreover, for example, the controller 30 controls the regulator 13 according to the detection value of the pilot pressure input from the operation sensor 29 and corresponding to the operation states of various action elements (i.e., various hydraulic actuators) in the operating device 26, and adjusts the discharge amount of the main pump 14.

[0068] Moreover, for example, the controller 30 performs control related to a device guidance function that guides (instructs) the manual operation of the excavator 100 by the operator through the operating device 26. And 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 operating device 26.

[0069] In addition, a part of the functions of the controller 30 can also be realized by other controllers (control devices). That is, the functions of the controller 30 can be realized in a distributed manner by multiple controllers. For example, the device guidance function and the device control function can also be realized by dedicated controllers (control devices).

[0070] 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 input device D2, and the like. And the controller 30 calculates, for example, the distance between the bucket 6 and the design surface based on the information obtained. And the controller 30 appropriately controls the proportional valve 31 based on the calculated distance between the bucket 6 and the design surface, etc., and individually and automatically adjusts the pilot pressure applied to the control valve corresponding to the hydraulic actuator, whereby each actuator can be automatically operated (refer to FIGS. 4(A) to 4(D) described later).

[0071] The proportional valve 31 is provided in the pilot pipe line connecting the pilot pump 15 and any one of 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 operation 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. As described later, the proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, 31DR.

[0072] With this structure, the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26 even when the specific operation device 26 is not operated. And even when the specific operation device 26 is operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operation device 26.

[0073] The boom angle sensor S1 is installed on the boom 4 and detects the pitching angle of the boom 4 relative to the upper swing body 3 (hereinafter referred to as "boom angle"), for example, the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 and the rotation plane of the upper swing 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. Also, the boom angle sensor S1 can 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. Hereinafter, the same applies to the arm angle sensor S2, the bucket angle sensor S3, and the body tilt sensor S4. The detection signal corresponding to the boom angle based on the boom angle sensor S1 is input to the controller 30.

[0074] The arm angle sensor S2 is installed on the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle"), for example, the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 and the straight line connecting the fulcrums at both ends of the boom 4 when viewed from the side. The detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

[0075] The bucket angle sensor S3 is installed on the bucket 6 and detects the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as "bucket angle"), for example, the angle formed by the straight line connecting the fulcrum and the front end (bucket tip) of the bucket 6 and the straight line connecting the fulcrums at both ends of the arm 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.

[0076] The body tilt sensor S4 detects the tilt state of the body (upper swing body 3 or 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.

[0077] The rotation angle sensor S5 outputs detection information related to the rotation state of the upper swing body 3. The rotation angle sensor S5 detects, for example, the rotational angular velocity and the rotation angle of the upper swing body 3. The rotation angle sensor S5 includes, for example, a gyro sensor, a resolver, and a rotary encoder, etc.

[0078] 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.

[0079] 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 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.

[0080] 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.

[0081] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively installed on the boom cylinder 7 to detect the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure") and the pressure in the bottom side oil chamber of the cylinder (hereinafter referred to as "boom bottom pressure"). The detection signals corresponding to the boom rod pressure and the boom bottom pressure generated by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively input to the controller 30.

[0082] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B respectively detect the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure") and the pressure in the bottom side oil chamber of the cylinder (hereinafter referred to as "arm bottom pressure"). The detection signals corresponding to the arm rod pressure and the arm bottom pressure generated by the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively input to the controller 30.

[0083] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B respectively detect the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure") and the pressure in the bottom side oil chamber of the cylinder (hereinafter referred to as "bucket bottom pressure"). The detection signals corresponding to the bucket rod pressure and the bucket bottom pressure generated by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively input to the controller 30.

[0084] The communication device T1 communicates with external devices through a specified 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), or a satellite communication module for connecting to a satellite communication network.

[0085] The excavator 100 operates an actuator (e.g., a hydraulic actuator) according to the operation of an operator aboard the cab 10, thereby driving the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, and other moving components (hereinafter referred to as "driven components").

[0086] Moreover, the excavator 100 can be configured to be remotely operable (remotely controlled) from outside the excavator 100 instead of or in addition to being 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.

[0087] 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 slewing body 3, the boom 4, the arm 5, and the bucket 6, namely, the so-called "automatic operation function" or "equipment control function").

[0088] In the automatic operation function, there may be included a function of automatically operating a driven component (actuator) other than the driven component (actuator) of the operation target according to the operation of the operator on the operation device 26 or remote operation, that is, the so-called "semi-automatic operation function" or "operation support type equipment control function". And, in the automatic operation function, there may be included a function of automatically operating at least a part of a plurality of driven components (hydraulic actuators) without the operation of the operator on the operation device 26 or remote operation, 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 may be in a unmanned state. And, in the semi-automatic operation function or fully automatic operation function, etc., there may be included the following method: automatically determining the operation content of the driven component (actuator) of the automatic operation object according to a pre-specified rule. And, in the semi-automatic operation function or fully automatic operation function, etc., there may be included a method in which the excavator 100 makes various judgments autonomously and determines the operation content of the driven component (hydraulic actuator) of the automatic operation object according to the judgment result (the so-called "automatic operation function").

[0089] Specifically, when the operator operates the arm 5 through the operation device 26, the controller 30 automatically operates at least one of the boom 4 and the bucket 6 so that a pre-specified target design surface (hereinafter, simply referred to as "design surface") coincides with the front end position of the bucket 6. And, the controller 30 can operate the arm 5 automatically without depending on the operation state of the operation device 26 that operates the arm 5 together. That is, the controller 30 can use the operation of the operator on the operation device 26 as a trigger signal to make the attachment perform a pre-specified operation. Hereinafter, according to the operation of the operation device 26 corresponding to the arm 5, the function of the controller 30 that operates not only the arm 5 but also at least one of the boom 4 and the bucket 6 is called the "semi-automatic operation function". The semi-automatic operation function can be executed, for example, when a specified switch (hereinafter, "MC (Machine Control) switch") arranged on any one of the front ends of the joystick devices (26L, 26R) included in the operation device 26 is operated.

[0090] [Hydraulic system of excavator]

[0091] Next, refer to Figure 3 to describe a structural example of the hydraulic system mounted on the excavator 100. Figure 3 is a diagram showing a structural example of the hydraulic system mounted on the excavator 100. In Figure 3 the mechanical power transmission system, the working oil pipeline, the pilot pipeline, and the electrical control system are respectively represented by double lines, solid lines, dotted lines, and dashed lines.

[0092] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operation sensor 29, a controller 30, etc.

[0093] In Figure 3 it, the hydraulic system is configured such that the working oil can circulate from the main pump 14 driven by the engine 11 to the working oil tank via an intermediate bypass line 40 or a parallel line 42.

[0094] The main pump (hydraulic pump) 14 is configured to supply the working oil to the control valve unit 17 via a working oil line. In the first embodiment, the main pump 14 is an inclined plate type variable capacity hydraulic pump.

[0095] In the first embodiment, the control valve unit 17 includes control valves (direction control valves) 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured 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.

[0096] The main pump 14 includes a left main pump 14L and a right main pump 14R. Moreover, the left main pump 14L circulates the working oil to the working oil tank via a left intermediate bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates the working oil to the working oil tank via a right intermediate bypass line 40R or a right parallel line 42R.

[0097] The left intermediate bypass line 40L is a working oil line passing through the control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right intermediate bypass line 40R is a working oil line passing through the control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0098] The control valve 171 is a spool valve that switches the flow of the working oil to supply the working oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and discharge the working oil discharged from the left travel hydraulic motor 2ML to the working oil tank.

[0099] The control valve 172 is a spool valve that switches the flow of the working oil to supply the working oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and discharge the working oil discharged from the right travel hydraulic motor 2MR to the working oil tank.

[0100] The control valve 173 is a spool valve that switches the flow of the working oil to supply the working oil discharged from the left main pump 14L to the swing hydraulic motor 2A and discharge the working oil discharged from the swing hydraulic motor 2A to the working oil tank.

[0101] The control valve 174 is a spool valve that switches the flow of the working oil to supply the working oil discharged from the right main pump 14R to the bucket cylinder 9 and discharge the working oil in the bucket cylinder 9 to the working oil tank.

[0102] The control valve 175L is a spool valve that switches the flow of the working oil to supply the working oil discharged from the left main pump 14L to the boom cylinder 7 and discharge the working oil in the boom cylinder 7 to the working oil tank.

[0103] The control valve 175R is a spool valve that switches the flow of the working oil to supply the working oil discharged from the right main pump 14R to the boom cylinder 7 and discharge the working oil in the boom cylinder 7 to the working oil tank.

[0104] The control valve 176L is a spool valve that switches the flow of the working oil to supply the working oil discharged from the left main pump 14L to the arm cylinder 8 and discharge the working oil in the arm cylinder 8 to the working oil tank.

[0105] The control valve 176R is a spool valve that switches the flow of the working oil to supply the working oil discharged from the right main pump 14R to the arm cylinder 8 and discharge the working oil in the arm cylinder 8 to the working oil tank.

[0106] The left parallel pipeline 42L is a working oil pipeline parallel to the left intermediate bypass pipeline 40L. When the flow of the working oil through the left intermediate bypass pipeline 40L is restricted or cut off by one of the control valves 171, 173, and 175L, the left parallel pipeline 42L can supply the working oil to a more downstream control valve. The right parallel pipeline 42R is a working oil pipeline parallel to the right intermediate bypass pipeline 40R. When the flow of the working oil through the right intermediate bypass pipeline 40R is restricted or cut off by one of the control valves 172, 174, and 175R, the right parallel pipeline 42R can supply the working oil to a more downstream control valve.

[0107] Moreover, a left swing pressure sensor S10L and a right swing pressure sensor S10R are installed in 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. The right swing pressure sensor S10R detects the pressure of the working oil in the right port of the swing hydraulic motor 2A.

[0108] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate deflection angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, when the discharge pressure of the left main pump 14L increases, the left regulator 13L adjusts the swash plate deflection angle of the left main pump 14L to reduce the discharge amount. The same applies to the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output power (output horsepower) of the engine 11.

[0109] The operation device 26 includes a left operation lever 26L, a right operation lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0110] The operation sensors 29 include operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0111] The left operation lever 26L is used for slewing operation and the operation of the arm 5. When operated in the front-rear direction, the left operation lever 26L uses the working oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. And when operated in the left-right direction, the working oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0112] The operation sensor 29LA detects the operation content of the left operation lever 26L by the operator in the front-rear direction and outputs the detected value to the controller 30.

[0113] The operation sensor 29LB detects the operation content of the left operation lever 26L by the operator in the left-right direction and outputs the detected value to the controller 30.

[0114] When the left operation lever 26L is operated in the arm retraction direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LA, introduces the working oil into the right pilot port of the control valve 176L, and introduces the working oil into the left pilot port of the control valve 176R. And when the left operation lever 26L is operated in the arm opening direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LA, introduces the working oil into the left pilot port of the control valve 176L, and introduces the working oil into the right pilot port of the control valve 176R.

[0115] Further, when the left operation lever 26L is operated in the left turning direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LB to introduce the working oil into the left pilot port of the control valve 173. When the left operation lever 26L is operated in the right turning direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LB to introduce the working oil into the right pilot port of the control valve 173.

[0116] Moreover, a switch NS1 is provided on the left operation lever 26L. In the first embodiment, the switch NS1 is a push-button switch provided at the front end of the left operation lever 26L. The operator can operate the left operation lever 26L while pressing the switch NS1. A switch NS2 is provided on the right operation lever 26R. In the first embodiment, the switch NS2 is a push-button switch provided at the front end of the right operation lever 26R. The operator can operate the right operation lever 26R while pressing the switch NS2. In addition, the positions where the switches NS1 and NS2 are provided are not limited thereto, and they may be provided at other positions within the cab 10.

[0117] The right operation lever 26R is used for the operation of the boom 4 and the bucket 6. When operated in the front-rear direction, the right operation lever 26R uses the working oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the operation amount of the lever into the pilot port of the control valve 175. And when operated in the left-right direction, the working oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the operation amount of the lever into the pilot port of the control valve 174.

[0118] The operation sensor 29RA detects the operation content of the operator on the right operation lever 26R in the front-rear direction and outputs the detected value to the controller 30.

[0119] The operation sensor 29RB detects the operation content of the operator on the right operation lever 26R in the left-right direction and outputs the detected value to the controller 30.

[0120] Specifically, when the right operation lever 26R is operated in the boom lowering direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RA to introduce the working oil into the left pilot port of the control valve 175L and into the right pilot port of the control valve 175R. And when the right operation lever 26R is operated in the boom raising direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RA to introduce the working oil into the right pilot port of the control valve 175L and into the left pilot port of the control valve 175R.

[0121] Also, when the right operating lever 26R is operated in the direction of retracting the bucket, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RB, and introduces the working oil into the right pilot port of the control valve 174. When the right operating lever 26R is operated in the direction of opening the bucket, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RB, and introduces the working oil into the left pilot port of the control valve 174.

[0122] The traveling lever 26D is used for the operation of the crawlers. Specifically, the left traveling lever 26DL is used for the operation of the left crawler. It can also be configured to be linked with the left traveling pedal.

[0123] The operation sensor 29DL detects the operation content of the operator on the left traveling lever 26DL in the front-rear direction, and outputs the detected value to the controller 30.

[0124] If the left traveling lever 26DL is operated in the front-rear direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29DL, and uses the working oil discharged by the pilot pump 15 to introduce the control pressure corresponding to the operation amount of the joystick into the pilot port of the control valve 171.

[0125] The right traveling lever 26DR is used for the operation of the right crawler. It can also be configured to be linked with the right traveling pedal.

[0126] The operation sensor 29DR detects the operation content of the operator on the right traveling lever 26DR in the front-rear direction, and outputs the detected value to the controller 30.

[0127] If the right traveling lever 26DR is operated in the front-rear direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29DR, and uses the working oil discharged by the pilot pump 15 to introduce the control pressure corresponding to the operation amount of the joystick into the pilot port of the control valve 172.

[0128] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L, and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0129] The controller 30 receives the output of the operation sensor 29 and outputs a control command to the regulator 13 as needed to change the discharge volume of the main pump 14. Further, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle valve (negative control throttle valve) 18 and outputs a control command to the regulator 13 as needed to change the discharge volume of the main pump 14. The throttle valve 18 includes a left throttle valve 18L and a right throttle valve 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0130] In the left intermediate bypass line 40L, the left throttle valve 18L is disposed between the most downstream control valve 176L and the working oil tank. Accordingly, the flow of the working oil discharged from the left main pump 14L is restricted by the left throttle valve 18L. Further, the left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge volume of the left main pump 14L by adjusting the swash plate deflection angle of the left main pump 14L according to this control pressure. The controller 30 is configured such that the greater the control pressure, the smaller the discharge volume of the left main pump 14L, and the smaller the control pressure, the greater the discharge volume of the left main pump 14L. The discharge volume of the right main pump 14R is also controlled in the same manner.

[0131] Specifically, as Figure 3 shown, in a standby state where none of the hydraulic actuators in the excavator 100 are operated, the working oil discharged from the left main pump 14L reaches the left throttle valve 18L through the left intermediate bypass line 40L. Further, the flow of the working oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the allowable minimum discharge volume, thereby suppressing the pressure loss (pumping loss) when the discharged working oil passes through the left intermediate bypass line 40L. On the other hand, when a certain hydraulic actuator is operated, the working oil discharged from the left main pump 14L flows into the hydraulic actuator of the operation target through the control valve corresponding to the hydraulic actuator of the operation target. Further, the flow of the working oil discharged from the left main pump 14L reduces or eliminates the amount reaching the left throttle valve 18L, thereby reducing the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L so that sufficient working oil circulates to the hydraulic actuator of the operation target, thereby ensuring the drive of the hydraulic actuator of the operation target. In addition, the controller 30 also controls the discharge volume of the right main pump 14R in the same manner.

[0132] According to the above structure, Figure 3The hydraulic system can suppress unnecessary energy consumption in the main pump 14 in the standby state. The unnecessary energy consumption includes pumping losses generated by the working oil discharged from the main pump 14 in the intermediate bypass pipeline 40. And, when operating the hydraulic actuator, Figure 3 the hydraulic system can reliably supply a sufficient amount of required working oil from the main pump 14 to the hydraulic actuator of the working object.

[0133] That is, the controller 30 controls the regulator 13 in the following manner: the smaller discharge volume among the first discharge volume calculated in such a way that the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge volume does not exceed the output power (output horsepower) of the engine 11 and the second discharge volume calculated based on the control pressure detected by the control pressure sensor 19.

[0134] Next, Figures 4A to 4D a description will be given of the structure for the controller 30 to operate the actuator through the equipment control function. Figures 4A to 4D is a drawing showing a part of the hydraulic system extracted. Specifically, Figure 4A is a drawing showing a part of the hydraulic system related to the operation of the arm cylinder 8 extracted, Figure 4B is a drawing showing a part of the hydraulic system related to the operation of the boom cylinder 7 extracted. Figure 4C is a drawing showing a part of the hydraulic system related to the operation of the bucket cylinder 9 extracted, Figure 4D is a drawing showing a part of the hydraulic system related to the operation of the swing hydraulic motor 2A extracted.

[0135] As Figures 4A to 4D shown, the hydraulic system includes a proportional valve 31. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

[0136] For example, as Figure 4A shown, the left operation lever 26L is used to operate the arm 5. Specifically, the left operation lever 26L uses the working oil discharged from the pilot pump 15 to cause a pilot pressure corresponding to the operation in the front-rear direction to act on the pilot port of the control valve 176. More specifically, when the left operation lever 26L is operated in the arm retraction direction (rear direction), the controller 30 causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. And, when the left operation lever 26L is operated in the arm opening direction (front direction), the controller 30 causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0137] And, a switch NS1 is provided on the left operation lever 26L.

[0138] The operation sensor 29LA detects the operation content of the operator on the left operation lever 26L in the front-rear direction, and outputs the detected value to the controller 30.

[0139] The proportional valve 31AL operates according to the control command (current command) output from the controller 30. And, the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL. The proportional valve 31AR operates according to the control command (current command) output from the controller 30. And, the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. The proportional valve 31AL can adjust the pilot pressure so that the control valve 176L and the control valve 176R can stop at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that the control valve 176L and the control valve 176R can stop at any valve position.

[0140] And, a pilot pressure sensor 32AL for detecting the pilot pressure is provided in the pilot pipe line connecting one of the ports of the proportional valve 31AL and the control valve 176 (the right port of the control valve 176L and the left port of the control valve 176R). And, a pilot pressure sensor 32AR for detecting the pilot pressure is provided in the pilot pipe line connecting the other port of the proportional valve 31AR and the control valve 176 (the left port of the control valve 176L and the right port of the control valve 176R). The values detected by the respective pilot pressure sensors 32AL, 32AR are sent to the controller 30.

[0141] With this structure, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL according to the boom retraction operation performed by the operator. And, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL regardless of the boom retraction operation performed by the operator. That is, the controller 30 can retract the boom 5 according to the boom retraction operation performed by the operator or regardless of the boom retraction operation performed by the operator.

[0142] Further, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR according to the boom extension operation performed by the operator. Further, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR regardless of the boom extension operation performed by the operator. That is, the controller 30 can extend the boom 5 according to the boom extension operation performed by the operator or regardless of the boom extension operation performed by the operator.

[0143] Further, with this configuration, even when the operator performs a boom retraction operation, the controller 30 can reduce the pilot pressure applied to the closing-side pilot ports of the control valve 176 (the left pilot port of the control valve 176L and the right pilot port of the control valve 176R) as needed, and forcibly stop the retraction operation of the boom 5. The same applies to the case of forcibly stopping the extension operation of the boom 5 when the operator performs a boom extension operation.

[0144] Alternatively, even when the operator performs a boom retraction operation, the controller 30 can control the proportional valve 31AR as needed to increase the pilot pressure applied to the opening-side pilot ports of the control valve 176 located on the side opposite to the closing-side pilot ports of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R), and forcibly return the control valve 176 to the neutral position, thereby forcibly stopping the retraction operation of the boom 5. The same applies to the case of forcibly stopping the extension operation of the boom 5 when the operator performs a boom extension operation.

[0145] Further, the description to be referred to below is omitted, but the same applies to the case of forcibly stopping the operation of the boom 4 when the operator performs a boom lifting operation or a boom lowering operation, the case of forcibly stopping the operation of the bucket 6 when the operator performs a bucket retraction operation or a bucket extension operation, and the case of forcibly stopping the rotation operation of the upper swing body 3 when the operator performs a swing operation. The same also applies to the case of forcibly stopping the traveling operation of the lower traveling body 1 when the operator performs a traveling operation. Figures 4B to 4D

[0146] Figure 4B ​​As shown, the right joystick 26R is used to operate the boom 4. Specifically, the right joystick 26R uses the working oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 175. More specifically, when the right joystick 26R is operated in the boom lifting direction (rear direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 175R. And when the right joystick 26R is operated in the boom lowering direction (front direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0147] And a switch NS2 is provided on the right joystick 26R.

[0148] The operation sensor 29RA detects the operation content of the operator on the right joystick 26R in the front-rear direction and outputs the detected value to the controller 30.

[0149] The proportional valve 31BL operates according to the control command (current command) output from the controller 30. And the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates according to the control command (current command) output from the controller 30. And the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that the control valve 175R can stop at any valve position. And the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can stop at any valve position.

[0150] And a pilot pressure sensor 32BL for detecting the pilot pressure is provided on the pilot pipeline connecting one port of the proportional valve 31BL and the control valve 175 (the left port of the control valve 175R). And a pilot pressure sensor 32BR for detecting the pilot pressure is provided on the pilot pipeline connecting the other port of the proportional valve 31BR and the control valve 175 (the right port of the control valve 175R). The values detected by the respective pilot pressure sensors 32BL, 32BR are sent to the controller 30.

[0151] With this structure, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 175R via the proportional valve 31BL according to the boom raising operation performed by the operator. Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 175R regardless of the boom raising operation performed by the operator. That is, the controller 30 can raise the boom 4 according to the boom raising operation performed by the operator or regardless of the boom raising operation performed by the operator.

[0152] Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR according to the boom lowering operation performed by the operator. Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R regardless of the boom lowering operation performed by the operator. That is, the controller 30 can lower the boom 4 according to the boom lowering operation performed by the operator or regardless of the boom lowering operation performed by the operator.

[0153] In addition, in Figure 4B the structure in which the controller 30 controls the proportional valves 31BL and 31BR and supplies pilot pressure to the control valve 175R has been described. Similarly, the controller 30 controls a proportional valve (not shown) and supplies pilot pressure to the control valve 175L.

[0154] Also, as Figure 4C shown, the right operation lever 26R is used to operate the bucket 6. Specifically, the right operation lever 26R uses the working oil discharged from the pilot pump 15 to cause a pilot pressure corresponding to the operation in the left - right direction to act on the pilot port of the control valve 174. More specifically, when the right operation lever 26R is operated in the bucket retraction direction (left direction), the controller 30 causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 174. And when the right operation lever 26R is operated in the bucket opening direction (right direction), the controller 30 causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 174.

[0155] Also, a switch NS2 is provided on the right operation lever 26R.

[0156] The operation sensor 29RB detects the operation content of the operator's operation of the right operation lever 26R in the left - right direction and outputs the detected value to the controller 30.

[0157] The proportional valve 31CL operates according to a control command (current command) output by the controller 30. Also, the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates according to a control command (current command) output by the controller 30. Also, the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can stop at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can stop at any valve position.

[0158] Also, a pilot pressure sensor 32CL for detecting the pilot pressure is provided in the pilot pipe line connecting one port (the left port of the control valve 174) of the proportional valve 31CL and the control valve 174. Also, a pilot pressure sensor 32CR for detecting the pilot pressure is provided in the pilot pipe line connecting the other port (the right port of the control valve 174) of the proportional valve 31CR and the control valve 174. The values detected by the respective pilot pressure sensors 32CL, 32CR are sent to the controller 30.

[0159] With this configuration, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL according to the bucket retraction operation performed by the operator. Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 regardless of the bucket retraction operation performed by the operator. That is, the controller 30 can retract the bucket 6 according to the bucket retraction operation performed by the operator or regardless of the bucket retraction operation performed by the operator.

[0160] Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR according to the bucket opening operation performed by the operator. Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 regardless of the bucket opening operation performed by the operator. That is, the controller 30 can open the bucket 6 according to the bucket opening operation performed by the operator or regardless of the bucket opening operation performed by the operator.

[0161] Also, as Figure 4DAs shown, the left joystick 26L is also used to operate the slewing mechanism 2. Specifically, the left joystick 26L uses the working oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 173. More specifically, when the left joystick 26L is operated in the left slewing direction (left direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. And when the left joystick 26L is operated in the right slewing direction (right direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0162] And a switch NS1 is provided on the left joystick 26L.

[0163] The operation sensor 29LB detects the operation content of the operator on the left joystick 26L in the left-right direction and outputs the detected value to the controller 30.

[0164] The proportional valve 31DL operates according to the control command (current command) output from the controller 30. And the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates according to the control command (current command) output from the controller 30. And the pilot pressure is adjusted by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure in such a way that the control valve 173 can stop at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure in such a way that the control valve 173 can stop at any valve position.

[0165] And a pilot pressure sensor 32DL for detecting the pilot pressure is provided in the pilot pipe line connecting one port of the proportional valve 31DL and the control valve 173 (the left port of the control valve 173). And a pilot pressure sensor 32DR for detecting the pilot pressure is provided in the pilot pipe line connecting the other port of the proportional valve 31DR and the control valve 173 (the right port of the control valve 173). The values detected by the respective pilot pressure sensors 32DL, 32DR are sent to the controller 30.

[0166] With this structure, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL according to the left swing operation performed by the operator. Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 regardless of the left swing operation performed by the operator. That is, the controller 30 can cause the swing mechanism 2 to perform a left swing according to the left swing operation performed by the operator or regardless of the left swing operation performed by the operator.

[0167] Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR according to the right swing operation performed by the operator. Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 regardless of the right swing operation performed by the operator. That is, the controller 30 can cause the swing mechanism 2 to perform a right swing according to the right swing operation performed by the operator or regardless of the right swing operation performed by the operator.

[0168] The excavator 100 may be provided with a structure that causes the lower traveling body 1 to automatically move forward / automatically move backward. At this time, the hydraulic system portion related to the operation of the left travel hydraulic motor 2ML and the hydraulic system portion related to the operation of the right travel hydraulic motor 2MR may be configured to be the same as the hydraulic system portion related to the operation of the boom cylinder 7 and the like.

[0169] Also, a description of the electric type joystick as a mode of the operating device 26 has been given, but a hydraulic type joystick may be used instead of the electric type joystick. At this time, the joystick operation amount of the hydraulic type joystick can be detected in the form of pressure by a pressure sensor and input to the controller 30. Also, a solenoid valve may be arranged between the operating device 26 as the hydraulic type joystick and the pilot ports of the respective control valves. The solenoid valve is configured to operate according to an electric signal from the controller 30. With this structure, if a manual operation using the operating device 26 as the hydraulic type joystick is performed, the operating device 26 increases or decreases the pilot pressure according to the joystick operation amount, thereby enabling the movement of the respective control valves. Also, the respective control valves may be constituted by electromagnetic slide valves. At this time, the electromagnetic slide valves operate according to the electric signals from the controller 30 corresponding to the joystick operation amounts of the electric type joystick.

[0170] [An example of the operation of the excavator]

[0171] Next, use Figure 5 An example of the work using the excavator 100 will be described. Figure 5It is a schematic diagram showing an example of the operation of the excavator 100. Here, a case where the ground is excavated to form a substantially rectangular recess 800 on the ground is illustrated as an example.

[0172] The operator operates the excavator 100 to excavate the ground and form the approximate shape of the recess 800. Then, the vertical surface (side surface) 801, the horizontal surface (bottom surface) 802, and the vertical surface (side surface) 803 of the recess 800 are excavated so that the shape of the recess 800 becomes the desired shape.

[0173] First, as shown in (a) of Figure 5 to (b) of Figure 5 , the excavator 100 excavates one vertical surface 801 (the inner side surface when viewed from the excavator 100, Figure 5 the left side surface on the paper surface of

[0174] ) of the plurality of side surfaces of the recess 800 by lowering the bucket 6 in the vertical direction. Figure 5 Next, as shown in (b) of Figure 5 to (c) of

[0175] , the excavator 100 excavates the horizontal surface 802 of the recess 800 by moving the bucket 6 in the horizontal direction. Figure 5 Next, as shown in (c) of Figure 5 to (d) of

[0176] , the operator adjusts the angle of the bucket 6. Figure 5 And, as shown in (d) of Figure 5 to (e) of Figure 5 , the excavator 100 excavates the other vertical surface 803 (the front side surface when viewed from the excavator 100,

[0177] the right side surface on the paper surface of

[0178] ) of the plurality of side surfaces of the recess 800 by raising the bucket 6 in the vertical direction. Figure 6 The operation for causing the excavator 100 to perform such operations of lowering the bucket 6 in the vertical direction, moving it in the horizontal direction, and raising it in the vertical direction is a combined operation of simultaneously operating the boom 4, the arm 5, etc., and requires the skill of the operator. In the case of an inexperienced operator, it is possible to re-perform these operations. Also, in an excavator that pre-inputs data related to the target construction surface and has an equipment control function that automatically operates the attachment so that the target construction surface coincides with the front end position of the bucket, there is a problem of the workload of creating and inputting data related to the target construction surface, etc. Figure 6This is a flowchart showing an example of control in the shovel 100 according to the first embodiment.

[0179] In step S101, the controller 30 determines whether the switches NS1 and NS2 are operated. Here, the switches NS1 and NS2 are switches for selecting whether to make the device control function effective. In addition, the switches NS1 and NS2 may be momentary switches, and may be switches that are turned on only while the switches NS1 and NS2 are pressed, and are turned off when the switches NS1 and NS2 are released. Furthermore, the switches NS1 and NS2 may be alternating switches, and may be switches that are switched on and off each time the switches NS1 and NS2 are pressed. Furthermore, the operation of the switches NS1 and NS2 may be the operation of either one switch or both switches.

[0180] When the switches NS1 and NS2 are not operated (No in S101 ), in other words, when the switches NS1 and NS2 are in the OFF state, the process of the controller 30 proceeds to step S102 .

[0181] In step S102, the controller 30 determines that normal control (normal mode) is being performed. That is, when the operator operates the operating device 26, the controller 30 is in the normal control mode (reference Figure 3 The attachment AT is controlled in accordance with the operation directions of the left operating lever 26L and the right operating lever 26R shown in the figure and the operation of the attachment AT. Specifically, when the operator operates the left operating lever 26L in the front-back direction, the controller 30 controls the control valve 176 that supplies working oil to the boom cylinder 8 via the proportional valves 31AL and 31AR. As a result, the boom 5 of the attachment AT is actuated (opened / retracted). Furthermore, when the operator operates the right operating lever 26R in the front-back direction, the controller 30 controls the control valve 175 that supplies working oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. As a result, the boom 4 of the attachment AT is actuated (raised / lowered). Furthermore, when the operator operates the right operating lever 26R in the left-right direction, the controller 30 controls the control valve 174 that supplies working oil to the bucket cylinder 9 via the proportional valves 31CL and 31CR. As a result, the bucket 6 of the attachment AT is actuated (opened / retracted).

[0182] On the other hand, when the switches NS1 and NS2 are operated (Yes in S101 ), in other words, when the switches NS1 and NS2 are in the on state, the process of the controller 30 proceeds to step S103 .

[0183] In step S103, the controller 30 determines whether one of the joysticks has been operated. Here, the controller 30 determines whether the left joystick 26L has been operated in either the front-back direction (the opening or retracting direction of the arm 5). If one of the joysticks has not been operated (No in S103), the process of the controller 30 proceeds to step S107.

[0184] If one of the joysticks has been operated (Yes in S103), the process of the controller 30 proceeds to step S104. Here, as shown in steps S104 to S106 described later, the controller 30 controls the attachment device AT in a first control mode in which the reference position of the attachment device AT is horizontally moved by the operation of the left joystick 26L in the front-back direction. Here, the reference position is the position of the tip 6a of the bucket 6.

[0185] In step S104, the controller 30 determines whether the angle of the bottom surface 6b of the bucket 6 is within a specified range. Here, it is determined whether the angle θ1 formed by the horizontal direction and the bottom surface 6b of the bucket 6 is within a specified range (for example, within the range of -2° ≤ θ1 ≤ +2°). In other words, it is determined whether the bottom surface 6b of the bucket 6 faces substantially the horizontal direction.

[0186] If the angle of the bottom surface 6b of the bucket 6 is within the specified range (Yes in S104), the process of the controller 30 proceeds to step S105. In step S105, the controller 30 controls the attachment device AT in a control mode in which the angle of the bottom surface 6b of the bucket 6 is maintained while the bucket 6 (the tip 6a) is moved. Specifically, by the operator operating the left joystick 26L in the front-back direction, the controller 30 controls the control valve 176 that supplies working oil to the arm cylinder 8 via the proportional valves 31AL, 31AR. As a result, the arm 5 of the attachment device AT moves (opens / retracts). At the same time, the controller 30 automatically controls the control valve 175 that supplies working oil to the boom cylinder 7 and the control valve 174 that supplies working oil to the bucket cylinder 9 via the proportional valves 31BL, 31BR and the proportional valves 31CL, 31CR so as to maintain the angle of the bottom surface 6b of the bucket 6 while moving the bucket 6 (the tip 6a). That is, the controller 30 controls the movement of the arm 5 in the front-back direction of the left joystick 26L according to the operation amount. Together with the movement of the arm 5, the controller 30 automatically controls the movement of the boom 4 and the bucket 6 so as to maintain the angle of the bottom surface 6b of the bucket 6 while moving the bucket 6 (the tip 6a).

[0187] In addition, shape information of the attachment device AT (shape information of the boom 4, shape information of the arm 5, and shape information of the bucket 6 (end attachment device)) is pre-entered in the controller 30. The controller 30 calculates the position of the tip 6a of the bucket and the angle of the bottom surface 6b of the bucket 6 based on the angles of the respective joints of the attachment device AT detected by the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 and the shape information of the attachment device AT.

[0188] Moreover, the horizontal direction can be set as the actual horizontal direction detected by the body tilt sensor S4. Assuming that the excavator 100 is disposed on a horizontal (substantially horizontal) ground, the direction on the plane orthogonal to the rotation axis of the upper swing body 3 can be set as the horizontal direction. And the vertical direction is the direction perpendicular to the horizontal direction, which can be set as the actual vertical (plumb) direction detected by the body tilt sensor S4. Assuming that the excavator 100 is disposed on a horizontal (substantially horizontal) ground, the direction parallel to the rotation axis of the upper swing body 3 can be set as the vertical direction.

[0189] When the angle of the bottom surface 6b of the bucket 6 is not within the specified range ("No" in S104), the process of the controller 30 proceeds to step S106. In step S106, the controller 30 controls the attachment device AT in a control mode for horizontally moving the tip 6a. Specifically, by the operator operating the left joystick 26L in the front-rear direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR. Thereby, the arm 5 of the attachment device AT moves (extends / retracts). At the same time, the controller 30 automatically controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR to horizontally move the tip 6a. In addition, here, the extend / retract angle of the bucket 6 relative to the arm 5 remains unchanged. That is, the controller 30 controls the movement of the arm 5 according to the operation amount in the front-rear direction of the left joystick 26L. Together with the movement of the arm 5, the controller 30 automatically controls the movement of the boom 4 to horizontally move the tip 6a.

[0190] Moreover, when one of the joysticks is not operated ("No" in S103), the process of the controller 30 proceeds to step S107.

[0191] In step S107, the controller 30 determines whether the other joystick is operated. Here, the controller 30 determines whether the right joystick 26R is operated in any direction in the front-rear direction (the lowering direction or the raising direction of the boom 4). When the other joystick is not operated ("No" in S107), the process of the controller 30 returns to step S103.

[0192] When another joystick is operated (Yes in S107), the process of the controller 30 proceeds to step S108. Here, as shown in steps S108 to S110 described later, the controller 30 controls the attachment AT in the second control mode in which the reference position of the attachment AT is vertically moved by the operation of the right joystick 26R in the front-rear direction. Here, the reference position is the position of the tip 6a of the bucket 6.

[0193] In step S108, the controller 30 determines whether the angle of the bottom surface 6b of the bucket 6 is within a specified range. Here, it is determined whether the angle θ2 formed by the vertical direction (plumb direction) and the bottom surface 6b of the bucket 6 is within a specified range (for example, within the range of -2° ≤ θ2 ≤ +2°). In other words, it is determined whether the bottom surface 6b of the bucket 6 faces the substantially vertical direction (substantially plumb direction).

[0194] When the angle of the bottom surface 6b of the bucket 6 is within the specified range (Yes in S108), the process of the controller 30 proceeds to step S109. In step S109, the controller 30 controls the attachment AT in the control mode in which the angle of the bottom surface 6b of the bucket 6 is maintained and the bucket 6 (tip 6a) is moved. Specifically, by the operator operating the right joystick 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. Thereby, the boom 4 of the attachment AT moves (extends / retracts). At the same time, the controller 30 automatically controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 and the control valve 174 that supplies hydraulic oil to the bucket cylinder 9 via the proportional valves 31AL, 31AR and the proportional valves 31CL, 31CR so as to maintain the angle of the bottom surface 6b of the bucket 6 and move the bucket 6 (tip 6a). That is, the controller 30 controls the movement of the boom 4 in the front-rear direction of the right joystick 26R according to the operation amount. Together with the movement of the boom 4, the controller 30 automatically controls the movements of the boom 4 and the bucket 6 so as to maintain the angle of the bottom surface 6b of the bucket 6 and move the bucket 6 (tip 6a).

[0195] When the angle of the bottom surface 6b of the bucket 6 is not within the specified range (No in S108), the process of the controller 30 proceeds to step S110. In step S110, the controller 30 controls the attachment device AT in a control mode that vertically moves the cutting edge 6a. Specifically, by the operator operating the right joystick 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. Thereby, the boom 4 of the attachment device AT moves (extends / retracts). At the same time, the controller 30 automatically controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR to vertically move the cutting edge 6a. Additionally, here, the opening / closing angle of the bucket 6 relative to the arm 5 remains unchanged. That is, the controller 30 controls the movement of the boom 4 in the front-rear direction of the right joystick 26R according to the operation amount. Together with the movement of the boom 4, the controller 30 automatically controls the movement of the boom 4 to vertically move the cutting edge 6a.

[0196] As described above, according to the excavator 100 according to the first embodiment, even for an operator who is not skilled in operating the excavator 100, the reference position (the position of the cutting edge 6a) of the bucket 6 can be easily moved along the horizontal direction and the vertical direction by operating one joystick (26L, 26R).

[0197] For example, the operator first operates the excavator 100 in the normal mode to move the position of the cutting edge 6a of the bucket 6 to Figure 5 the position shown in (a) of

[0198] Next, while the operator operates the switches NS1 and NS2 (for example, the switch NS2 provided on the right joystick 26R) and operates the right joystick 26R in the forward direction (boom lowering), the controller 30 causes the cutting edge 6a of the bucket 6 to descend along the vertical direction. Thereby, a vertical plane 801 is formed, and the position of the cutting edge 6a of the bucket 6 is moved to Figure 5 the position shown in (b) of

[0199] Next, while the operator operates the switches NS1 and NS2 (for example, the switch NS1 provided on the left joystick 26L) and operates the left joystick 26L in the rearward direction (arm retraction), the controller 30 causes the cutting edge 6a of the bucket 6 to move along the horizontal direction. Thereby, a horizontal plane 802 is formed, and the position of the cutting edge 6a of the bucket 6 is moved to Figure 5 the position shown in (c) of

[0200] Next, the operator operates the excavator 100 in the normal mode to adjust the angle of the bucket 6. Thereby, the angle of the bucket 6 is adjusted to Figure 5 the position shown in (d) of

[0201] Next, while the operator operates switches NS1 and NS2 (for example, the switch NS2 provided on the right operating lever 26R), the operator operates the right operating lever 26R in the backward direction (boom lift). Thereby, the controller 30 causes the tip 6a of the bucket 6 to rise along the vertical direction. Thereby, a vertical plane 803 is formed, and the position of the tip 6a of the bucket 6 is moved to Figure 5 the position shown in (e) of

[0202] Thereby, the operation of forming the concave portion 800 having the Figure 5 shown vertical planes 801 and 803 and horizontal plane 802 can be easily performed. Moreover, the workload of creating and inputting data related to the target construction surface and the like can be omitted.

[0203] Moreover, in a state where the bottom surface 6b of the bucket 6 is regarded as being substantially horizontal, while operating switches NS1 and NS2 (for example, the switch NS1 provided on the left operating lever 26L), the left operating lever 26L is operated in the front-rear direction. Thereby, in a state where the bottom surface 6b of the bucket 6 is maintained as being substantially horizontal, the reference position (the position of the tip 6a) of the bucket 6 can be horizontally moved (S105). Thereby, a horizontal plane compacted by the bottom surface 6b of the bucket 6 can be created.

[0204] Similarly, in a state where the bottom surface 6b of the bucket 6 is regarded as being substantially vertical, while operating switches NS1 and NS2 (for example, the switch NS2 provided on the right operating lever 26R), the right operating lever 26R is operated in the front-rear direction. Thereby, in a state where the bottom surface 6b of the bucket 6 is maintained as being substantially vertical, the reference position (the position of the tip 6a) of the bucket 6 can be vertically moved (S109). Thereby, a more preferable vertical plane can be formed.

[0205] Moreover, when the left operating lever 26L is operated in the front-rear direction while operating the switch NS1 (the first switch) of the left operating lever 26L, the attachment device AT is controlled in a first control mode in which the reference position of the attachment device AT is moved along the horizontal direction. And when the right operating lever 26R is operated in the front-rear direction while operating the switch NS2 (the second switch) of the right operating lever 26R, the attachment device AT is controlled in a second control mode in which the reference position of the attachment device AT is moved along the vertical direction. Thereby, the operation of moving the reference position of the attachment device AT along the horizontal direction or the vertical direction while easily preventing misoperation can be performed.

[0206] Also, while the operator operates the switches NS1 and NS2, the operator operates the left operating lever 26L in the left - right direction (left rotation, right rotation). As a result, the controller 30 can be configured to move the tip 6a of the bucket 6 in the direction of the front side surface. That is, the controller 30 controls the attachment device AT in the third control mode in which the reference position of the attachment device AT is moved in the direction of the front side surface by the left - right direction operation of the left operating lever 26L. Here, the reference position is the position of the tip 6a of the bucket 6. In this third control mode, the controller 30 can perform control to stop the bottom surface 6b of the bucket 6 at a horizontal or vertical position.

[0207] [Another example of the operation of the excavator]

[0208] Next, use Figure 7 and Figure 8 Another example of the operation using the excavator 100 will be described. Figure 7 It is a flowchart showing another example of the control of the excavator 100 according to the first embodiment. Figure 8 It is a schematic diagram showing another example of the operation of the excavator 100. Here, an example in which a horizontal plane 802 is formed on the ground by repeatedly performing horizontal traction of the bucket 6 with the tip 6a at the same height will be described.

[0209] The operator operates the operating device 26 (left operating lever 26L, right operating lever 26R) to move the tip 6a of the bucket 6 to the excavation start position. That is, the tip 6a of the bucket 6 is made to coincide with a specified height position (the first height position. The initial position related to the first control mode). For example, the operator first operates the excavator 100 in the normal mode (refer to S102) to move the position of the tip 6a of the bucket 6 to Figure 8 the position shown in (a) of

[0210] In step S121, the operator presses the left lever switch (switch NS1 of the left operating lever 26L) and at the same time performs a boom - traction operation (a boom - retracting operation. Tilts the left operating lever 26L toward the boom - retracting side (rear side)).

[0211] Here, when the controller 30 operates the left lever switch and a boom traction operation is input ("Yes" in S101, "Yes" in S103), the attachment device AT is controlled in a control mode (first control mode. Refer to S105 or S106.) in which the cutting edge 6a is held at the first height position and horizontally moved. Thus, horizontal traction of the bucket 6 is performed. At this time, when the controller 30 controls the attachment device AT in the first control mode, the height position (first height position. The initial position related to the first control mode.) of the cutting edge 6a during the boom traction operation is stored in a storage unit (not shown) of the controller 30. Thus, a horizontal plane 802 is formed, and the position of the cutting edge 6a of the bucket 6 is moved to Figure 8 the position shown in (b) of

[0212] In step S122, the operator operates the attachment device AT in the normal mode (refer to S102). In addition, the left lever switch (switch NS1 of the left operating lever 26L) and the right lever switch (switch NS2 of the right operating lever 26R) are not operated ("No" in S101), and the controller 30 controls the attachment device AT in the normal control mode (S102). Thus, the cutting edge 6a of the bucket 6 is moved above the next excavation position. For example, the operator operates the operating device 26 to perform a boom lifting operation to move the cutting edge 6a of the bucket 6 away from the horizontal plane 802. Then, the operator operates the operating device 26 to perform a boom extending operation to move the cutting edge 6a of the bucket 6 above the next excavation position (second height position). The second height position is a position higher than the first height position (a position away from the horizontal plane 802). Thus, the position of the cutting edge 6a of the bucket 6 is moved to Figure 8 the position shown in (c) of

[0213] In addition, in step S122, the case where the attachment device AT is operated to move the cutting edge 6a of the bucket 6 above the next excavation position has been described, but it is not limited thereto. For example, when observing the horizontally formed fan-shaped or circular ring-shaped plane 802 from above, hydraulic oil may be supplied to the swing hydraulic motor 2A to rotate the upper swing body 3. In addition, when the horizontally formed plane 802 is long, hydraulic oil may be supplied to the travel hydraulic motors 2ML and 2MR to move the excavator 100 (lower travel body 1).

[0214] In addition, even if the lower travel body 1 of the excavator 100 travels or rotates, the controller 30 does not reset the stored height position (first height position. The initial position related to the first control mode.) of the cutting edge 6a and holds it in the storage unit. In addition, even if the upper swing body 3 of the excavator 100 rotates, the controller 30 does not reset the stored height position (first height position. The initial position related to the first control mode.) of the cutting edge 6a and holds it in the storage unit.

[0215] In step S123, the operator performs an arm lowering operation (tilting the right operating lever 26R toward the arm lowering side (front side)) while pressing the right lever switch (the switch NS2 of the right operating lever 26R). Here, the controller 30 controls the attachment AT in a control mode (fourth control mode) that lowers the tip 6a to the first height position stored in step S121. Then, when the tip 6a reaches the first height position, even if the arm lowering operation is continued while pressing the right lever switch, the height position of the tip 6a remains stationary at the first height position and does not drop to a position lower than this height position.

[0216] Here, when the controller 30 is input with an arm lowering operation while pressing the right lever switch, it controls the attachment AT in the normal control mode for lowering the arm 4 (refer to S102). In addition, the controller 30 detects the height position of the tip 6a based on sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3) that detect the posture of the attachment AT, for example. The controller 30 lowers the boom 4 by the arm lowering operation until the detected height position of the tip 6a becomes the first height position stored in step S121. On the other hand, when the detected height position of the tip 6a becomes the first height position stored in step S121, the controller 30 performs control so that the boom 4 does not further lower even if the arm lowering operation is performed. Thus, the position of the tip 6a of the bucket 6 is moved to Figure 8 the position shown in (d) of

[0217] Alternatively, when the controller 30 is input with an arm lowering operation while pressing the right lever switch, it controls the attachment AT in a control mode that vertically moves the tip 6a (refer to S109 or S110). In addition, the controller 30 detects the height position of the tip 6a based on sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3) that detect the posture of the attachment AT, for example. The controller 30 vertically lowers the tip 6a by the arm lowering operation until the detected height position of the tip 6a becomes the first height position stored in step S121. On the other hand, when the detected height position of the tip 6a becomes the first height position stored in step S121, the controller 30 performs control so that the tip 6a does not further lower even if the arm lowering operation is performed. Thus, the position of the tip 6a of the bucket 6 is moved to Figure 8 the position shown in (d) of

[0218] In addition, the excavator 100 may also be equipped with a switch (an example of the input device D2). In step S123, the normal control mode of lowering the boom 4 or the control mode of vertically moving the tip 6a of the bucket is switched by this switch. This switch (an example of the input device D2) may be any one of a touch panel installed on the display of a display device that displays various information images, a knob switch provided at the front end of the lever portion of the operating device 26, a button switch provided around the display device D1, a joystick, a changeover key, a rotary control dial, etc. In addition, the selection result of the switch may also be displayed on the display device D1.

[0219] In step S124, the operator performs a stick retraction operation (a stick retraction operation. Tilts the left operating lever 26L toward the stick retraction side (rear side)) while pressing the left lever switch (the switch NS1 of the left operating lever 26L).

[0220] Here, when the left lever switch is operated and a stick retraction operation is input (Yes in S101, Yes in S103), the controller 30 controls the attachment AT in a control mode (the first control mode. Refer to S105 or S106) of horizontally moving while keeping the tip 6a of the bucket at the first height position. Thereby, horizontal traction of the bucket 6 is performed. At this time, the controller 30 stores the height position (the first height position. The initial position related to the first control mode) of the tip 6a of the bucket at the time of the stick retraction operation in a storage unit (not shown) of the controller 30. Thereby, a horizontal plane 802 is formed, and the position of the tip 6a of the bucket 6 is moved to the position shown in (e) of Figure 8

[0221] In addition, when the horizontal traction of the bucket 6 is further repeated, the processes of steps S122 to S124 are repeated.

[0222] In this way, in steps S121 and S124, the tip 6a can be located at the same height position (the first height position. The initial position related to the first control mode) to perform horizontal traction of the bucket 6. That is, when adjusting the height position of the tip 6a before starting the second horizontal traction of the bucket 6 (S124), it can be easily made to coincide with the height position of the tip 6a in the first horizontal traction of the bucket 6 (S121).

[0223] By repeatedly performing the horizontal traction of the bucket 6 at the same position, the surface accuracy of the horizontal plane 802 can be improved.

[0224] In addition, by accompanying the rotation of the upper swing body 3 and / or the movement of the excavator 100 in step S122, a wider horizontal plane 802 can be formed. For example, in step S122, by moving the excavator 100 backward, the bottom surface (horizontal plane 802) of a long groove can be formed.​

[0225] In addition, the case where the controller 30 controls the attachment AT in the fourth control mode by inputting a prescribed first operation (while pressing the right lever switch, perform an arm lowering operation) in step S123 to lower the tip 6a to the stored first height position has been described, but it is not limited thereto. The prescribed first operation may be inputting a prescribed switch, or may be inputting a prescribed sound to a voice input unit (not shown) provided in the cab 10. Further, the fourth control mode may be configured such that by inputting the prescribed first operation, the tip 6a automatically descends to the stored first height position.

[0226] In addition, the excavator 100 may also be provided with a switch (an example of the input device D2) for resetting the stored height position (the first height position) of the tip 6a. This switch (an example of the input device D2) may be any one of a touch panel provided on a display of a display device that displays various information images, a knob switch provided at the front end of a lever portion of the operating device 26, a button switch provided around the display device D1, a joystick, a changeover key, a rotary control dial, etc. Further, the selection result of the switch may also be displayed on the display device D1.

[0227] In addition, in a state where the tip 6a is disposed at another height position (a new excavation start position), when the left lever switch is operated and a boom drawbar operation is input (refer to S121), the controller 30 overwrites and stores the height position of the tip 6a (the first height position; the initial position related to the first control mode) at the time of the boom drawbar operation in a storage unit (not shown) of the controller 30.

[0228] Figure 9 is a graph showing an example of the height control of the tip 6a. That is, the control in step S123 will be described. Here, the horizontal axis represents time. 901 represents the operation of the switch NS2. 902 represents the operation amount in the arm lowering direction of the right operating lever 26R. 910 is the pilot pressure supplied to the pilot port in the arm lowering direction of the control valve 175 ( Figure 4B the right pilot port of the control valve 175R on the side of the control valve 175). In addition, this pilot pressure is controlled by the controller 30 to control the proportional valve 31BR. 930 is the height of the tip 6a. 950 is the target height (the first height position) at which the tip 6a stops.

[0229] As Figure 9As shown, the operator switches the right lever switch (switch NS2 of the right operating lever 26R) from the non-operated state (open) to the operated state (closed) at time T1. Subsequently, the operator performs an arm lowering operation at time T2 (tilts the right operating lever 26R toward the arm lowering side (front side)). Thereby, the controller 30 controls the proportional valve 31 to supply the pilot pressure 910 to the control valve 175. As a result, the height 930 of the tip 6a of the bucket decreases and approaches the target height (first height position) 950.

[0230] Furthermore, when the height 930 of the tip 6a of the bucket approaches the target height (first height position) 950, the controller 30 controls the proportional valve 31 to reduce the pilot pressure 910 supplied to the control valve 175. Then, at time T3, when the height 930 of the tip 6a of the bucket reaches the target height (first height position) 950, the controller 30 controls the proportional valve 31 to set the pilot pressure 910 supplied to the control valve 175 to zero. Thereby, the height 930 of the tip 6a of the bucket can be set to the target height 950.

[0231] [Another example of the operation of the excavator]

[0232] Next, use Figure 10 and Figure 11 to illustrate another example of the operation using the excavator 100. Figure 10 is a flowchart showing another example of the control of the excavator 100 according to the first embodiment. Figure 11 is a schematic diagram showing another example of the operation of the excavator 100. Here, an example is described in which a vertical surface 801 is formed on the ground by repeatedly lowering the bucket 6 vertically with the tip 6a of the bucket at the same horizontal distance.

[0233] The operator operates the operating device 26 (left operating lever 26L, right operating lever 26R) to move the tip 6a of the bucket 6 to the excavation start position. That is, the tip 6a of the bucket 6 is made to coincide with a specified horizontal distance (first horizontal distance. Initial position related to the second control mode). For example, the operator first operates the excavator 100 in the normal mode (refer to S102) to move the position of the tip 6a of the bucket 6 to Figure 11 the position shown in (a) of

[0234] In step S141, the operator performs an arm lowering operation (tilts the right operating lever 26R toward the arm lowering side (front side)) while pressing the right lever switch (switch NS2 of the right operating lever 26R).

[0235] Here, when the right lever switch is operated and the boom lowering operation is input while the controller 30 is in operation (Yes in S101, No in S103, Yes in S107), the attachment device AT is controlled in the control mode (the second control mode. Refer to S109 or S110.) in which the tip 6a of the bucket is vertically moved while maintaining the first horizontal distance. Thereby, the bucket 6 is vertically lowered. At this time, when the controller 30 controls the attachment device AT in the second control mode, the horizontal distance (the first horizontal distance. The initial position related to the second control mode.) of the tip 6a of the bucket during the boom lowering operation is stored in the storage unit (not shown) of the controller 30. Thereby, a vertical plane 801 is formed, and the position of the tip 6a of the bucket 6 is moved to Figure 11 the position shown in (b) of

[0236] In step S142, the operator operates the attachment device AT in the normal mode (refer to S102). In addition, the left lever switch (the switch NS1 of the left operating lever 26L) and the right lever switch (the switch NS2 of the right operating lever 26R) are not operated (No in S101), and the controller 30 controls the attachment device AT in the normal control mode (S102). Thereby, the tip 6a of the bucket 6 is moved to near the next excavation position. For example, the operator operates the operating device 26 to perform a stick-in operation, and the tip 6a of the bucket 6 is separated from the vertical plane 801. Then, the operator operates the operating device 26 to perform a boom raising operation, and the tip 6a of the bucket 6 is moved to near the next excavation position (the second horizontal distance). The second horizontal distance is a position away from the first horizontal distance (a position away from the vertical plane 801). Thereby, the position of the tip 6a of the bucket 6 is moved to Figure 11 the position shown in (c) of

[0237] In addition, in step S142, the case where the attachment device AT is operated to move the tip 6a of the bucket 6 to near the next excavation position has been described, but it is not limited thereto. For example, when observing the vertical plane 801 formed in a cylindrical surface shape from above, the working oil may be supplied to the swing hydraulic motor 2A to swing the upper swing body 3. In addition, when the vertical plane 801 is formed to be long, the upper swing body 3 may be directed toward the vertical plane 801, and the lower traveling body 1 may be directed in a direction parallel to the vertical plane 801, and the working oil may be supplied to the traveling hydraulic motors 2ML and 2MR to make the excavator 100 (the lower traveling body 1) travel.

[0238] In addition, even if the lower traveling body 1 of the excavator 100 travels or rotates, the controller 30 does not reset the stored horizontal distance of the tip 6a of the bucket (the first horizontal distance, the initial position related to the second control mode) and keeps it in the storage unit. Further, even if the upper revolving body 3 of the excavator 100 rotates, the controller 30 does not reset the stored horizontal distance of the tip 6a of the bucket (the first horizontal distance, the initial position related to the second control mode) and keeps it in the storage unit.

[0239] In step S143, the operator performs a boom extending operation (tilting the left joystick 26L toward the boom extending side (rear side)) while pressing the left joystick switch (the switch NS1 of the left joystick 26L). Here, the controller 30 controls the attachment AT in a control mode (the fifth control mode) in which the tip 6a of the bucket is moved until it reaches the first horizontal distance stored in step S141. Then, when the tip 6a of the bucket reaches the first horizontal distance, even if the boom extending operation is continued while pressing the left joystick switch, the horizontal distance of the tip 6a of the bucket remains stationary at the first horizontal distance and does not advance beyond the front of this horizontal distance.

[0240] Here, when a boom extending operation is input while the left joystick switch is pressed, the controller 30 controls the attachment AT in the normal control mode for extending the boom 5 (refer to S102). Further, the controller 30 detects the horizontal distance of the tip 6a of the bucket, for example, based on sensors (the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3) that detect the posture of the attachment AT. The controller 30 extends the boom 5 by the boom extending operation until the detected horizontal distance of the tip 6a of the bucket reaches the first horizontal distance stored in step S141. On the other hand, when the detected horizontal distance of the tip 6a of the bucket reaches the first horizontal distance stored in step S141, the controller 30 performs control so that the boom 5 does not extend further even if the boom extending operation is performed. Thereby, the position of the tip 6a of the bucket 6 is moved to Figure 11 the position shown in (d) of

[0241] Alternatively, when the controller 30 is input with a boom opening operation while the left lever switch is pressed, the controller 30 controls the attachment AT in a control mode (refer to S105 or S106) that horizontally moves the tip 6a. Further, the controller 30 detects the horizontal distance of the tip 6a based on, for example, sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3) that detect the posture of the attachment AT. The controller 30 moves the tip 6a horizontally inward by a boom opening operation until the detected horizontal distance of the tip 6a becomes the first horizontal distance stored in step S141. On the other hand, when the detected horizontal distance of the tip 6a becomes the first horizontal distance stored in step S141, the controller 30 controls so that the tip 6a does not move further inward in the horizontal direction even if a boom opening operation is performed. Thereby, the position of the tip 6a of the bucket 6 is moved to Figure 11 the position shown in (d) of

[0242] In addition, the excavator 100 may also be provided with a switch (an example of the input device D2), and in step S143, the control mode for normally opening the boom 5 or the control mode for moving the tip 6a along the horizontal direction can be switched by this switch. This switch (an example of the input device D2) can be any one of a touch panel installed on a display of a display device that displays various information images, a knob switch provided at the front end of the lever portion of the operating device 26, a button switch provided around the display device D1, a joystick, a changeover key, a rotary control dial, etc. Further, the selection result of the switch may also be displayed on the display device D1.

[0243] In step S144, the operator performs a boom lowering operation (tilts the right operating lever 26R toward the boom lowering side (front side)) while pressing the right lever switch (the switch NS2 of the right operating lever 26R).

[0244] Here, when the right lever switch is operated and a boom lowering operation is input (Yes in S101, Yes in S103), the controller 30 controls the attachment AT in a control mode (second control mode. Refer to S109 or S110) that vertically moves the tip 6a while maintaining the first horizontal distance. Thereby, the bucket 6 is vertically lowered. At this time, the controller 30 stores the horizontal distance (first horizontal distance. The initial position related to the second control mode) of the tip 6a during the boom lowering operation in a storage unit (not shown) of the controller 30. Thereby, a vertical plane 801 is formed, and the position of the tip 6a of the bucket 6 is moved to Figure 11 the position shown in (e) of

[0245] In addition, when the bucket 6 is further vertically lowered repeatedly, the processes of step S142 to step S144 are repeated.

[0246] In this way, in step S141 and step S144, the bucket 6 can be vertically lowered with the tip 6a at the same horizontal distance (the first horizontal distance, the initial position related to the second control mode). That is, when adjusting the horizontal distance of the tip 6a before starting the second vertical lowering of the bucket 6 (S144), it can be easily made to coincide with the horizontal distance of the tip 6a during the first vertical lowering of the bucket 6 (S141).

[0247] By repeatedly performing the vertical lowering of the bucket 6 at the same position, the surface accuracy of the vertical surface 801 can be improved.

[0248] In addition, by causing the upper swing body 3 to swing and / or the excavator 100 to move in step S142, a wider vertical surface 801 can be formed. For example, in step S142, the upper swing body 3 is directed toward the vertical surface 801, and the lower traveling body 1 is directed in a direction parallel to the vertical surface 801, and the excavator 100 is moved, whereby a horizontally long wall surface (vertical surface 801) can be formed.

[0249] In addition, in Figure 11 the example, the case of repeatedly excavating the vertical surface 801 has been described, but it can also be applied to the excavation of the vertical surface 803 (refer to Figure 5 (d) to Figure 5 (e) of

[0250] In addition, the case where the controller 30 controls the attachment AT in the fifth control mode in which the tip 6a is moved until it reaches the stored first horizontal distance by being input with a prescribed second operation (performing a boom opening operation while pressing the left lever switch) in step S143 has been described, but it is not limited thereto. The prescribed second operation may be inputting a prescribed switch or inputting a prescribed sound to a voice input unit (not shown) provided in the cab 10. In addition, the fifth control mode is configured such that the tip 6a is automatically moved until it reaches the stored first horizontal distance by inputting the prescribed second operation.

[0251] In addition, the excavator 100 may also be provided with a switch (an example of the input device D2) for resetting the stored horizontal distance (the first horizontal distance) of the tip 6a. This switch (an example of the input device D2) may be any one of a touch panel installed on the display of a display device that displays various information images, a knob switch provided at the front end of the lever portion of the operating device 26, a button switch provided around the display device D1, a joystick, a changeover key, a rotary control dial, etc. In addition, the selection result of the switch may also be displayed on the display device D1.

[0252] In addition, in a state where the tip 6a of the bucket is configured at another horizontal distance (starting position of new excavation), when the right lever switch is operated and a boom lowering operation is input (refer to S141), the controller 30 overwrites and stores in a storage unit (not shown) of the controller 30 the horizontal distance of the tip 6a during the boom lowering operation (the first horizontal distance, the initial position related to the second control mode).

[0253] (Second Embodiment)

[0254] Next, use Figure 12 An example of an operation of the excavator 100 according to the second embodiment will be described. Figure 12 FIG. is a schematic diagram showing an example of an operation of the excavator 100 according to the second embodiment. Here, an operation of lifting a load 900 by the hook 6c and moving the load 900 in the horizontal direction or the vertical direction will be described as an example.

[0255] A crane operation hook 6c is rotatably mounted on the bucket 6 so as to be accommodated therein. Here, the excavator 100 lifts the load 900 by the hook 6c.

[0256] In Figure 12 (a) of FIG., an example of an operation of lifting the load 900 by the hook 6c and horizontally moving the load 900 is shown.

[0257] In Figure 12 (b) of FIG., an example of an operation of lifting the load 900 by the hook 6c and vertically moving the load 900 is shown.

[0258] In addition, a structure in which the hook 6c is used as a suspension position to lift the load 900 is described as an example, but it is not limited thereto. It may be a structure in which a connecting pin (arm tip pin) connecting the arm 5 and the bucket 6 is used as a suspension position to lift the load 900. And, it may be a structure in which a hook provided on the quick coupler is used as a hanging position to lift the load 900. And, it may be a structure in which a hook provided on a link connected to the rod side of the bucket cylinder 9, the arm 5, and the bucket 6 (quick coupler) is used as a hanging position to lift the load 900.

[0259] The operation for causing the excavator 100 to perform such an operation of moving the load 900 in the horizontal direction and / or the vertical direction is a combined operation of simultaneously operating the boom 4, the arm 5, etc., and requires the skill of the operator. In the case of an inexperienced operator, the horizontal movement / vertical movement cannot be performed as expected by the operator, and thus the load 900 may collide with the ground or other objects.

[0260] [Another Example of Excavator Operation]

[0261] Next, use Figure 13, an example of the control in the excavator 100 according to the second embodiment will be described. Figure 13 It is a flowchart showing an example of the control in the excavator 100 according to the second embodiment.

[0262] In step S201, the controller 30 determines whether the switches NS1 and NS2 are operated. Here, the switches NS1 and NS2 are switches for selecting whether to enable the equipment control function. In addition, the switches NS1 and NS2 can be momentary switches, and can be switches that are conductive only during the period when the switches NS1 and NS2 are pressed and become non-conductive when the switches NS1 and NS2 are released. And the switches NS1 and NS2 can be alternate switches, and can be switches that switch between conduction and non-conduction each time the switches NS1 and NS2 are pressed. And the operation of the switches NS1 and NS2 can be the operation of either switch or the operation of both switches.

[0263] When the switches NS1 and NS2 are not operated (\"No\" in S201), in other words, when the switches NS1 and NS2 are in the non-conductive state, the process of the controller 30 proceeds to step S202.

[0264] In step S202, the controller 30 determines to perform normal control. That is, when the operator operates the operating device 26, the controller 30 controls the attachment device AT in the normal control mode (refer to the operation directions of the left operating lever 26L and the right operating lever 26R and the movement of the attachment device AT shown in Figure 3 . Specifically, by the operator operating the left operating lever 26L in the front-rear direction, the controller 30 controls the control valve 176 that supplies working oil to the arm cylinder 8 via the proportional valves 31AL and 31AR. Thereby, the arm 5 of the attachment device AT moves (extends / retracts). And by the operator operating the right operating lever 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies working oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. Thereby, the boom 4 of the attachment device AT moves (rises / falls).

[0265] On the other hand, when the switches NS1 and NS2 are operated (\"Yes\" in S201), in other words, when the switches NS1 and NS2 are in the conductive state, the process of the controller 30 proceeds to step S203.

[0266] In step S203, the controller 30 determines whether one of the operating levers is operated. Here, the controller 30 determines whether the left operating lever 26L is operated in any direction in the front-rear direction (the extending direction or the retracting direction of the arm 5). When one of the operating levers is not operated (\"No\" in S203), the process of the controller 30 proceeds to step S205.

[0267] When one of the joysticks is operated (Yes in S203), the process of the controller 30 proceeds to step S204. Here, as shown in step S204 described later, the controller 30 controls the attachment device AT in the first control mode in which the reference position of the attachment device AT is horizontally moved by the operation of the left joystick 26L in the front-back direction. Here, the reference position can be any one of the hook 6c that supports the suspended load, the rotation axis of the hook 6c (the pin connecting the arm 5 and the bucket 6), etc. By horizontally moving the reference position, the suspended load 900 also moves horizontally. That is, the controller 30 controls the movement of the arm 5 in the front-back direction of the left joystick 26L according to the operation amount. Together with the movement of the arm 5, the controller 30 automatically controls the movement of the boom 4 so that the reference position moves horizontally.

[0268] In step S204, the controller 30 controls the attachment device AT in the control mode of horizontally moving the reference position of the attachment device AT. Specifically, by the operator operating the left joystick 26L in the front-back direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR. Thereby, the arm 5 of the attachment device AT moves (extends / retracts). At the same time, the controller 30 automatically controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR so that the reference position of the attachment device AT moves horizontally. In addition, here, the opening / closing angle of the bucket 6 relative to the arm 5 remains unchanged.

[0269] And when one of the joysticks is not operated (No in S203), the process of the controller 30 proceeds to step S205.

[0270] In step S205, the controller 30 determines whether the other joystick is operated. Here, the controller 30 determines whether the right joystick 26R is operated in any one of the front-back directions (the lowering direction or the raising direction of the boom 4). When the other joystick is not operated (No in S205), the process of the controller 30 returns to step S203.

[0271] When the other joystick is operated (Yes in S205), the process of the controller 30 proceeds to step S206. Here, as shown in step S206 described later, the controller 30 controls the attachment device AT in the second control mode in which the reference position of the attachment device AT is vertically moved by the operation of the right joystick 26R in the front-back direction. Here, the reference position can be any one of the hook 6c that supports the suspended load, the rotation axis of the hook 6c (the pin connecting the arm 5 and the bucket 6), etc. By vertically moving the reference position, the suspended load 900 also moves vertically.

[0272] In step S206, the controller 30 controls the attachment device AT in a control mode that vertically moves the reference position of the attachment device AT. Specifically, when the operator operates the right joystick 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. As a result, the boom 4 of the attachment device AT moves (extends / retracts). At the same time, the controller 30 automatically controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR to vertically move the reference position of the attachment device AT. Additionally, here, the opening / closing angle of the bucket 6 relative to the arm 5 remains unchanged. That is, the controller 30 controls the movement of the boom 4 in the front-rear direction of the right joystick 26R according to the operation amount. Along with the movement of the boom 4, the controller 30 automatically controls the movement of the boom 4 to vertically move the reference position.

[0273] As described above, according to the excavator 100 according to the second embodiment, even for an operator who is not skilled in operating the excavator 100, it is possible to easily transport the suspended object 900 in the horizontal and vertical directions.

[0274] (Third Embodiment)

[0275] In the third embodiment, a case where the excavator 100 is remotely operated by an operator is described.

[0276] Figure 14 FIG. is a schematic diagram showing a structural example of a remote support system SYS for the excavator 100 according to the third embodiment. In Figure 14 the illustrated example, the excavator 100 and the remote operation room RC are connected via a communication network NW. As a result, it is possible to transmit and receive information between the excavator 100 and the remote operation room RC.

[0277] The excavator 100 uses a 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, the slewing angle, and the detection results of various sensors to the remote operation room RC.

[0278] In the remote support system SYS according to the third 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 seat DS, a remote controller R30, and a communication device T2 are provided. And, a switch NS3 is provided on the operation device R26. Additionally, the switch NS3 can be provided on the left and right joysticks in the same manner as the excavator 100 according to the first and second embodiments.

[0279] The remote controller R30 displays a display screen based on the image information captured by the imaging device S6, the turning angle, and the detection results of various sensors on the display device DR. Thus, even when the operator OP sitting on the operator's seat DS is not in the remote operation room RC, the situation around the excavator 100 can be confirmed.

[0280] The operator OP on the operator's seat DS in the remote operation room RC operates the operating device R26. And the operation sensor R29 detects the operation content received by the operating device R26. And the controller 30 generates a control signal corresponding to the operation content. And the communication device T2 sends the generated control signal to the excavator 100. The remote controller R30 can remotely operate the excavator 100 by sending a control signal.

[0281] Also, by operating the operating device R26 in the state where the switch NS3 is operated, the position of the tip 6a of the bucket 6 can be moved vertically or horizontally in the same manner as the excavator 100 according to the first and second embodiments.

[0282] Thus, in the remote support system SYS of the excavator 100 according to the third embodiment, control can be performed in the same manner as the excavator according to the first and second embodiments (refer to Figure 6 、 7 、10、13). Thus, in the excavator 100 according to the third embodiment, the operation of moving the reference position of the attachment device AT along the horizontal direction or the vertical direction can also be easily performed. In addition, the height position and the horizontal distance of the tip 6a of the bucket 6 can be easily adjusted.

[0283] In addition, as an example, the excavator 100 (construction machine) according to the first to third embodiments is described as having a bucket 6 as an end attachment device, but it is not limited thereto. The end attachment device may be any one of a crusher that holds and crushes an object, a breaker that strikes and crushes an object, a grapple that holds an object, an angled bucket as a bucket with an additional tilting mechanism, a compactor that compacts with soil, etc., a bucket thumb as a bucket that can hold an object, a auger for pile driving, an angled swivel as a bucket with an additional tilting mechanism and a rotating mechanism, etc.

[0284] In addition, in the crusher, breaker, grapple, and auger, for example, it can be configured to be easily moved along the horizontal direction and / or the vertical direction by the Figure 13 control shown.

[0285] And in the bucket 6, angled bucket, compactor, bucket thumb, angled swivel, for example, it is configured to be able to Figure 6It can be easily moved along the horizontal direction and / or the vertical direction by the control shown, and can be configured to be able to maintain the angle of the terminating accessory (for example, the angle of the bottom surface 6b of the bucket 6) while moving along the horizontal direction and / or the vertical direction. In addition, regarding the tilting bucket, it is preferably applied to this control after setting the tilting angle to 0°. And regarding the tilting rotary machine, it is preferably applied to this control after setting the tilting angle to 0° and the rotary angle to 0°.

[0286] Moreover, for the switches NS1 and NS2, the case where they are respectively provided on the left operating lever 26L and the right operating lever 26R is described, but it is not limited thereto, and the switch may be provided only on any one of the operating levers.

[0287] As described above, the embodiments of the excavator according to the present invention have been described, but the present invention is not limited to the above embodiments and the like. Within the scope described in the technical solution, various changes, corrections, substitutions, additions, deletions, and combinations can be made. Of course, these also belong to the technical scope of the present invention.

Claims

1. A construction machine comprising: Lower walking body; An upper rotating body, rotating relative to the lower walking body; An auxiliary device is installed on the upper rotating body and has at least a boom and a stick; an operating device having one operating lever and another operating lever; and Control Department, The control unit performs the following control: When one of the operating levers is operated, the attachment is controlled in a first control mode, When the other of the operating levers is operated, the attachment is controlled in the second control mode.

2. The construction machine according to claim 1, wherein: One of the operating levers is an operating lever for operating the bucket arm, The other operating lever is an operating lever for operating the boom, In the first control mode, if one of the operating levers is operated to move the arm, the boom automatically moves. In the second control mode, when the other of the operating levers is operated to move the boom, the arm automatically moves.

3. The construction machine according to claim 2, wherein: In the first control mode, when one of the operating levers is operated, the reference position of the attachment is moved in the horizontal direction. In the second control mode, when the other operating lever is operated, the reference position of the attachment is moved in the vertical direction.

4. The construction machine according to claim 3, wherein: The attachment also has a bucket, The reference position is the position of the blade tip of the bucket.

5. The construction machine according to claim 4, wherein: In the first control mode, when the angle formed by the horizontal direction and the bottom surface of the bucket is within a predetermined first range, if one of the operating levers is operated, the angle of the bottom surface of the bucket is maintained and the reference position of the attachment is moved in the horizontal direction. In the second control mode, when the angle formed by the vertical direction and the bottom surface of the bucket is within a predetermined second range, if the other operating lever is operated, the angle of the bottom surface of the bucket is maintained and the reference position of the attachment is moved in the vertical direction.

6. The construction machine according to claim 3, wherein: The reference position is the suspension position of the hoisted object.

7. The construction machine according to claim 1, wherein: The operating device also has a switch. The control unit performs the following control: When the switch is operated and one of the operating levers is operated, the attachment is controlled in a first control mode, When the switch is operated and the other of the operating levers is operated, the attachment is controlled in the second control mode.

8. The construction machine according to claim 7, wherein: The switch has: a first switch disposed on one of the operating levers; and A second switch is provided on another of the operating levers, The control unit performs the following control: When the first switch is operated and one of the operating levers is operated, the attachment is controlled in a first control mode, When the second switch is operated and the other of the operating levers is operated, the attachment is controlled in the second control mode.

9. The construction machine according to claim 1, wherein: The operating device also has a switch. The control unit performs the following control: When the switch is operated and one of the operating levers is operated in the first direction, the attachment is controlled in the first control mode, When the switch is operated and the other operating lever is operated, the attachment is controlled in a second control mode, When the switch is operated and one of the operation levers is operated in a second direction orthogonal to the first direction, the attachment is controlled in a third control mode.

10. The construction machine according to claim 9, wherein: In the third control mode, when one of the operating levers is operated in the second direction, the reference position of the attachment is moved in the positive side direction.

11. The construction machine according to claim 1, wherein: The control unit stores an initial position related to the first control mode and / or an initial position related to the second control mode.

12. The construction machine according to claim 11, wherein: The control unit is configured to be capable of executing a fourth control mode and a fifth control mode, In the fourth control mode, based on a predetermined first operation, the attachment is controlled to an initial position associated with the first control mode, In the fifth control mode, the attachment is controlled to an initial position associated with the second control mode based on a predetermined second operation.

13. The construction machine according to claim 11, wherein: The control unit performs the following control: When the attachment is controlled in the first control mode, an initial position associated with the first control mode is stored; When the attachment is controlled in the second control mode, an initial position related to the second control mode is stored.

14. The construction machine according to claim 11, wherein: The control unit performs the following control: Even if the lower traveling body travels, the initial position associated with the first control mode and / or the initial position associated with the second control mode are not reset.

15. A remote support system for remotely operating construction machinery, comprising: The construction machine comprises: a lower traveling body; an upper rotating body rotating relative to the lower traveling body; and an auxiliary device mounted on the upper rotating body and having at least a boom and a stick; A remote operating room having an operating device having one operating lever and another operating lever; and Control Department, In the remote support system, The control unit performs the following control: When one of the operating levers is operated, the attachment is controlled in a first control mode, When the other of the operating levers is operated, the attachment is controlled in the second control mode.

Images