Control device for shovel

Abstract

Provided is a control device for a shovel. The shovel is provided with: an upper rotating body; the accessory device is arranged on the upper rotating body; a swing mechanism; a lower traveling body; and a blade provided on the lower traveling body, in which the control device of the shovel receives an input of an operation command for instructing the operation of the attachment device, determines whether a person is detected around the shovel, and causes the shovel to perform an operation for lowering the blade when no person is detected.

Description

Technical Field

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

[0002] Conventionally, there has been known an excavator provided with blades for performing a leveling operation. Further, in this excavator, when performing an excavation operation, the blades are brought into contact with the ground to prevent tipping.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2002-256585 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In the above-described conventional excavator, each time an excavation operation is performed, an operation of lowering the blades is performed to bring the blades into contact with the ground. Further, in the conventional excavator, when traveling after performing an excavation operation, an operation of raising the blades is required to protect the traveling surface. Therefore, in the conventional excavator, each time an excavation operation is performed, an operation of lowering the blades and an operation of raising the blades occur, which is complicated.

[0008] Therefore, in view of the above problems, the technical object of the invention is to improve operability.

[0009] Means for Solving the Problems

[0010] In order to achieve the above object, a control device for an excavator according to an embodiment of the present disclosure is such that the excavator includes: an upper swing body; an attachment device provided on the upper swing body; a swing mechanism; a lower traveling body; and blades provided on the lower traveling body, and the control device of the excavator receives an input of an operation command instructing an operation of the attachment device, determines whether a person is detected around the excavator, and causes the excavator to perform an operation of lowering the blades when no person is detected.

[0011] Advantages of the Invention

[0012] Operability can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a side view of a small swing type excavator.

[0014] Figure 2 It is a plan view of a small swing type excavator.

[0015] Figure 3 It is a diagram showing a structural example of a hydraulic circuit mounted on an excavator.

[0016] Figure 4A It is a diagram showing the part of the hydraulic system related to the operation of the arm cylinder.

[0017] Figure 4B It is a diagram showing the part of the hydraulic system related to the operation of the boom cylinder.

[0018] Figure 4C It is a diagram showing the part of the hydraulic system related to the operation of the bucket cylinder.

[0019] Figure 4D It is a diagram showing the part of the hydraulic system related to the operation of the swing hydraulic motor.

[0020] Figure 5 A block diagram showing an example of the structure related to the equipment guiding function and equipment control function of the excavator.

[0021] Figure 6 It is a flowchart explaining the operation of the excavator.

[0022] Figure 7 It is a diagram explaining the situation when the blade is lowered. Detailed Embodiment

[0023] With reference to the accompanying drawings, embodiments of the present invention will be described. Figure 1 It is a side view of a short-swing excavator, Figure 2 It is a top view of a short-swing excavator.

[0024] Hereinafter, in this specification, the short-swing excavator may sometimes be simply referred to as an "excavator". The lower traveling body 1 of the excavator 100 is mounted with the upper swing body 3 via the slewing mechanism 2. A boom 4 is installed on the upper swing body 3. A stick 5 is installed at the front end of the boom 4, and a bucket 6 as an end attachment is installed at the front end of the stick 5. As the end attachment, a slope bucket, a dredging bucket, etc. can be used.

[0025] The boom 4, the stick 5, and the bucket 6 constitute an attachment device as an example of the attachment device, and are respectively hydraulically driven by a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9.

[0026] A cab 10 is provided on the upper swing body 3, and a power source such as an engine 11 is mounted. Inside the cab 10, a driver's seat, various operating devices 26 required for operating the excavator 100, and a controller 30 for controlling the driving of the excavator 100 are provided.

[0027] In Figure 1In the case where the piston 9a of the bucket cylinder 9 mounted on the arm 5 is provided on a surface at the same height as the installation surface of the crawler, the top Th1 of the armrest 70 mounted on the fuel tank 24 becomes the highest position in the excavator 100. That is, the top Th1 of the armrest 70 is higher than the top Th2 of the armrest 60, the top Tc of the cab 10, and the pipe Ta leading to the boom cylinder 8 mounted on the boom 4. Also, the upper surface of the fuel tank 24 is higher than the muffler cover 90.

[0028] Also, as described later, when the armrest 70 is rotated, the top Th1 of the armrest 70 becomes lower than any one of the top Th2 of the armrest 60, the top Tc of the cab 10, and the pipe Ta leading to the boom cylinder 8 mounted on the boom 4.

[0029] Also, the excavator 100 of the present embodiment is provided with a blade 95 for leveling work or the like on the lower traveling body 1. The blade 95 has a front end portion 95a and a support portion 95b, and is driven by a blade cylinder (not shown) provided on the lower traveling body 1. More specifically, the blade cylinder expands and contracts according to the operation of the operator, thereby moving the blade 95 up and down. In other words, the excavator 100 performs a blade lowering operation of lowering the blade 95 and a blade lifting operation of lifting the blade 95 according to the operation of the operator.

[0030] Also, the excavator 100 has a blade angle sensor 96 for detecting the angle of the blade 95. The angle of the blade 95 can be, for example, the angle of the support portion 95b with respect to the horizontal plane.

[0031] The blade angle sensor 96 of the present embodiment transmits the detected signal to the controller 30 of the excavator 100 by wireless communication. Also, the blade angle sensor 96 of the present embodiment can transmit a signal using power supplied by vibration power generation, solar power generation, or the like.

[0032] In the excavator 100 of the present embodiment, when an input of an operation instructing the operation of the attachment is received, the controller 30 performs a blade lowering operation of lowering the blade 95, brings the blade 95 into contact with the ground, and prohibits the excavator 100 from traveling.

[0033] Also, in the excavator 100 of the present embodiment, when the operation of the attachment ends and an operation instructing traveling is received, the controller 30 performs a blade lifting operation of lifting the blade 95. In other words, in the controller 30, when an operation instruction for the attachment is not input and a traveling instruction instructing traveling is input, a blade lifting operation is performed.

[0034] In the present embodiment, thus, the control of the blade 95 is performed based on the controller 30, so the operator does not need to perform an operation of lowering the blade 95 every time a digging operation is performed, and the operation becomes simple.

[0035] Moreover, in the present embodiment, when performing excavation work, the lowering blade 95 is lowered and brought into contact with the ground, thereby improving the stability of the body of the excavator 100 during excavation work. Further, in the present embodiment, when the blade 95 is in contact with the ground, the controller 30 prohibits the excavator 100 from traveling, and thus it is possible to prevent the excavator 100 from traveling while the blade 95 is lowered. A detailed description of the processing of the controller 30 will be given later.

[0036] Moreover, in the excavator 100 of the present embodiment, as Figure 2 shown, the boom 4 is rotatably supported near the center of the upper swing body 3. The cab 10 is provided on the front side of the upper swing body 3 and on the left side of the boom 4. A urea tank cover 19 that covers a urea tank (to be described later) is installed on the front side of the upper swing body 3 and on the right side of the boom 4. A fuel tank 24 and a working oil tank 27 are arranged behind the urea tank cover 19. The fuel tank 24 is arranged on the outside, and the working oil tank 27 is arranged inside the fuel tank 24.

[0037] The upper surface of the urea tank cover 19 and the upper surface of the working oil tank 27 are used as passages for operators to board during maintenance and the like. On the other hand, as will be described later, the upper surface of the fuel tank 24 is located at a position higher than the upper surface of the working oil tank 27 and is not used as a passage for operators to board.

[0038] On the outer peripheral portion of the upper swing body 3, a handrail 60 is installed from the urea tank cover 19 to the fuel tank 24. The handrail 60 is a guide rail for protecting operators from falling when boarding the upper swing body 3. The upper end of the handrail 60 extends to the end of the fuel tank 24. A handrail 70 extends along the extension direction of the handrail 60 from the position of the terminal of the handrail 60. The handrail 70 is installed on the upper surface of the fuel tank 24 and bends inward along the corner of the upper surface of the fuel tank 24. The handrail 70 is provided at a position where an operator can grasp when boarding the upper surface of the working oil tank 27.

[0039] A muffler cover 90 that covers an exhaust gas treatment device (to be described later) is provided behind the fuel tank 24 and the working oil tank 27. An exhaust pipe (muffler) 92 extending from the exhaust gas treatment device protrudes from a portion of the muffler cover 90 close to the fuel tank 24.

[0040] The urea tank cover 19, the fuel tank 24, the working oil tank 27, the handrail 60, the handrail 70, and the muffler cover 90 are arranged on the right side of the upper swing body 3.

[0041] As described above, the boom 4 is rotatably mounted at the center of the upper revolving body 3. The shape of the rear portion of the upper revolving body 3 is restricted by the swing radius of the excavator and is an arc shape of the swing radius. A counterweight 28 is disposed at the center of the rear portion of the upper revolving body 3. Further, the engine 11 is disposed and fixed in the space between the counterweight 28 and the boom 4. In Figure 1 and Figure 2 , there is an engine hood 35 covering the upper portion of the engine 11, so that the engine 11 is not visible.

[0042] A passage 32 for an operator to board is provided on the front side of the engine hood 35 when the engine hood 35 is opened and maintenance work of the engine 11 is performed. Further, on the front side of the passage 32, a working scaffold 34 is provided at a position lower than the passage 32. The working scaffold 34 is provided to cover the swing motor disposed beside the working fuel tank 27 and also functions as a swing motor cover. When the operator climbs onto the upper passage 32, the operator first boards the lower working scaffold 34 and then climbs onto the higher passage 32. At this time, the operator can easily climb from the working scaffold 34 onto the passage 32 by placing a hand on the vertically extending portion at the end of the handrail 70.

[0043] Moreover, the excavator 100 of the present embodiment includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a swing state sensor S5. Further, the excavator 100 of the present embodiment has a space recognition device 81, an orientation detection device 82, an input device 83, a positioning device 84, a display device D1, and a sound output device D2.

[0044] The boom angle sensor S1 is mounted on the boom 4 and detects the pitch angle of the boom 4 with respect to the upper revolving body 3 (hereinafter referred to as "boom angle"), for example, the angle formed by the straight line connecting the two ends of the boom 4 and the revolving plane of the upper revolving body 3 when viewed from the side.

[0045] The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a gyro sensor (angular velocity sensor), a six-axis sensor, an IMU (Inertial Measurement Unit), 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.

[0046] The boom angle sensor S2 is installed on the boom 5 and detects the rotation angle of the boom 5 relative to the arm 4 (hereinafter referred to as "boom angle"), for example, the angle formed by the straight line connecting the fulcrums at both ends of the boom 5 and the straight line connecting the fulcrums at both ends of the arm 4 when viewed from the side. The detection signal corresponding to the boom angle detected by the boom angle sensor S2 is input to the controller 30.

[0047] The bucket angle sensor S3 is installed on the bucket 6 and detects the rotation angle of the bucket 6 relative to the boom 5 (hereinafter referred to as "bucket angle"), for example, the angle formed by the straight line connecting the fulcrum of the bucket 6 and the front end (bucket tip) and the straight line connecting the fulcrums at both ends of the boom 5 when viewed from the side. The detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

[0048] In addition, in the present embodiment, the above various angle sensors may include an operation amount detection unit for detecting an operation amount, and the various angle sensors may calculate an angle based on the detected operation amount.

[0049] The body tilt sensor S4 detects the tilt state of the body (for example, the upper slewing body 3) relative to the horizontal plane. The body tilt sensor S4 is installed, for example, on the upper slewing 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 slewing body 3) around two axes in the front-back direction and the left-right direction. The body tilt sensor S4 may include, for example, an acceleration sensor, a gyro sensor (angular velocity sensor), a six-axis sensor, and an IMU. The detection signal corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) detected by the body tilt sensor S4 is input to the controller 30.

[0050] The slewing state sensor S5 is installed on the upper slewing body 3 and outputs detection information related to the slewing state of the upper slewing body 3. The slewing state sensor S5 detects, for example, the slewing angular velocity and slewing angle of the upper slewing body 3. The slewing state sensor S5 includes, for example, a gyro sensor, a resolver, and a rotary encoder. In addition, when the body tilt sensor S4 includes a gyro sensor, a six-axis sensor, an IMU, etc. that can detect the angular velocity around three axes, the slewing state (for example, the slewing angular velocity) of the upper slewing body 3 can be detected based on the detection signal of the body tilt sensor S4. In this case, the slewing state sensor S5 can be omitted.

[0051] The space recognition device 81 is configured to recognize an object in the three-dimensional space around the excavator 100 and measure (calculate) the positional relationship such as the distance from the space recognition device 81 or the excavator 100 to the recognized object. The space recognition device 81 can include, for example, an ultrasonic sensor, a millimeter-wave radar, a monocular camera, a stereo camera, LIDAR (Light Detecting and Ranging), a distance image sensor, an infrared sensor, etc.

[0052] In the present embodiment, the space recognition device 81 includes a front recognition sensor 81F mounted on the front end of the upper surface of the cab 10, and a rear recognition sensor 81B mounted on the rear end of the upper surface of the upper swing body 3. Further, the space recognition device 81 of the present embodiment may include a left recognition sensor mounted on the left end of the upper surface of the upper swing body 3, and a right recognition sensor mounted on the right end of the upper surface of the upper swing body 3. Further, an upper recognition sensor for recognizing an object in the space above the upper swing body 3 may be mounted on the excavator 100.

[0053] The orientation detection device 82 detects information related to the relative relationship between the orientation of the upper swing body 3 and the orientation of the lower traveling body 1 (for example, the swing angle of the upper swing body 3 with respect to the lower traveling body 1).

[0054] The orientation detection device 82 can include, for example, a combination of a geomagnetic sensor mounted on the lower traveling body 1 and a geomagnetic sensor mounted on the upper swing body 3. Further, the orientation detection device 82 can include a combination of a GNSS receiver mounted on the lower traveling body 1 and a GNSS receiver mounted on the upper swing body 3. Further, the orientation detection device 82 can include a rotary encoder, a rotary position sensor, etc. that can detect the relative swing angle of the upper swing body 3 with respect to the lower traveling body 1, that is, the above-mentioned swing state sensor S5. For example, it can also be mounted on a center joint provided in association with a swing mechanism 2 that realizes the relative rotation between the lower traveling body 1 and the upper swing body 3.

[0055] Further, the orientation detection device 82 can include a camera mounted on the upper swing body 3. At this time, the orientation detection device 82 detects an image of the lower traveling body 1 included in the input image by performing known image processing on the image (input image) captured by the camera mounted on the upper swing body 3.

[0056] In addition, in the case where the upper swing body 3 is rotationally driven by a motor instead of a swing hydraulic motor 2A, the orientation detection device 82 can be a resolver.

[0057] The input device 83 is arranged within the reach of an operator sitting in the cockpit 10, accepts various operation inputs made by the operator, and outputs a signal corresponding to the operation input to the controller 30. For example, the input device 83 may include a touch panel installed on the display of the display device D1 that displays various information images.

[0058] Moreover, for example, the input device 83 may include pushbutton switches, joysticks, changeover keys, etc. arranged around the display device D1. And the input device 83 may include a rotary switch arranged on the operating device 26 (for example, a switch SW etc. arranged on the left operating lever 26L). A signal corresponding to the operation content of the input device 83 is input to the controller 30.

[0059] The switch SW is, for example, a pushbutton switch arranged at the front end of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch SW. Also, the switch SW may be arranged on the right operating lever 26R, or may be arranged at other positions within the cockpit 10.

[0060] The positioning device 84 measures the position and orientation of the upper swing body 3. The positioning device 84 is, for example, a GNSS (Global Navigation Satellite System) compass, detects the position and orientation of the upper swing body 3, and a detection signal corresponding to the position and orientation of the upper swing body 3 is input to the controller 30. Also, the function of the positioning device 84 that detects the orientation of the upper swing body 3 can be replaced by an azimuth sensor installed on the upper swing body 3.

[0061] The display device D1 is arranged at a position where it is easily visually recognizable by an operator sitting in the cockpit 10, and displays various information images under the control of the controller 30. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as a CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

[0062] The sound output device D2 is, for example, arranged within the cockpit 10, is connected to the controller 30, and outputs sound under the control of the controller 30. The sound output device D2 is, for example, a speaker or a buzzer, etc. The sound output device D2 outputs various information as sound according to a sound output instruction from the controller 30.

[0063] Next, referring to Figure 3 , to Figure 1 the structure example of the hydraulic circuit of the excavator 100 will be described. Figure 3 is a diagram showing a structure example of the hydraulic circuit of the excavator. And, Figure 3In it, the high-pressure hydraulic pipeline, the pilot pipeline, and the electrical control system are respectively represented by solid lines, dashed lines, and single-dot chain lines.

[0064] The main pumps 14L and 14R are variable-capacity hydraulic pumps driven by the engine 11. In the present embodiment, the main pump 14L causes the working oil to circulate to the working oil tank 27 through the center bypass oil passage 21L that respectively passes through the control valves 171L to 175L constituting the control valve 17. Further, the main pump 14L can supply the working oil to the control valves 172L to 175L respectively through the parallel oil passage 22L that extends in parallel with the center bypass oil passage 21L.

[0065] Similarly, the main pump 14R causes the working oil to circulate to the working oil tank 27 through the center bypass oil passage 21R that respectively passes through the control valves 171R to 175R constituting the control valve 17. Further, the main pump 14R can supply the working oil to the control valves 172R to 175R respectively through the parallel oil passage 22R that extends in parallel with the center bypass oil passage 21R. Hereinafter, the main pump 14L and the main pump 14R may sometimes be collectively referred to as the "main pump 14" for reference. The same applies to other components composed of a left and right pair.

[0066] The control valve 171L is a spool valve that switches the flow of the working oil discharged from the main pump 14L to supply it to the left traveling hydraulic motor 1A when the left traveling lever (not shown) is operated.

[0067] The control valve 171R is a spool valve that is a direct-acting valve. In the present embodiment, the control valve 171R has a first valve position and a second valve position. Specifically, the first valve position has a flow path that connects the main pump 14L and the parallel oil passage 22L and a flow path that connects the main pump 14R and the control valve 172R. Further, the second valve position has a flow path that connects the main pump 14R and the parallel oil passage 22L and a flow path that connects the main pump 14L and the control valve 172R.

[0068] The control valve 172L is a spool valve that switches the flow of the working oil discharged from the main pump 14L to supply it to the vane cylinder 95A when the vane 95 is operated by the operating device 26. In other words, the control valve 172L is a standby control valve.

[0069] The control valve 172R is a spool valve that switches the flow of the working oil discharged from the main pump 14 to supply it to the right traveling hydraulic motor 1B when the operating device 26 is operated. A detailed description of the operating device 26 will be given later.

[0070] The control valve 173L is a spool valve that switches the flow of the working oil discharged from the main pump 14 to supply it to the swing hydraulic motor 2A when the swing mechanism 2 is operated by the operating device 26.

[0071] The control valve 173R is a spool valve that switches the flow of the working oil discharged from the main pump 14R to the bucket cylinder 9 when the bucket 6 is operated by the operating device 26.

[0072] The control valves 174L and 174R are spool valves that switch the flow of the working oil discharged from the main pump 14 to the boom cylinder 7 when the boom 4 is operated by the operating device 26. In addition, when the operating lever for operating the boom 4 is operated in the boom raising direction by a specified operating lever operation amount or more, the control valve 174L additionally supplies the working oil to the boom cylinder 7. The operating lever is a part of the operating device 26.

[0073] The control valves 175L and 175R are spool valves that switch the flow of the working oil discharged from the main pump 14 to the arm cylinder 8 when the arm 5 is operated by the operating device 26. In addition, when the operating lever for operating the arm 5 is operated by a specified operating lever operation amount or more, the control valve 175R additionally supplies the working oil to the arm cylinder 8.

[0074] In addition, the working oil flowing out from the left travel hydraulic motor 1A, the vane cylinder 95A, the swing hydraulic motor 2A, and the arm cylinder 8 is discharged to the working oil tank 27 through the return oil passage 23L. Similarly, the working oil flowing out from the right travel hydraulic motor 1B, the bucket cylinder 9, and the boom cylinder 7 is discharged to the working oil tank 27 through the return oil passage 23R. And a part of the working oil flowing out from the arm cylinder 8 may also be discharged to the working oil tank 27 through the return oil passage 23R.

[0075] The center bypass oil passages 21L and 21R are respectively provided with negative control throttle valves 20L and 20R between the most downstream control valves 175L and 175R and the working oil tank 27. In addition, hereinafter, the negative control is simply referred to as "negative control". The negative control throttle valves 20L and 20R restrict the flow of the working oil discharged from the main pumps 14L and 14R and generate a negative control pressure upstream of the negative control throttle valves 20L and 20R.

[0076] The controller 30 performs negative control using this negative control pressure. Specifically, the lower the negative control pressure generated in the negative control throttle valves 20L and 20R, the greater the discharge amount of the main pumps 14L and 14R. And when the negative control pressure generated in the negative control throttle valves 20L and 20R exceeds a specified pressure, the discharge amount of the main pumps 14L and 14R is reduced to a specified lower limit value.

[0077] The safety valve 50 is a valve that controls the pressure of the rod side oil chamber of the vane cylinder 95A to be below a specified closing safety pressure.

[0078] The load check valve 51 is a valve that prevents the working oil in the vane cylinder 95A from flowing back to the parallel oil passage 22L.

[0079] The pressure sensors 61L and 61R detect the negative control pressures generated upstream of the negative control throttle valves 20L and 20R, and output the detected values as negative control pressure electrical signals to the controller 30.

[0080] The pressure sensors 62L and 62R detect the discharge pressures of the main pumps 14L and 14R, and output the detected values as discharge pressure electrical signals to the controller 30.

[0081] The pressure sensor 63 detects the pressure in the rod side oil chamber of the vane cylinder 95A, and outputs the detected value as a vane rod pressure electrical signal to the controller 30.

[0082] The pressure sensor 64 is one of the pressure sensors, which detects the pilot pressure acting on the right pilot port of the control valve 172L, and outputs the detected value as an electrical signal to the controller 30.

[0083] The pressure sensor 65 is one of the pressure sensors, which detects the pilot pressures acting on the left (boom lift side) pilot port of the control valve 174L and the right (boom lift side) pilot port of the control valve 174R (hereinafter referred to as "boom lift pilot pressure"), and outputs the detected values as boom lift pilot pressure electrical signals to the controller 30.

[0084] The controller 30 receives the outputs of the pressure sensors 61L, 61R, 62L, 62R, 63, 64, 65, etc., and causes the CPU to execute a program for adjusting the discharge amounts of the main pumps 14L and 14R respectively.

[0085] Moreover, when the hydraulic actuators related to the main pump 14L (for example, the vane cylinder 95A) and the hydraulic actuators related to the main pump 14R (for example, the boom cylinder 7) are both continuously operated with full joystick / full pedal (for example, an operation amount of 80% or more when the neutral state of the joystick / pedal is set to 0% and the maximum operation state is set to 100%), the controller 30 makes the discharge amount L1 of the main pump 14L the same as the discharge amount L2 of the main pump 14R. Hereinafter, this method is referred to as the "discharge amount tuning method".

[0086] Next, Figures 4A to 4D A structure for the controller 30 to operate the actuator through the equipment control function will be described. Figures 4A to 4D is a drawing showing a part of the hydraulic system being drawn out. Specifically, Figure 4A is a drawing showing a part of the hydraulic system related to the operation of the arm cylinder 8 being drawn out, Figure 4B is a drawing showing a part of the hydraulic system related to the operation of the boom cylinder 7 being drawn out.Figure 4C This is a diagram showing the extraction of the part of the hydraulic system related to the operation of the bucket cylinder 9. Figure 4D This is a diagram showing the extraction of the part of the hydraulic system related to the operation of the swing hydraulic motor 2A.

[0087] 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.

[0088] The proportional valve 31 functions as a control valve for equipment control. The proportional valve 31 is disposed in a pipeline connecting the pilot port of the pilot pump 15 and the corresponding control valve in the regulating valve 17, and is configured to be able to change the flow path area of this pipeline.

[0089] In the present embodiment, the proportional valve 31 operates according to a 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 corresponding control valve in the regulating valve 17 via the proportional valve 31 regardless of the operation of the operator on the operating device 26. Moreover, the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

[0090] With this structure, even when the operation of a specific operating device 26 is not performed, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26. And even when the operation of a specific operating device 26 is performed, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26.

[0091] For example, as Figure 4A shown, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L causes the pilot pressure corresponding to the operation in the front-rear direction to act on the pilot ports of the control valves 175L and 175R by using the working oil discharged from the pilot pump 15. More specifically, when the operation is performed in the arm retraction direction (rear direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. And when the operation is performed in the arm opening direction (front direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 175L and the right pilot port of the control valve 175R.

[0092] A switch SW is provided on the operating device 26. In the present embodiment, the switch SW includes the switch SW1 and other switches provided at the front end of a traveling lever (not shown).

[0093] The switch SW1 is a push-button switch provided at the front end of the left joystick 26L. The operator can operate the left joystick 26L while pressing the switch SW1. The switch SW1 can be provided on the right joystick 26R or at other positions within the cockpit 10.

[0094] The other switch is a push-button switch provided at the front end of the left travel lever. The operator can operate the left travel lever while pressing the other switch. The other switch can be provided on the right travel lever included in the operating device 26 or at other positions within the cockpit 10.

[0095] The operation sensor 29LA detects the operation content of the left joystick 26L by the operator in the front-rear direction and outputs the detected value to the controller 30.

[0096] The proportional valve 31AL operates according to the control command (current command) output from the controller 30. Moreover, the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31AL into the right pilot port of the control valve 175L and the left pilot port of the control valve 175R is adjusted.

[0097] The proportional valve 31AR operates according to the control command (current command) output from the controller 30. Moreover, the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31AR into the left pilot port of the control valve 175L and the right pilot port of the control valve 175R is adjusted. The proportional valve 31AL can adjust the pilot pressure so that the control valves 175L and 175R can stop at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that the control valves 175L and 175R can stop at any valve position.

[0098] 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 175L and the left pilot port of the control valve 175R 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 175L and the left pilot port of the control valve 175R 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.

[0099] Further, the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R 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 175L and the right pilot port of the control valve 175R 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.

[0100] Further, with this configuration, even when the operator performs a boom retraction operation, the controller 30 can reduce the pilot pressure applied to the retraction-side pilot ports (the left pilot port of the control valve 175L and the right pilot port of the control valve 175R) of the control valve 175 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.

[0101] 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 extension-side pilot ports (the right pilot port of the control valve 175L and the left pilot port of the control valve 175R) of the control valve 175 located on the side opposite to the retraction-side pilot ports of the control valve 175, and forcibly return the control valve 175 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.

[0102] Further, the description given 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

[0103] 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 by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot ports of the control valves 174L and 174R. More specifically, when the operation is in the boom lifting direction (rear direction), the right joystick 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R. And, when the operation is in the boom lowering direction (front direction), the right joystick 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174R.

[0104] The operation sensor 29RA detects the operation content of the right joystick 26R by the operator in the front-rear direction and outputs the detected value to the controller 30.

[0105] The proportional valve 31BL operates according to the control command (current command) output by the controller 30. Moreover, it adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R via the proportional valve 31BL. The proportional valve 31BR operates according to the control command (current command) output by the controller 30.

[0106] Moreover, it adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 174R via the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that the control valves 174L and 174R can stop at any valve position. And, the proportional valve 31BR can adjust the pilot pressure so that the control valve 174R can stop at any valve position.

[0107] With this structure, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R via the proportional valve 31BL according to the boom lifting operation performed by the operator. And, the controller 30 can supply the working oil discharged by the pilot pump 15 to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R via the proportional valve 31BL regardless of the boom lifting operation performed by the operator. That is, the controller 30 can lift the boom 4 according to the boom lifting operation performed by the operator or regardless of the boom lifting operation performed by the operator.

[0108] Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174R via the proportional valve 31BR according to the boom lowering operation performed by the operator. Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174R 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.

[0109] Further, as Figure 4C shown, the right operation lever 26R is used to operate the bucket 6. Specifically, the right operation lever 26R uses the hydraulic 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 173R.

[0110] More specifically, when an operation is performed in the bucket retracting direction (left direction), the right operation lever 26R applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173R. And when an operation is performed in the bucket opening direction (right direction), the right operation lever 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173R.

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

[0112] The proportional valve 31CL operates according to the control command (current command) output from the controller 30. Moreover, the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 into the left pilot port of the control valve 173R via the proportional valve 31CL is adjusted. The proportional valve 31CR operates according to the control command (current command) output from the controller 30.

[0113] Moreover, the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 into the right pilot port of the control valve 173R via the proportional valve 31CR is adjusted. The proportional valve 31CL can adjust the pilot pressure so that the control valve 173R can stop at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 173R can stop at any valve position.

[0114] 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 173R 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 173R 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.

[0115] Also, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 173R 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 173R 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.

[0116] Also, as Figure 4D shown, the left operation lever 26L is also used to operate the slewing mechanism 2. 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 left - right direction to act on the pilot port of the control valve 173L.

[0117] More specifically, when an operation is performed in the left slewing direction (left direction), the left operation lever 26L causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 173L. And when an operation is performed in the right slewing direction (right direction), the left operation lever 26L causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 173L.

[0118] 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.

[0119] The proportional valve 31DL operates according to the control command (current command) output from the controller 30. Moreover, the pilot pressure generated by the working oil introduced from the pilot pump 15 into the left pilot port of the control valve 173L via the proportional valve 31DL is adjusted. The proportional valve 31DR operates according to the control command (current command) output from the controller 30.

[0120] Moreover, the pilot pressure generated by the working oil adjusted from the pilot pump 15 and introduced into the right pilot port of the control valve 173L via the proportional valve 31DR is adjusted. The proportional valve 31DL can adjust the pilot pressure in such a manner that the control valve 173L can stop at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure in such a manner that the control valve 173L can stop at any valve position.

[0121] 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 173L via the proportional valve 31DL according to the left rotation operation performed by the operator. And the controller 30 can supply the working oil discharged from the pilot pump 15 to the left pilot port of the control valve 173L regardless of the left rotation operation performed by the operator. That is, the controller 30 can cause the slewing mechanism 2 to perform left rotation according to the left rotation operation performed by the operator or regardless of the left rotation operation performed by the operator.

[0122] And the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 173L via the proportional valve 31DR according to the right rotation 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 173L regardless of the right rotation operation performed by the operator. That is, the controller 30 can cause the slewing mechanism 2 to perform right rotation according to the right rotation operation performed by the operator or regardless of the right rotation operation performed by the operator.

[0123] Next, refer to Figure 5 The equipment guidance function and equipment control function of the excavator 100 will be described. Figure 5 A block diagram showing an example of the structure related to the equipment guidance function and equipment control function of the excavator.

[0124] The controller 30 performs, for example, control of the excavator 100 related to the equipment guidance function to guide the operator's manual operation of the excavator 100.

[0125] The controller 30 transmits operation information such as the distance between the target construction surface and the front end of the attachment, specifically the working part of the end attachment, to the operator through the display device D1 or the sound output device D2, etc.

[0126] Specifically, the controller 30 acquires information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, slewing state sensor S5, space recognition device 81, positioning device 84, input device 83, etc.

[0127] Data related to the target construction surface is stored, for example, in the internal memory or an external storage device connected to the controller 30 according to settings input by the operator through the input device 83, or downloaded from the outside (e.g., a specified management server).

[0128] Data related to the design surface is expressed, for example, using a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the center of the earth's gravity as the origin, the direction of the intersection of the Greenwich meridian and the equator as the X-axis, the direction of 90 degrees east longitude as the Y-axis, and the direction of the North Pole as the Z-axis. For example, the operator can set an arbitrary point at the construction site as the reference point and set the design surface through the input device 83 according to the relative position relationship with the reference point.

[0129] The working part of the bucket 6 is, for example, the tip of the bucket 6, the back surface of the bucket 6, etc. And, when a crusher is used as the end attachment instead of the bucket 6, for example, the front end of the crusher corresponds to the working part. Thus, the controller 30 can notify the operator of the working information through the display device D1, the sound output device D2, etc., and guide the operator to operate the excavator 100 through the operating device 26.

[0130] Moreover, the controller 30 performs, for example, control of the excavator 100 related to the equipment control function that supports the operator's manual operation of the excavator 100 or makes the excavator 100 operate automatically or autonomously. Specifically, the controller 30 is configured to obtain a target track that follows the position (hereinafter, simply referred to as "control reference") that serves as the control reference, such as the working part set on the attachment device.

[0131] In the control reference, in the case of work objects (e.g., the ground or the sand in the cargo box of the dump truck described later) against which the end attachment can abut, such as excavation work or compaction work, the working part of the end attachment (e.g., the tip or the back surface of the bucket 6, etc.) can be set. And, in the control reference, in the case of actions of work objects where there is no work object against which the end attachment can abut, such as the boom raising and slewing action, the dumping action, and the boom lowering and slewing action described later, an arbitrary part (e.g., the lower end or the tip of the bucket 6, etc.) that can define the position of the end attachment in that action can be set.

[0132] For example, the controller 30 derives a target trajectory based on data related to the target construction surface. The controller 30 may also derive a target trajectory based on information related to the terrain around the excavator 100 identified by the space recognition device 81. Further, the controller 30 may derive information related to the past trajectory of the working part such as the tip of the bucket 6 based on the past output of the posture detection device temporarily stored in the internal volatile storage device, and derive a target trajectory based on this information. Additionally, the controller 30 may derive a target trajectory based on the current position of a specified part of the attachment device and data related to the target surface.

[0133] In addition, the posture detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a blade angle sensor 96, etc.

[0134] For example, when the operator manually performs an excavation operation or a leveling operation on the ground, etc., the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the target surface coincides with the front end position of the bucket 6, specifically, the working part such as the tip or the back surface of the bucket 6.

[0135] Specifically, when the operator operates (presses) the switch SW and performs an operation in the front-rear direction of the left operation lever 26L at the same time, the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 according to this operation so that the target surface coincides with the front end position of the bucket 6. More specifically, as described above, the controller 30 controls the proportional valve 31 and automatically operates at least one of the boom 4, the arm 5, and the bucket 6. Thereby, the operator can make the excavator 100 perform an excavation operation or a leveling operation along the target surface only by operating the left operation lever 26L in the front-rear direction.

[0136] Further, after the boom lowering and slewing operation of the excavator 100, for example, when a specified condition (hereinafter referred to as "excavation start condition") is satisfied, the controller 30 may automatically perform an excavation operation based on the operation related to the attachment device of the operator and move the bucket 6 along a specified target trajectory. The excavation start condition is a condition indicating the start of an excavation operation after the boom lowering and slewing operation of the excavator 100. For example, the excavation start condition may include a condition such as "an operation related to the arm 5 (i.e., the left operation lever 26L is operated in the front-rear direction) is performed while the bucket 6 is above the target surface".

[0137] Thus, when the specified conditions are met, that is, when the condition equivalent to "the unoperated operation target starts operation through a specified operation unit (for example, the operation device 26)" is met, the controller 30 automatically causes the excavator 100 to perform a specified action according to the action of the operation target, and causes a specified part of the attachment device to move according to the target track.

[0138] Moreover, in the controller 30 of the present embodiment, when an operation on the attachment device is input, it detects whether there is a person around the excavator 100 based on an image obtained by the space recognition device 81 or the like. In the case where there is no person, it performs the blade lowering action of the lowering blade 95, brings the blade 95 into contact with the ground, and prohibits the excavator 100 from traveling. And the controller 30 can automatically perform the excavation action according to the operation related to the attachment device of the operator.

[0139] Therefore, in the present embodiment, the excavation start condition of the excavator 100 can include, in addition to "performing an operation related to the arm 5 (that is, operating the left operation lever 26L in the front-rear direction) in a state where the bucket 6 is above the target surface", "a state where no person is detected around and the blade 95 is in contact with the ground".

[0140] Moreover, for example, when a specified condition (hereinafter referred to as "boom lift rotation start condition") is met, the controller 30 automatically performs a lift action of the boom 4 or the like according to the rotation operation performed by the operator, and causes the bucket 6 to move along a specified target track.

[0141] The boom lift rotation start condition is a condition indicating the start of an operation of moving the sand or the like accommodated in the bucket 6 toward a dump truck parked at a specified position. For example, as will be described later, the boom lift rotation start condition can include a condition such as "in a state where the equipment control function is valid, that is, in a state where the switch SW is pressed, the operation direction of the left operation lever 26L is switched from the front-rear direction to the left-right direction".

[0142] Moreover, for example, the boom lift rotation start condition can include a condition such as "operating the left operation lever 26L to the left or right direction in a state where a specified switch (hereinafter referred to as "boom lift rotation start switch") provided at the front end of the left operation lever 26L and included in the input device 83 is pressed". And, for example, the boom lift rotation start condition can include a condition such as "the excavation amount based on the attachment device becomes a specified amount or more".

[0143] Also, for example, the boom lift swing start condition may include "excavation of a specified distance or more by the attachment has been completed". At this time, the controller 30 can, for example, grasp the earthwork volume or excavation distance based on the attachment from an image of the front of the upper swing body 3 captured by a monocular camera or a stereo camera that may be included in the space recognition device 81.

[0144] That is, the boom lift swing start condition is, for example, a condition for determining whether an operation of the excavator 100 such as an excavation operation has been completed. And, when multiple conditions as described above are included in the boom lift swing start condition, it may be such that if any one of the multiple included conditions is satisfied, the boom lift swing start condition is satisfied, or it may be such that if a part or all of two or more of the multiple included conditions are satisfied, the boom lift swing start condition is satisfied.

[0145] The same applies to the dump start condition and the boom lower swing start condition described later. Specifically, if the operator operates the left control lever 26L in the left direction or the right direction, the controller 30 automatically operates at least the boom 4 among the upper swing body 3 and the attachment according to this operation so that the target trajectory coincides with a part (for example, the lower end of the bucket 6, etc.) that serves as the control reference of the bucket 6.

[0146] More specifically, as described above, the controller 30 controls the proportional valve 31 to automatically operate the upper swing body 3 and the boom 4, etc. Thereby, the operator can make the excavator 100 perform a boom lift swing operation to move the sand, etc. accommodated in the bucket 6 to the dump truck only by operating the left control lever 26L in the left - right direction.

[0147] Also, the controller 30 automatically performs an operation to open the arm 5, etc. according to the opening operation of the bucket 6 and discharges the sand, etc. accommodated in the bucket 6 toward the dump truck when a specified condition (hereinafter referred to as "dump start condition") is satisfied. The dump start condition is a condition indicating the start of the operation of discharging the sand, etc. accommodated in the bucket 6 to the dump truck.

[0148] For example, as described later, the dump start condition may include a condition such as "in a state where the equipment control function is valid, that is, in a state where the switch SW is pressed, switching from the state of operating the left control lever 26L in the left - right direction to the state of operating the right control lever 26R in the left - right direction (specifically, the left direction corresponding to the opening operation of the bucket 6)".

[0149] And, for example, the dumping start condition may include a condition such as "while a predetermined switch (hereinafter referred to as 'dumping start switch') provided at the front end of the right operation lever 26R and included in the input device 83 is pressed, the right operation lever 26R is operated in the left direction (bucket 6 retraction operation) or the right direction (bucket 6 opening operation)".

[0150] And, for example, the dumping start condition may include a condition such as "the bucket 6 has reached a predetermined position above the dump truck (for example, the end point of the target track, etc.)". At this time, the "predetermined position (end point of the target track)" in the dumping start condition can be changed each time dumping is performed. Specifically, if the operator operates the right operation lever 26R in the right direction, the controller 30 performs an opening action of the bucket 6 and an opening action of the arm 5 according to this operation, etc., so as to discharge the sand and the like in the bucket 6 to a predetermined target position in the cargo box of the dump truck.

[0151] More specifically, as described above, the controller 30 controls the proportional valve 31 to automatically operate the arm 5 and the bucket 6, etc. Thereby, the operator can discharge the sand and the like accommodated in the bucket 6 to the cargo box of the dump truck only by operating the right operation lever 26R in the left - right direction (specifically, the right direction).

[0152] And, for example, when a predetermined condition (hereinafter referred to as "boom - down slewing start condition") is satisfied, the controller 30 automatically performs a boom - down action of the boom 4, etc., according to the slewing operation performed by the operator, and moves the bucket 6 according to a predetermined target track.

[0153] The boom - down slewing start condition is a condition indicating the start of an operation of slewing the attachment device to the original position for performing excavation work, etc., after discharging the sand and the like in the bucket 6 to the cargo box of the dump truck. For example, as will be described later, the boom - down slewing start condition may include a condition such as "switching from the state of operating the right operation lever 26R in the left - right direction (specifically, the right direction) to the state of operating the left operation lever 26L in the left - right direction".

[0154] And, for example, the boom - down slewing start condition may include a condition such as "while a predetermined switch (hereinafter referred to as 'boom - down slewing start switch') provided at the front end of the left operation lever 26L and included in the input device 83 is pressed, the left operation lever 26L is operated in the left direction or the right direction". And, for example, the boom - down slewing start condition may include a condition such as "there is no sand that has fallen from the bucket 6 into the cargo box of the dump truck".

[0155] At this time, the controller 30 can, for example, grasp the amount of sand or the like in the bucket 6 based on an image of the front of the upper swing body 3 captured by a monocular camera or a stereo camera that may be included in the space recognition device 81. Specifically, if the operator operates the left operation lever 26L to the left or right direction, the controller 30 automatically operates at least the boom 4 among the upper swing body 3 and the attachment device according to this operation so that the target track coincides with the part that serves as the control reference of the bucket 6.

[0156] More specifically, as described above, the controller 30 controls the proportional valve 31 to automatically operate the upper swing body 3, the boom 4, etc. Thereby, the operator can, by only operating the left operation lever 26L in the left-right direction, cause the excavator 100 to perform a boom lowering and swinging operation in which the sand or the like accommodated in the bucket 6 is discharged into the cargo box of the dump truck and then the attachment device is moved to the original position for excavation work or the like.

[0157] And, before the boom lowering and swinging operation of the excavator 100, for example, when a prescribed condition (hereinafter referred to as "bucket leveling operation start condition") is satisfied, the controller 30 can automatically perform an operation (hereinafter referred to as "bucket leveling operation") for flattening the sand or the like on the cargo box of the dump truck carried thereon according to the operation related to the attachment device of the operator, and move the bucket 6 according to a prescribed target track.

[0158] The bucket leveling operation start condition is a condition indicating the start of the bucket leveling operation after discharging the sand or the like in the bucket 6 into the cargo box of the dump truck. For example, the bucket leveling operation start condition may include a condition such as "no sand has fallen from the bucket 6 into the cargo box of the dump truck".

[0159] And, for example, the bucket leveling operation start condition may include a condition such as "an operation related to the arm 5 (i.e., the left operation lever 26L is operated in the front-rear direction) is performed in a state where the bucket 6 is above the cargo box of the dump truck". At this time, the controller 30 can generate a target track according to the shape of the cargo box of the dump truck that is prescribed in advance and stored in an internal or external communicable non-volatile storage device.

[0160] Moreover, in the controller 30, if an operation instructing normal travel is input after the operation of the attachment device is completed, it detects whether there is a person around the excavator 100 based on an image obtained by the space recognition device 81 or the like, and performs a blade lifting operation of lifting the blade 95 in the case where there is no person.

[0161] In other words, in the controller 30, when an operation instructing normal travel is input after the excavation operation is completed and no person is detected around, the blade 95 is lifted and the excavator 100 travels.

[0162] Moreover, the controller 30 of the present embodiment can also automatically perform an operation (hereinafter referred to as "normal traveling operation") of moving the lower traveling body along a specified target track to a target position. Moreover, the controller 30 can also use the separation of the blade 95 from the ground and the raising of the bucket 6 to a specified height from the ground as the start condition for normal traveling. Further, the controller 30 can also automatically perform an operation of raising the blade 95 and an operation of raising the attachment device.

[0163] In addition, in the controller 30, if an operation instructing leveling travel is input after the operation of the attachment device is completed, it is detected whether there is a person around the excavator 100 based on an image obtained by the space recognition device 81 or the like. In the case where there is no person, the blade lowering operation of lowering the blade 95 is performed.

[0164] In other words, in the controller 30, when an operation instructing leveling travel is input and no person is detected around, the blade 95 is lowered and the excavator 100 is made to travel. Moreover, the controller 30 can also automatically perform an operation (hereinafter referred to as "leveling travel operation") of moving the lower traveling body along a target track set within a specified area to level the ground in the specified area by the blade. Moreover, the controller 30 can also use the contact of the blade 95 with the ground and the raising of the bucket 6 to a specified height from the ground as the start condition for leveling travel. Further, the operation of lowering the blade 95 and the operation of raising the attachment device can also be automatically performed. The controller 30 controls the blade 95 and the attachment device based on the detection value of at least one of the space recognition device 81 and the posture detection device.

[0165] Hereinafter, it is assumed that the equipment control function is effective when the left operation lever 26L and the right operation lever 26R are operated in a state where the switch SW is pressed.

[0166] Moreover, although not shown in Figure 5 , the excavator 100 has a communication device for transmitting and receiving information with an external device via a network or the like, and the information received by the communication device can be input to the controller 30. Moreover, the controller 30 can transmit the information acquired by the controller 30 to the external device via the communication device. The external device can be a support device for supporting the operation based on the excavator 100, a management device for managing the work site of the excavator 100, or the like.

[0167] Next, with reference to Figure 6 , the operation of the excavator 100 of the present embodiment will be described. Figure 6 is a flowchart for explaining the operation of the excavator.

[0168] In the excavator 100 of the present embodiment, the controller 30 receives an input of an operation instruction for an attachment (step S601). In other words, the excavator 100 receives an operation of the attachment by an operator.

[0169] Next, the controller 30 determines whether a person is detected around the excavator 100 (step S602). Specifically, for example, the controller 30 can use the image data of the surroundings of the excavator 100 acquired by the space recognition device 81 to determine whether a person is detected around the excavator 100.

[0170] In step S602, when a person is detected, the controller 30 proceeds to step S609 described later.

[0171] In step S602, when no person is detected, the controller 30 performs a blade lowering operation of the lowering blade 95 (step S603). Specifically, the controller 30 controls the extension of the blade cylinder 95A.

[0172] Next, the controller 30 determines whether both ends of the front end portion 95a of the blade 95 are in contact with the ground (step S604). The controller 30 can determine whether both ends of the front end portion 95a are grounded, for example, based on a signal output from the blade angle sensor 96, or can also determine whether both ends of the front end portion 95a are grounded based on the image data captured by the space recognition device 81.

[0173] In step S604, when both ends of the front end portion 95a of the blade 95 are not grounded, the process proceeds to step S609 described later.

[0174] In step S604, when both ends of the front end portion 95a of the blade 95 are in contact with the ground, the controller 30 prohibits the excavator 100 from traveling while the attachment is operating (step S605). Specifically, the controller 30 can invalidate the input based on the travel lever.

[0175] Next, the controller 30 receives an instruction to travel after the operation of the attachment is completed (step S606). Specifically, the controller 30 receives an input based on the travel lever in a state where no operation instruction (operation of the operation lever) for instructing the operation of the attachment is input.

[0176] Next, the controller 30 determines whether a person is detected around the excavator 100 (step S607). In step S607, when no person is detected, the controller 30 performs a blade lifting operation of the lifting blade 95 (step S608). Specifically, the controller 30 controls the shortening of the blade cylinder 95A.

[0177] In step S607, when a person is detected, the controller 30 stops the operation of the excavator 100 (step S609).

[0178] In addition, at this time, the controller 30 can output an alarm or the like through the display device D1 or the sound output device D2.

[0179] In the present embodiment, when the operation of the attachment device is accepted in this way, the blade 95 is lowered and brought into contact with the ground. Therefore, in the present embodiment, when the operation of the attachment device is being performed, the front end portion 95a of the blade 95 is in a state of being in contact with the ground, and the shaking of the fuselage during operation can be reduced.

[0180] Moreover, in the present embodiment, if the operation of instructing walking is performed without operating the attachment device, the blade 95 is lifted. Therefore, in the present embodiment, for example, when performing excavation work with the excavator 100, the operator does not need to operate the lowering of the blade 95 every time the attachment device is operated. And in the present embodiment, when ending the excavation work using the excavator 100 and walking, the operator does not need to operate the lifting of the blade 95.

[0181] Therefore, according to the present embodiment, the operation of the operator can be simplified, and the operability can be improved.

[0182] In particular, in the present embodiment, the blade 95 automatically descends during excavation and automatically ascends during walking. Therefore, in the case of repeating excavation and walking such as in a trench excavation operation, it is effective and can improve the work efficiency of the excavator 100.

[0183] Furthermore, in the present embodiment, the blade 95 is operated only when no person is detected around the excavator 100. Therefore, in the present embodiment, for example, when a person enters a range that cannot be visually observed by the operator sitting in the cab 10, this situation can be detected, thereby improving safety.

[0184] In addition, in the present embodiment, for example, when performing deep excavation work where the bucket 6 is located below the lower traveling body 1, the lower traveling body 1 can be rotated so that the blade 95 is located behind when the direction in which the cab 10 faces is set as the front.

[0185] At this time, for example, the controller 30 can calculate the position of the bucket 6 based on the input of the operation instruction of the attachment device. When the position of the bucket 6 is lower than that of the lower traveling body 1, the controller 30 can instruct the operator to turn the lower traveling body 1 so that the position of the blade 95 becomes the rear. Specifically, the controller 30 can cause the display device D1 to display a message instructing the operator to turn the lower traveling body 1 so that the position of the blade 95 becomes the rear, or output a voice guidance from the sound output device D2.

[0186] In the present embodiment, in this way, when performing deep excavation work, by setting the position of the blade 95 to the rear, it is possible to prevent the blade 95 from coming into contact with the boom 4.

[0187] Moreover, in the present embodiment, when receiving an instruction to travel and lifting the blade 95, it can be lifted to a height at which the front end of the blade 95 does not come into contact with the ground, and a leveling operation can be performed. Whether to perform the leveling operation when receiving an instruction to travel can be set in advance by the operator.

[0188] Next, with reference to Figure 7 , the case of lowering the blade 95 in the excavator 100 of the present embodiment will be described. Figure 7 FIG. is a diagram illustrating the state when the blade is lowered. Figure 7 In (A) of FIG., a state in which the front end portion 95a of the blade 95 is in contact with the ground is shown, Figure 7 and in (B) of FIG., the state during deep excavation work is illustrated.

[0189] In the present embodiment, as shown in (A) of Figure 7 , the blade 95 is lowered until both ends of the front end portion 95a of the blade 95 come into contact with the ground G1 which is the traveling surface of the excavator 100. Moreover, in the present embodiment, when it is detected that both ends of the front end portion 95a of the blade 95 come into contact with the ground G1, the operation of the attachment device is started.

[0190] Therefore, according to the present embodiment, for example, even when a groove portion G2 is formed in the ground G1, it is possible to increase the ground contact area between the body of the excavator 100 and the ground G1. Thus, according to the present embodiment, excavation work can be performed in a state where the body is stable, and the work efficiency can be improved.

[0191] Furthermore, when the excavator 100 performs deep excavation work in which the position of the bucket 6 is lower than that of the lower traveling body 1, as shown by the ellipse 97 in (B) of Figure 7 , the blade 95 may come into contact with the boom cylinder 7.

[0192] In the excavator 100 of the present embodiment, in this way, when performing deep digging operations, the lower traveling body 1 is rotated to a posture where the blade 95 is located at the rear, thereby avoiding contact between the blade 95 and the boom cylinder 7.

[0193] Moreover, in the present embodiment, for example, based on the image data captured by the space recognition device 81F, the distance between the boom cylinder 7 and the blade 95 can be calculated, and when the distance becomes equal to or less than a certain value, a warning is issued to prompt avoidance of contact.

[0194] Moreover, the distance between the boom cylinder 7 and the blade 95 can be calculated, for example, based on the detection value of the blade angle sensor 96 and the detection value of the boom angle sensor S1, etc. Also, the distance between the boom cylinder 7 and the blade 95 can be calculated, for example, based on the image data captured by a camera device provided around the excavator 100. The camera device provided around the excavator 100 can be, for example, a fixed camera installed at the work site, or a camera device installed on a flying object flying around the excavator 100.

[0195] In addition, in the present embodiment, the controller 30 of the excavator 100 executes Figure 6 the processing shown, but is not limited thereto.

[0196] The controller 30 of the present embodiment can be, for example, the control unit of a device provided outside the excavator 100.

[0197] Specifically, the controller 30 can be implemented by the control unit of a support device for remotely controlling the excavator 100 or a management device for managing the excavator 100.

[0198] At this time, the support device or the management device sends operation instructions and traveling instructions for the attachment devices to the excavator 100 according to the operations of the remote operator on the excavator 100. In the excavator 100, when these instructions are received, the controller 30 performs actions corresponding to the instructions.

[0199] Therefore, according to the present embodiment, even when remotely operating the excavator 100, the excavator 100 can automatically execute the lifting of the blade 95, thereby improving the operability.

[0200] In addition, the scope of the present invention is not limited to the technical matters described in the above embodiment, and even if there are design changes, etc. within the scope that do not deviate from the gist of the present invention, they are included in the scope of the present invention.

[0201] Moreover, this international application claims priority based on Japanese Patent Application No. 2022 - 187326 filed on November 24, 2022, and incorporates the entire content of Japanese Patent Application No. 2022 - 187326 into this international application.

[0202] Symbol Explanation

[0203] 1 - Lower Traveling Body, 2 - Slewing Mechanism, 3 - Upper Slewing Body, 4 - Boom, 5 - Arm, 6 - Bucket, 7 - Boom Cylinder, 8 - Arm Cylinder, 9 - Bucket Cylinder, 10 - Cab, 11 - Engine, 30 - Controller, 95 - Vane, 96 - Vane Angle Sensor, 100 - Excavator.

Claims

1. A control device for an excavator, The excavator has: An upper revolving structure; An attachment device provided on the upper revolving structure; A slewing mechanism; A lower traveling body; and Blades provided on the lower traveling body, In the control device of the excavator, The control device of the excavator receives an input of an operation command instructing the operation of the attachment device, determines whether a person is detected around the excavator, and if no person is detected, causes the excavator to perform an operation of lowering the blades.

2. The control device of the excavator according to claim 1, wherein, Simultaneously with the operation of lowering the blades, the traveling of the excavator is prohibited.

3. The control device of the excavator according to claim 1 or 2, wherein, Receives an input of a traveling command instructing the traveling of the excavator and performs an operation of raising the blades.

4. The control device of the excavator according to claim 3, wherein, After performing the operation of lowering the blades, determines whether both ends of the front end portion of the blades are grounded, If the both ends are not grounded, an alarm is output.

5. The control device of the excavator according to claim 4, wherein, When the operation indicated by the operation command is an operation in which a termination attachment included in the attachment device is lower than the lower traveling body, an alarm for avoiding contact between the blades and the attachment device is output according to the distance between the blades and the attachment device.

6. The control device of the excavator according to claim 1 or 2, wherein, Receives an input of a traveling command instructing the traveling of the excavator and performs an operation of raising the attachment device.

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