Construction machine

Abstract

The invention relates to a construction machine, and provides a technology capable of smoothly transferring the construction machine from automatic operation of an actuator to operation based on operation of an operator. In a shovel (100) according to one embodiment of the present invention, when an operator starts an operation input to a hydraulic actuator (HA) in a state in which the hydraulic actuator (HA) is automatically operated, the actual operating state of the hydraulic actuator (HA) and the operating state of the hydraulic actuator (HA) corresponding to the operation input of the operator approach each other over time. Thus, the hydraulic actuator (HA) is shifted to a state in which the hydraulic actuator (HA) operates in accordance with the operation input of the operator.

Description

Technical Field

[0001] This invention relates to a construction machine. Background Technology

[0002] Previously, there was a construction machine that operated automatically to activate the actuator (see Patent Document 1).

[0003] Patent document 1 discloses an excavator that automatically operates at least one of the boom, stick, and bucket.

[0004] Existing technical documents Patent documents Patent Document 1: International Publication No. 2018-062374 Summary of the Invention

[0005] The technical problem to be solved by the invention However, when the actuator is activated automatically, the operator may sometimes intervene to correct its operation. In this case, if there is a significant discrepancy between the actual actuator operation and the operation corresponding to the operator's input, the actuator may switch from automatic operation to operator-based operation. This can result in significant vibrations within the construction machinery.

[0006] Therefore, in view of the above-mentioned issues, the object of the present invention is to provide a technology that enables construction machinery to smoothly transition from automatic operation of actuators to operation based on operator control.

[0007] means for solving technical problems To achieve the above objectives, in one embodiment of the present invention, a construction machine is provided in which, when the operator begins to input an operation to the actuator while the actuator is in an automatic operation state, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operation input gradually approach each other, thereby transitioning to a state in which the actuator is operated according to the operator's operation input.

[0008] Invention Effects According to the above implementation method, construction machinery can be smoothly transferred from automatic operation of the actuator to operation by the operator. Attached Figure Description

[0009] Figure 1 This is a side view showing an example of an excavator.

[0010] Figure 2 This is a top view showing an example of an excavator.

[0011] Figure 3 This is a diagram illustrating an example of a structure related to the remote operation of an excavator.

[0012] Figure 4 This is a diagram illustrating an example of the hardware structure of an excavator.

[0013] Figure 5 This is a diagram illustrating an example of the structure of an excavator's operating system and hydraulic drive system.

[0014] Figure 6 This is a function block diagram representing an example of a functional structure related to the automatic operation of an excavator.

[0015] Figure 7 This is a flowchart that schematically illustrates an example of control processing related to intervention operations in automatic operation mode.

[0016] Figure 8 This is a flowchart that schematically illustrates an example of control processing in a transition mode.

[0017] Figure 9 This is a flowchart that schematically illustrates an example of control processing in an intervention operation mode.

[0018] Figure 10 This is the first example of the time-dependent change in pilot pressure during the transition from automatic operation mode to intervention operation mode.

[0019] Figure 11 This is the second example of a graph showing the time-dependent change in pilot pressure during the transition from automatic operation mode to intervention operation mode. Detailed Implementation

[0020] Hereinafter, the embodiments will be described with reference to the accompanying drawings.

[0021] [Overview of Excavators] refer to Figures 1-3 The general outline of the excavator 100 involved in this embodiment will be described.

[0022] Figure 1 This is a side view showing an example of an excavator 100. Figure 2 This is a top view showing an example of an excavator 100. Figure 3 This is a diagram illustrating an example of a structure related to the remote operation of the excavator 100. Hereinafter, the direction in which the auxiliary device AT extends when viewed from above the excavator 100 will sometimes be indicated. Figure 2 The direction above (above) is defined as "front", while the direction in the excavator 100 or the direction observed from the excavator 100 is described.

[0023] like Figure 1 , Figure 2As shown, the excavator 100 includes a lower traveling body 1, an upper slewing body 3, an auxiliary device AT including a boom 4, a stick 5 and a bucket 6, and a cab 10.

[0024] The lower traveling body 1 uses tracks 1C to move the excavator 100. Tracks 1C include a left track 1CL and a right track 1CR. Track 1CL is hydraulically driven by a travel hydraulic motor 1ML. Similarly, track 1CL is hydraulically driven by a travel hydraulic motor 1MR. Thus, the lower traveling body 1 is capable of self-propelled movement.

[0025] The upper rotating body 3 is rotatably mounted on the lower traveling body 1 via the rotating mechanism 2. For example, the upper rotating body 3 rotates relative to the lower traveling body 1 by hydraulically driving the rotating mechanism 2 via the rotating hydraulic motor 2M.

[0026] The boom 4 is mounted at the center of the front of the upper slewing body 3 in a manner that allows it to pitch around a rotation axis in the left-right direction. The stick 5 is mounted at the front end of the boom 4 in a manner that allows it to rotate around a rotation axis in the left-right direction. The bucket 6 is mounted at the front end of the stick 5 in a manner that allows it to rotate around a rotation axis in the left-right direction.

[0027] Bucket 6 is an example of an end-attachment, for example, used for excavation, slope operation, leveling operation, etc.

[0028] The bucket 6 is mounted on the front end of the boom 5 in a manner that allows for appropriate replacement depending on the work being performed by the excavator 100. That is, a different type of bucket, such as a relatively large bucket, a slope bucket, or a dredging bucket, can be installed at the front end of the boom 5 instead of the bucket 6. Furthermore, end attachments other than buckets, such as mixers, crushers, or pulverizers, can be installed at the end of the boom 5. Additionally, pre-installed auxiliary devices, such as quick couplings or tilting / rotating mechanisms, can be provided between the boom 5 and the end attachments.

[0029] The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively.

[0030] The cab 10 is a control room for an operator to sit in and operate the excavator 100. The cab 10 is, for example, mounted on the front left side of the upper rotating body 3.

[0031] For example, the excavator 100 causes the driven components such as the lower walking body 1 (i.e., the left and right pairs of tracks 1CL and 1CR), the upper slewing body 3, the boom 4, the stick 5, and the bucket 6 to move according to the operation of the operator sitting in the cab 10.

[0032] Furthermore, the excavator 100 can be configured to be remotely operated from outside the excavator 100 (remote operation) instead of being operated by an operator in the cab 10, or, in addition to being operable by an operator in the cab 10, it can also be remotely operated from outside the excavator 100. When the excavator 100 is remotely operated, the cab 10 can be unmanned. Furthermore, when the excavator 100 is dedicated to remote operation, the cab 10 can be omitted. Hereinafter, the operation by the operator will be described under the premise that it includes at least one of the operation of the operating device 26 by the operator in the cab 10 and remote operation by an operator outside the excavator 100.

[0033] For example, such as Figure 3 As shown, remote operation includes operating the excavator 100 via operation inputs related to the actuator of the excavator 100, made by a remote operation support device 300, which can communicate with the excavator 100 via a communication line NW. In this case, the excavator 100 can be equipped with a communication device 60 and communicate with the remote operation support device 300 via a predetermined communication line NW.

[0034] Communication lines (NW) can include, for example, local area networks (LANs) at construction sites. Furthermore, communication lines (NW) can also include wide area networks (WANs). Wide area networks include, for example, mobile communication networks using base stations as terminals, satellite communication networks utilizing communication satellites, and the Internet. Additionally, communication lines (NW) can also include, for example, short-range communication lines based on wireless communication standards such as WiFi and Bluetooth (registered trademark).

[0035] The remote operation support device 300 may be installed, for example, in a management center that manages the operation of the excavator 100 from the outside. Furthermore, the remote operation support device 300 may be a portable operating terminal, in which case the operator can remotely operate the excavator 100 while directly monitoring its operating status from its vicinity.

[0036] For example, the excavator 100 can transmit an image (hereinafter referred to as "peripheral image") showing the surrounding situation, including the area in front of the excavator 100, based on a camera image output by a camera device (e.g., the sensor device S6 described later) mounted on itself, to the remote operation support device 300 via its own communication device 60. Alternatively, the excavator 100 can transmit the camera image output by the camera device to the remote operation support device 300 via the communication device 60, and the remote operation support device 300 can process the camera image received from the excavator 100 and generate the peripheral image. The remote operation support device 300 can then display the peripheral image showing the surrounding situation, including the area in front of the excavator 100, on its own display device. Furthermore, various information images (information screens) displayed on the output device 50 (display device) inside the excavator 100's cab 10 can also be displayed on the remote operation support device 300 (display unit). Therefore, operators using the remote operation support device 300 can remotely operate the excavator 100 while simultaneously checking the displayed content such as images and information screens showing the surroundings of the excavator 100. Furthermore, the excavator 100 can activate actuators to drive driven components such as the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6 based on remote operation signals received from the remote operation support device 300 by the communication device 60, indicating the content of the remote operation.

[0037] Furthermore, remote operation can include operating the excavator 100 from the outside via voice input, gesture input, etc., from people around the excavator 100 (e.g., operators). Specifically, the excavator 100 recognizes voices and gestures made by surrounding personnel through its own voice input device (e.g., microphone) and gesture input device (e.g., camera). Then, the excavator 100 can activate actuators based on the recognized voices and gestures to drive driven components such as the lower walking body 1 (left and right tracks 1C), upper slewing body 3, boom 4, stick 5, and bucket 6.

[0038] Furthermore, the excavator 100 can also automatically operate its actuators without relying on operator input. Thus, the excavator 100 can achieve the function of automatically operating at least some of the driven components, such as the lower traveling body 1, the upper slewing body 3, and the auxiliary device AT; this is known as the "automatic operation function." The automatic operation function is also called the "machine control (MC) function."

[0039] Automatic operation functions may include, for example, semi-automatic operation functions. Semi-automatic operation functions are also called operation support type MC functions. A semi-automatic operation function is a function that automatically activates other driven components (actuators) based on operator input, linking them with the driven components (actuators) of the object being operated. Furthermore, automatic operation functions may also include fully automatic operation functions. Fully automatic operation functions are also called fully automatic type MC functions. A fully automatic operation function is a function that automatically activates at least a portion of multiple driven components (actuators) without operator input. In the excavator 100, when the fully automatic operation function is active, the interior of the cab 10 can be unmanned. Furthermore, when the excavator 100 operates solely through the fully automatic operation function, the cab 10 may be omitted. Moreover, semi-automatic operation functions, fully automatic operation functions, etc., may include, for example, rule-based automatic operation functions. Rule-based automatic operation functions are automatic operation functions where the actions of the driven components (actuators) of the automatically operating object are automatically determined according to predefined rules. Furthermore, autonomous operation functions can also be included in semi-automatic and fully automatic operation functions. The autonomous operation function is an automatic operation function in the following way: the excavator 100 autonomously makes various judgments and determines the action content of the driven elements (actuators) of the object to be automatically operated based on the judgment results.

[0040] Furthermore, the operation of the excavator 100 can be remotely monitored (remote monitoring). In this case, for example, a remote monitoring support device with the same functions as the remote operation support device 300 can be installed. The monitor, as the user of the remote monitoring support device, can monitor the operating status of the excavator 100 while simultaneously checking the surrounding image displayed on the remote monitoring support device (display unit). Moreover, for example, if deemed necessary from a safety perspective, the monitor can intervene in the operator's operation of the excavator 100 by making prescribed inputs using the remote monitoring support device (input unit), thereby automatically stopping the excavator 100 in an emergency.

[0041] [Hardware structure of an excavator] Next, besides Figures 1-3 In addition, also refer to Figure 4 The hardware structure of the excavator 100 is described.

[0042] Figure 4 This is a block diagram illustrating an example of the hardware structure of the excavator 100.

[0043] In addition, Figure 4 In the diagram, double lines represent the path for transmitting mechanical power, solid lines represent the path for the high-pressure working oil that drives the hydraulic actuator, dashed lines represent the path for transmitting pilot pressure, and dotted lines represent the path for transmitting electrical signals.

[0044] The excavator 100 includes components such as a hydraulic drive system related to the hydraulic drive of the driven component, an operating system related to the operation of the driven component, a user interface system related to information exchange with the user, a communication system related to communication with the outside world, and a control system related to various controls.

[0045] <Hydraulic Drive System> like Figure 4 As shown above, the hydraulic drive system of the excavator 100 includes a hydraulic actuator HA, which hydraulically drives the lower traveling body 1 (left and right tracks 1C), upper slewing body 3, boom 4, stick 5, and bucket 6, respectively. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0046] The hydraulic actuator HA includes the travel hydraulic motors 1ML and 1MR, the swing hydraulic motor 2M, the boom cylinder 7, the stick cylinder 8, and the bucket cylinder 9, etc.

[0047] Alternatively, in the excavator 100, part or all of the hydraulic actuator HA can be replaced with an electric actuator. That is, the excavator 100 can be a hybrid excavator or an electric excavator.

[0048] Engine 11 is the engine of excavator 100 and is the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses diesel fuel. Engine 11 is, for example, mounted at the rear of the upper rotating body 3. Engine 11 rotates at a constant preset target speed, for example, under the direct or indirect control of controller 30 (described later), driving the main pump 14 and pilot pump 15.

[0049] Alternatively, other prime movers (e.g., electric motors) can be mounted on the excavator 100 to replace the engine 11, or other prime movers besides the engine 11 can be mounted on the excavator 100.

[0050] The regulator 13 controls (adjusts) the output of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle (hereinafter "deflection angle") of the swashplate of the main pump 14 according to the control command from the controller 30.

[0051] The main pump 14 supplies working oil to the control valve 17 via a high-pressure hydraulic line. The main pump 14 is mounted at the rear of the upper rotating body 3, for example, similar to the engine 11. 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, and as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the deflection angle of the swashplate via the regulator 13, thereby controlling the discharge flow rate and discharge pressure.

[0052] Control valve 17 drives hydraulic actuators HA according to operator input to operating device 26, remote operation commands, or operation commands corresponding to automatic operation functions. Control valve 17 is, for example, mounted in the central part of the upper rotating body 3. As described above, control valve 17 is connected to main pump 14 via high-pressure hydraulic lines, selectively supplying working oil from main pump 14 to each hydraulic actuator according to operator input or operation commands corresponding to automatic operation functions. Control valve 17 includes directional control valves 17A to 17F, which control the flow rate and direction of working oil supplied from main pump 14 to each hydraulic actuator HA.

[0053] The directional control valve 17A controls the flow rate and direction of the working oil supplied to the boom cylinder 7. Thus, the directional control valve 17A enables the boom cylinder 7 to extend and retract at a variable speed.

[0054] The directional control valve 17B controls the flow rate and direction of the working oil supplied to the boom cylinder 8. Thus, the directional control valve 17B enables the boom cylinder 8 to extend and retract at a variable speed.

[0055] The directional control valve 17C controls the flow rate and direction of the working oil supplied to the bucket cylinder 9. Thus, the directional control valve 17C enables the bucket cylinder 9 to extend and retract at a variable speed.

[0056] The directional control valve 17D controls the flow rate and direction of the working oil supplied to the travel hydraulic motor 1ML. Thus, the directional control valve 17D enables the travel hydraulic motor 1ML to rotate in two directions at a variable speed.

[0057] The directional control valve 17E controls the flow rate and direction of the working oil supplied to the travel hydraulic motor 1MR. Thus, the directional control valve 17E enables the travel hydraulic motor 1MR to rotate in both directions at a variable speed. The directional control valve 17E is, for example, a spool valve.

[0058] The directional control valve 17F controls the flow rate and direction of the working oil supplied to the rotary hydraulic motor 2M. Thus, the directional control valve 17F enables the rotary hydraulic motor 2M to rotate in both directions at a variable speed.

[0059] The following, such as Figure 5As shown, any one of the directional control valves 17A to 17F is sometimes referred to as "directional control valve 17X". In this example, directional control valve 17X is a spool valve that supplies working oil from the main pump 14 via oil line OL1 or oil line OL2 to the hydraulic actuator HA, and discharges working oil discharged from the hydraulic actuator HA to the working oil reservoir.

[0060] Operating System like Figure 4 , Figure 5 As shown, the operating system of the excavator 100 includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31.

[0061] Pilot pump 15 supplies pilot pressure to various hydraulic devices via pilot line 25. Pilot pump 15 is mounted at the rear of upper rotating body 3, for example, similar to engine 11. Pilot pump 15 is, for example, a fixed-capacity hydraulic pump, driven by engine 11 as described above.

[0062] Alternatively, the pilot pump 15 can be omitted. In this case, the relatively high-pressure working oil discharged from the main pump 14, after being reduced to a relatively low pressure by a specified pressure reducing valve, can be supplied as pilot pressure to various hydraulic equipment.

[0063] The operating device 26 is located near the operator's seat in the cockpit 10 and is used by the operator to operate various driven components. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive various driven components, thereby enabling the operator to operate the driven components that are driven by the hydraulic actuators HA. Figure 5 As shown, the operating device 26 includes a joystick device 26X for operating each driven component (hydraulic actuator HA) respectively.

[0064] Alternatively, a portion of the driven component (hydraulic actuator HA) may replace the joystick 26X, or may be operated via a pedal device in addition to the joystick 26X.

[0065] For example, such as Figure 4 As shown, the operating device 26 is electrically powered. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as the "operation signal") corresponding to the operation content, and inputs the operation signal to the controller 30. Furthermore, the controller 30 outputs an operation command (control signal) corresponding to the operation content of the operation signal to the hydraulic control valve 31. Thus, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

[0066] like Figure 5 As shown, the joystick device 26X is configured so that the operator can tilt it in two opposite directions (e.g., forward and backward or left and right). The joystick device 26X outputs electrical signals (operation signals) corresponding to the operation in the two opposite directions, and inputs the output operation signals to the controller 30.

[0067] In the controller 30, a pre-set correspondence is established between the operation amount of the joystick device 26X (e.g., the tilt angle of the joystick device 26X) and the control signals (control currents) to the hydraulic control valves 31L and 31R. The hydraulic control valves 31L and 31R corresponding to each joystick device 26X are controlled based on the set correspondence.

[0068] However, the directional control valves 17A to 17F, which drive the respective hydraulic actuators HA and are built into the control valve 17, can be solenoid type. In this case, the operating signal output from the operating device 26 (i.e., each lever device 26X) can be directly input to the control valve 17 (i.e., each of the solenoid type directional control valves).

[0069] Furthermore, the operating device 26 can also be hydraulically piloted. Specifically, the operating device 26 (i.e., each lever device 26X) uses working oil supplied from the pilot pump 15 via a pilot line to output a pilot pressure corresponding to the operation to the secondary pilot line. The secondary pilot line is connected to the control valve 17. Thus, the pilot pressure corresponding to the operation related to the various driven components (hydraulic actuators HA) in the operating device 26 can be input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation of the operating device 26 by the operator. At this time, an operation status sensor is provided that can acquire information related to the operation status of the operating device 26, and the output of the operation status sensor is input to the controller 30. Thus, the controller 30 can grasp the operation status of the operating device 26. The operation status sensor is, for example, a pressure sensor (operating pressure sensor) that acquires information related to the pilot pressure (operating pressure) of the secondary pilot line of the operating device 26.

[0070] Furthermore, as described above, part or all of the hydraulic actuator HA can be replaced with an electric actuator. In this case, for example, the controller 30 can output an operation command corresponding to the operation content of the operating device 26 and the remote operation content specified by the remote operation signal to the electric actuator or the actuator that drives the electric actuator. Moreover, by directly inputting an operation signal from the operating device 26 to the electric actuator or the driver, the electric actuator can be configured to be operated by the operating device 26.

[0071] Furthermore, when the excavator 100 is operated remotely and works solely through the fully automatic operation function, the operating device 26 can be omitted.

[0072] Hydraulic control valves 31 are provided at each driven component (hydraulic actuator HA) of the operating device 26. For example, the hydraulic control valves 31 can be provided in the pilot line between the pilot pump 15 and the control valve 17, and configured to vary their flow area (i.e., the cross-sectional area through which the working oil can flow). Thus, the hydraulic control valves 31 can output a predetermined pilot pressure to the secondary pilot line using the working oil supplied to the pilot pump 15 through the primary side pilot line. Therefore, the hydraulic control valves 31 can cause a predetermined pilot pressure corresponding to the operating command from the controller 30 to act on the control valve 17. Thus, for example, the controller 30 can supply a pilot pressure corresponding to the operation content (operation signal) of the operating device 26 directly from the hydraulic control valves 31 to the control valve 17, thereby enabling the excavator 100 to operate based on the operator's commands.

[0073] Furthermore, the controller 30 can control the hydraulic control valve 31 to realize the automatic operation function of the excavator 100. Specifically, the controller 30 outputs the operation command corresponding to the automatic operation function to the hydraulic control valve 31. Thus, the controller 30 can realize the operation of the excavator 100 based on the automatic operation function.

[0074] Furthermore, the controller 30 can control the hydraulic control valve 31 to enable remote operation of the excavator 100. Specifically, the controller 30 outputs an operation command corresponding to the remote operation content specified by the remote operation signal received from the remote operation support device 300 to the hydraulic control valve 31 via the communication device 60. As a result, the controller 30 supplies pilot pressure corresponding to the remote operation content from the hydraulic control valve 31 to the control valve 17, thereby enabling the excavator 100 to operate remotely based on the operator.

[0075] like Figure 5 As shown, the hydraulic control valve 31 includes two hydraulic control valves 31L and 31R, which correspond to the direction of action of the bidirectional driven element (hydraulic actuator HA) (e.g., the lifting and lowering direction of the boom 4).

[0076] The hydraulic control valve 31L operates according to the operation command (control current) input from the controller 30. Specifically, the hydraulic control valve 31L uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the left side of the directional control valve 17X. Thus, the hydraulic control valve 31L can adjust the pilot pressure acting on the pilot port on the left side of the directional control valve 17X. For example, if a control current corresponding to a tilting operation of tilting the joystick device 26X in the first direction is input from the controller 30, the hydraulic control valve 31L can apply a pilot pressure corresponding to the operation content (operation amount) in the joystick device 26X to the pilot port on the left side of the directional control valve 17X. Furthermore, regardless of the operation content of the joystick device 26X, as long as a specified control current is input from the controller 30, the hydraulic control valve 31L can apply a pilot pressure to the pilot port on the left side of the directional control valve 17X independently of the operation content in the joystick device 26X. Therefore, under the control of the controller 30, the hydraulic control valve 31L can realize the action of the bidirectional hydraulic actuator HA in the first direction based on the automatic operation function and remote operation function of the excavator 100.

[0077] The hydraulic control valve 31R operates according to the operation command (control current) input from the controller 30. Specifically, the hydraulic control valve 31R uses the working oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the right side of the directional control valve 17X. Thus, the hydraulic control valve 31R can adjust the pilot pressure acting on the pilot port on the right side of the directional control valve 17X. For example, if a control current corresponding to a tilting operation of tilting the joystick device 26X in a second direction is input from the controller 30, the hydraulic control valve 31R can apply a pilot pressure corresponding to the operation content (operation amount) in the joystick device 26X to the pilot port on the right side of the directional control valve 17X. Furthermore, regardless of the operation content of the joystick device 26X, as long as a specified control current is input from the controller 30, the hydraulic control valve 31R can apply a pilot pressure to the pilot port on the right side of the directional control valve 17X independently of the operation content in the joystick device 26X. Therefore, under the control of the controller 30, the hydraulic control valve 31R can realize the action of the bidirectional hydraulic actuator HA in the second direction based on the automatic operation function and remote operation function of the excavator 100.

[0078] Thus, under the control of the controller 30, the hydraulic control valves 31L and 31R can adjust the pilot pressure output to the secondary side according to the operating state of the joystick device 26X, so that the directional control valve 17X can be stopped at any valve position. Furthermore, under the control of the controller 30, the hydraulic control valves 31L and 31R can adjust the pilot pressure output to the secondary side independently of the operating state of the joystick device 26X, so that the directional control valve 17X can be stopped at any valve position.

[0079] The controller 30 controls the hydraulic control valve 31L based on operation signals corresponding to the operator's operation of moving the hydraulic actuator HA in the first direction, remote operation signals, etc. As a result, the controller 30 can supply pilot pressure corresponding to the operator's operation (operation amount) of moving the hydraulic actuator HA in the first direction to the pilot port on the left side of the directional control valve 17X. Furthermore, the controller 30 controls the hydraulic control valve 31R based on operation signals corresponding to the operator's operation, remote operation signals, etc. As a result, the controller 30 can supply pilot pressure corresponding to the operator's operation (operation amount) of moving the hydraulic actuator HA in the second direction to the pilot port on the right side of the directional control valve 17X.

[0080] Therefore, the controller 30 can control the hydraulic control valves 31L and 31R according to the operation signal output from the joystick device 26X and the remote operation signal received by the communication device 60, thereby realizing the action of the hydraulic actuator HA corresponding to the operation content of the operator.

[0081] Furthermore, the controller 30 can control the hydraulic control valve 31L independently of the operator's operation of moving the hydraulic actuator HA in the first direction, and supply the working oil discharged from the pilot pump 15 to the pilot port on the left side of the directional control valve 17X. Also, the controller 30 can control the hydraulic control valve 31R independently of the operator's operation of moving the hydraulic actuator HA in the second direction, and supply the working oil discharged from the pilot pump 15 to the pilot port on the right side of the directional control valve 17X.

[0082] Therefore, the controller 30 can automatically control the hydraulic actuator to move in opposite directions, thereby realizing the automatic operation function and remote operation function of the excavator 100.

[0083] Furthermore, when the operator moves the hydraulic actuator HA in the first direction, and if it is determined that a braking action requiring deceleration or stopping of the hydraulic actuator HA is necessary, the controller 30 can control the hydraulic control valve 31R. Specifically, when the hydraulic actuator HA is moved in the first direction, the controller 30 can apply a predetermined pilot pressure from the hydraulic control valve 31R to the right pilot port of the directional control valve 17X. Thus, corresponding to the operation of the hydraulic actuator HA in the first direction, a pilot pressure is applied to the right pilot port of the directional control valve 17X in a manner that opposes the pilot pressure applied from the hydraulic control valve 31L to the left pilot port of the directional control valve 17X. Therefore, the controller 30 can forcibly bring the valve stem of the directional control valve 17X close to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA corresponding to the operator's operation of moving the hydraulic actuator HA in the first direction. Similarly, when an operator moves the hydraulic actuator HA in the second direction, and if it is determined that a braking action is required to decelerate or stop the hydraulic actuator HA, the controller 30 can control the hydraulic control valve 31L. As a result, the controller 30 can forcibly bring the valve stem of the directional control valve 17X close to the neutral position, thereby suppressing or stopping the operation of the hydraulic actuator HA corresponding to the operator's movement of the hydraulic actuator HA in the second direction.

[0084] Alternatively, if the operating device 26 is hydraulically piloted, a shuttle valve may be provided between the operating device 26 and the hydraulic control valve 31 and control valve 17. Similar to the hydraulic control valve 31, reciprocating valves are provided for each driven component (hydraulic actuator HA) of the operating device 26. Furthermore, two reciprocating valves are provided for each bidirectional hydraulic actuator HA. For example, the higher of the pilot pressure output corresponding to the operation in the first direction of the joystick device 26X and the pilot pressure on the secondary side of the hydraulic control valve 31L acts on the left pilot port of the directional control valve 17X through the reciprocating valve. Similarly, the higher of the pilot pressure output corresponding to the operation in the second direction of the joystick device 26X and the pilot pressure on the secondary side of the hydraulic control valve 31R acts on the right pilot port of the directional control valve 17X through the reciprocating valve. The controller 30 outputs a pilot pressure higher than the pilot pressure on the secondary side of the joystick device 26X from the hydraulic control valves 31L and 31R, thereby enabling it to control the directional control valve 17X independently of the operator's operation of the joystick device 26X. Thus, the controller 30 can control the movement of the driven components (lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6) without relying on the operator's control of the operating device 26, achieving automatic operation and remote control functions.

[0085] Furthermore, when the operating device 26 is hydraulically pilot-operated, in addition to the reciprocating valve, a pressure-reducing valve can also be installed on the pilot line between the joystick device 26X and the reciprocating valve. The pressure-reducing valve is configured, for example, to operate according to a control signal input from the controller 30 and to change its flow path area. Thus, the controller 30 can forcibly reduce the pilot pressure output from the joystick device 26X when the operator operates it. Therefore, even when the joystick device 26X is operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the joystick device 26X. Furthermore, for example, when the joystick device 26X is operated, the controller 30 can also reduce the pilot pressure output from the joystick device 26X by the pressure-reducing valve, making it lower than the pilot pressure output from the hydraulic control valves 31L and 31R. Therefore, by controlling the hydraulic control valves 31L and 31R and the pressure reducing valve, the controller 30 can reliably apply the desired pilot pressure to the pilot port of the directional control valve 17X within the control valve 17, regardless of the operation of the joystick device 26X. Thus, the controller 30 controls the pressure reducing valve in addition to the hydraulic control valves 31L and 31R, thereby enabling more accurate implementation of the excavator 100's automatic operation and remote operation functions.

[0086] <User Interface System> like Figure 4 As shown, the user interface system of the excavator 100 includes an operating device 26, an output device 50, and an input device 52.

[0087] The output device 50 outputs various information to users of the excavator 100 (e.g., operators in the cab 10, operators operating remotely from outside), people around the excavator 100 (e.g., workers, operators of construction vehicles), etc.

[0088] For example, output device 50 includes lighting equipment that outputs various information visually, display device 50A, etc. Lighting equipment may be, for example, warning lights (indicator lights). Display device 50A may be, for example, a liquid crystal display (LCD), an organic EL (Electroluminescence) display, etc. For example, such as... Figure 2 As shown, the lighting equipment and display device 50A can be installed inside the cab 10, and output various information to the operators inside the cab 10 using a visual method. Furthermore, the lighting equipment and display device 50A can also be installed on the sides of the upper rotating body 3, etc., to output various information to the workers around the excavator 100 using a visual method.

[0089] Furthermore, the output device 50 may include a sound output device 50B that outputs various information by auditory means. The sound output device 50B may include, for example, a buzzer, a loudspeaker, etc. The sound output device 50B may be installed at least one inside or outside the cab 10, and outputs various information to the operator inside the cab 10 and people (workers, etc.) around the excavator 100 by auditory means.

[0090] Furthermore, the output device 50 may include a device that outputs various information by tactile means such as vibration of the driver's seat.

[0091] Input device 52 receives various inputs from the user of excavator 100, and the corresponding signals are input to controller 30. For example, such as Figure 2 As shown, the input device 52 is installed inside the cab 10 and receives input from operators inside the cab 10. Furthermore, the input device 52 may be installed, for example, on the side of the upper rotating body 3, and receive input from personnel around the excavator 100.

[0092] For example, input device 52 includes an operation input device that accepts mechanical operation-based input from a user. The operation input device may include a touch panel mounted on the display device, a touchpad disposed around the display device, a push-button switch, a joystick, a toggle key, a rotary switch disposed on the operation device 26 (joystick device), etc.

[0093] Furthermore, the input device 52 may also include a voice input device that accepts the user's voice input. For example, a microphone may be included in the voice input device.

[0094] Furthermore, the input device 52 may also include a gesture input device that accepts gesture input from the user. For example, the gesture input device may include a camera device that captures the user's gestures.

[0095] Furthermore, the input device 52 may include a biometric input device that accepts biometric input from the user. Biometric input may include, for example, the input of biometric information such as the user's fingerprint or iris scan.

[0096] For example, the excavator 100 includes a specified input device 52 for switching the automatic operation function between active and inactive. When the controller 30 receives input to the specified input device 52, it switches the automatic operation function between active and inactive.

[0097] For example, if an input is received that has never been received before to the designated input device 52 provided on the operating device 26 (e.g., a rotary switch of the knob provided on the joystick device 26X), the controller 30 switches the semi-automatic operation function from disabled to enabled. Then, while continuously receiving input to the input device 52, the controller 30 maintains the semi-automatic operation function in enabled state, and if it stops receiving input to the designated input device 52, it switches the semi-automatic operation function from enabled to disabled. Thus, the operator can input to the designated input device 52 while operating the operating device 26 and maintain this state, thereby enabling the excavator 100 to operate in a semi-automatic manner.

[0098] Furthermore, the controller 30 can switch the semi-automatic operation function active or inactive for each specified input from a specified input device 52 located at a different location than the operating device 26 (e.g., a switch on the control panel, a touch panel displaying the operation specified on the display device 50A, etc.). In this case, if the specified hydraulic actuator HA is operated via the operating device 26 while the semi-automatic operation function is active, the controller 30 causes the excavator 100 to operate in semi-automatic mode.

[0099] Furthermore, the controller 30 can also determine the start and stop of semi-automatic operation based on the input from the input device 52 (e.g., the rotary switch mentioned above) provided in the operating device 26 when the semi-automatic operation function is active, provided that the semi-automatic operation function is active and the semi-automatic operation function is active. Specifically, when the semi-automatic operation function is active, if the controller 30 transitions from a state where it has never received input from the input device 52 provided in the operating device 26 to a state where it can receive input from the input device 52 provided in the operating device 26, then the excavator 100 begins semi-automatic operation. Moreover, if the controller 30 stops receiving input from the input device 52 provided in the operating device 26, then the excavator 100 stops semi-automatic operation. However, even if semi-automatic operation is stopped, the excavator 100 can still activate the hydraulic actuator HA according to the operator's operation of the operating device 26. That is, the operator can switch between manual operation and semi-automatic operation of the excavator 100 depending on whether there is input to the input device 52 set on the operating device 26.

[0100] Furthermore, for example, in a state where fully automatic operation is not in progress, if an input to the designated input device 52 is received, the controller 30 activates the fully automatic operation function and begins fully automatic operation of the excavator 100. Also, in a state where fully automatic operation is not in progress, if an input to the designated input device 52 is received, the controller 30 activates the fully automatic operation function; if an input to an input device 52 different from the designated input device 52 is received, fully automatic operation can begin. Then, if the pre-defined fully automatic operation ends, the controller 30 stops the fully automatic operation. Furthermore, during the execution of fully automatic operation, if an input to an input device 52 different from the designated input device 52 is received, the controller 30 can stop the fully automatic operation; subsequently, if an input to the designated input device 52 is received, the fully automatic operation function can be disabled. Furthermore, during the execution of fully automatic operation, if an input to the designated input device 52 is received, the controller 30 can forcibly stop the fully automatic operation and disable the fully automatic operation function.

[0101] <Communication Systems> like Figure 4 As shown, the communication system of the excavator 100 involved in this embodiment includes a communication device 60.

[0102] The communication device 60 is connected to an external communication line NW and communicates with a device separately located from the excavator 100. This device, separate from the excavator 100, may include, in addition to a device located outside the excavator 100, a portable terminal device (mobile terminal) brought into the cab 10 by the user of the excavator 100. The communication device 60 may, for example, include devices compliant with 4G (4G...) th Generation: Fourth Generation), 5G (5 th The communication device 60 may include standard mobile communication modules such as Generation 5 (5th generation). Furthermore, the communication device 60 may also include, for example, a satellite communication module. Additionally, the communication device 60 may include, for example, a WiFi communication module, a Bluetooth (registered trademark) communication module, etc. Furthermore, in the presence of multiple connectable communication lines NW, the communication device 60 may include multiple communication devices 60 depending on the type of communication line NW.

[0103] For example, communication device 60 communicates with external devices such as remote operation support device 300 within the work site via local communication lines established at the work site. Local communication lines could be, for example, mobile communication lines based on local 5G (so-called local 5G) or local area networks based on WiFi 6 established at the work site.

[0104] Furthermore, the communication device 60 can also communicate with external devices such as the remote operation support device 300 located outside the work site via a wide area communication line, i.e., a wide area network, including the work site.

[0105] In addition, the communication device 60 can be omitted if remote operation or monitoring of the excavator 100 is not required.

[0106] <Control System> like Figure 4 As shown, the control system of the excavator 100 includes a controller 30. Furthermore, the control system of the excavator 100 according to this embodiment includes sensing devices S1 to S6.

[0107] The controller 30 performs various controls related to the excavator 100.

[0108] The functionality of controller 30 can be implemented by any hardware, or any combination of hardware and software. For example, ... Figure 4 As shown, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, all connected by a bus B1.

[0109] Auxiliary storage device 30A is a non-volatile storage unit that stores the installed program and necessary files, data, etc. Auxiliary storage device 30A may be, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, etc.

[0110] Memory device 30B loads the program from auxiliary storage device 30A, for example, when a program start instruction is present, so that CPU 30C can read it. Memory device 30B is, for example, SRAM (Static Random Access Memory).

[0111] For example, CPU 30C executes the program loaded into memory device 30B and implements various functions of controller 30 according to the program's commands.

[0112] The interface device 30D functions, for example, as a communication interface for connecting to communication lines inside the excavator 100. The interface device 30D may also include multiple different types of communication interfaces depending on the type of communication line to be connected.

[0113] Furthermore, the interface device 30D functions as an external interface for reading data from and writing data to the storage medium. The storage medium is, for example, a special tool that connects to a connector located inside the cab 10 via a detachable cable. The storage medium can also be a common storage medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, programs implementing various functions of the controller 30 can be provided via a portable storage medium and installed in the auxiliary storage device 30A of the controller 30. Furthermore, the program can also be downloaded from another computer outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0114] In addition, some of the functions of controller 30 can also be implemented by other controllers (control devices). That is, the functions of controller 30 can also be implemented separately by multiple controllers mounted on excavator 100.

[0115] Sensor S1 is mounted on boom 4 and measures the posture state of boom 4. Sensor S1 outputs measurement data representing the posture state of boom 4. The posture state of boom 4 is, for example, the posture angle (hereinafter referred to as "boom angle") of the base end of boom 4 corresponding to the connection with the upper rotating body 3 about the rotation axis. Sensor S1 includes, for example, a rotary potentiometer, a rotary encoder, an accelerometer, an angular accelerometer, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same applies to sensor S2 to S4 below. Furthermore, sensor S1 may include a cylinder sensor that detects the extension and retraction position of boom cylinder 7. The same applies to sensor S2 and S3 below. The output of sensor S1, i.e., the measurement data representing the posture state of boom 4, is input to controller 30. Thus, controller 30 can grasp the posture state of boom 4.

[0116] A sensor S2 is mounted on the boom 5 and measures the attitude state of the boom 5. The sensor S2 outputs measurement data representing the attitude state of the boom 5. The attitude state of the boom 5 is, for example, the attitude angle (hereinafter referred to as "boom angle") of the base end of the boom 5 corresponding to the connection with the boom 4 about the axis of rotation. The output of the sensor S2 (the measurement data representing the attitude state of the boom 5) is input to the controller 30. Thus, the controller 30 can grasp the attitude state of the boom 5.

[0117] Sensor S3 is mounted on bucket 6 and measures the attitude state of bucket 6. Sensor S3 outputs measurement data representing the attitude state of bucket 6. The attitude state of bucket 6 is, for example, the attitude angle (hereinafter referred to as "bucket angle") of the base end of bucket 6 corresponding to the connection with stick 5 about the axis of rotation. The output of sensor S3 (measurement data representing the attitude state of bucket 6) is input to controller 30. Thus, controller 30 can grasp the attitude state of bucket 6.

[0118] The sensor S4 measures the posture state of the excavator 100's body (e.g., the upper rotating body 3). The sensor S4 outputs measurement data representing the posture state of the excavator 100's body. The posture state of the excavator 100's body is, for example, its tilt state relative to a predetermined reference plane (e.g., a horizontal plane). For example, the sensor S4 is mounted on the upper rotating body 3 and measures the tilt angles (hereinafter referred to as "forward tilt angle" and "left-right tilt angle") of the excavator 100 about two axes in the forward and backward directions. The output of the sensor S4 (the measurement data representing the posture state of the excavator 100's body) is input to the controller 30. Thus, the controller 30 can grasp the posture state (tilt state) of the body (upper rotating body 3).

[0119] A sensor S5 is mounted on the upper rotating body 3 to measure the rotation state of the upper rotating body 3. The sensor S5 outputs measurement data indicating the rotation state of the upper rotating body 3. For example, the sensor S5 measures the rotational angular velocity and rotational angle of the upper rotating body 3. The sensor S5 may include, for example, a gyroscope sensor, a synchronizer, and a rotary encoder. The output of the sensor S5 (the measurement data indicating the rotation state of the upper rotating body 3) is input to the controller 30. Thus, the controller 30 can grasp the rotational state of the upper rotating body 3, such as the rotational angle.

[0120] For example, the controller 30 can determine (infer) the position of the front end (bucket 6) of the auxiliary device AT based on the output of the sensors S1 to S5. Therefore, the controller 30 can determine the position of the front end of the auxiliary device AT and control the actions based on the automatic operation function of the excavator 100.

[0121] Alternatively, if the sensing device S4 includes a gyroscope sensor, a 6-axis sensor, an IMU, or the like capable of detecting angular velocities around three axes, the rotational state (e.g., rotational angular velocity) of the upper rotating body 3 can also be detected based on the detection signal from the sensing device S4. In this case, the sensing device S5 can be omitted.

[0122] Furthermore, in addition to sensors S1 to S5, a sensor (positioning device) for determining the position of the excavator 100 can also be installed on the excavator 100. The positioning device can determine the position using world (global) coordinates or using local coordinates of the construction site. In the former case, the positioning device is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, the positioning device is a transceiver capable of communicating with a device that serves as a reference for the position at the construction site and outputting a signal corresponding to the position relative to the reference. The output of the positioning device is input to the controller 30.

[0123] The sensing device S6 is a camera device that acquires images representing the conditions around the excavator 100. Furthermore, the sensing device S6 can also acquire (generate) three-dimensional data (hereinafter referred to as "object three-dimensional data") representing the position and shape of objects around the excavator 100 within the camera's field of view (view angle) based on the acquired images and distance-related data described later. The object three-dimensional data around the excavator 100 may include, for example, data representing the coordinate information of a group of points on the object's surface, distance image data, etc.

[0124] For example, such as Figure 1 and Figure 2 As shown, the sensing device S6 includes a front camera S6F that captures images of the front side of the upper rotating body 3. Furthermore, the sensing device S6 may include a rear camera S6B that captures images of the rear side of the upper rotating body 3, a left camera S6L that captures images of the left side of the upper rotating body 3, and a right camera S6R that captures images of the right side of the upper rotating body 3. Thus, the sensing device S6 can capture images in all directions, spanning 360 degrees, centered on the excavator 100 when viewed from above. Furthermore, the operator can visually identify the surrounding images based on the camera images from the left camera S6L, the right camera S6R, and the rear camera S6B through the output device 50 and the display unit of the remote operation support device 300, thereby confirming the status of the left, right, and rear sides of the upper rotating body 3. Furthermore, the operator can visually recognize the surrounding images based on the camera image of the front camera S6F through the display of the remote operation support device 300, thereby enabling remote operation of the excavator 100 while confirming the operation of the auxiliary device AT, including the bucket 6.

[0125] The sensing device S6 is, for example, a monocular camera. Furthermore, the sensing device S6 can also acquire distance (depth) related data in addition to two-dimensional images, such as stereo cameras, TOF (Time of Flight) cameras, etc. (hereinafter collectively referred to as "3D cameras").

[0126] The output data of the sensor S6 (e.g., image data, 3D data of objects around the excavator 100, etc.) is input to the controller 30 via a one-to-one communication line or vehicle network. Thus, for example, the controller 30 can monitor objects around the excavator 100 based on the output data of the sensor S6. Furthermore, for example, the controller 30 can determine the surrounding environment of the excavator 100 based on the output data of the sensor S6. Furthermore, for example, the controller 30 can determine the posture state of the auxiliary device AT reflected in the camera image based on the output data of the sensor S6 (front camera). Furthermore, for example, the controller 30 can determine the posture state of the excavator 100's body (upper rotating body 3) based on the output data of the sensor S6, using objects around the excavator 100 as a reference.

[0127] Furthermore, a sensing device (distance sensor) capable of measuring the distance between the excavator 100 and surrounding objects can be installed on the upper rotating body 3, either in place of the sensing device S6 or in addition to the sensing device S6. The distance sensor, for example, is mounted on the upper part of the upper rotating body 3 and acquires data related to the distance and direction of surrounding objects relative to the excavator 100. Furthermore, the distance sensor can also acquire (generate) three-dimensional data (e.g., coordinate information of a group of points) of objects surrounding the excavator 100 within its sensing range based on the acquired data. The distance sensor is, for example, a LIDAR (Light Detection and Ranging) sensor. Additionally, the distance sensor can be, for example, a millimeter-wave radar, an ultrasonic sensor, an infrared sensor, etc.

[0128] However, depending on the purpose of the sensor S6, some of the front camera S6F, rear camera S6B, left camera S6L, and right camera S6R may be omitted. Furthermore, the sensor S6 may be omitted if it is not used for remote operation of the excavator 100 or for monitoring objects around the excavator 100.

[0129] Hereinafter, sensing devices S1 to S6 may be referred to as sensing device SX either collectively or individually.

[0130] [Functional structures related to the automatic operation of excavators] Next, refer to Figure 6 The functional structure related to the automatic operation of the excavator 100 is described.

[0131] Figure 6 This is a function block diagram illustrating an example of the functional structure related to the automatic operation of the excavator 100.

[0132] In this example, the operating modes of the hydraulic actuator HA, which operates automatically when the automatic operation function is active, include an automatic operation mode, an intervention operation mode, and a transition mode. The automatic operation mode is the mode in which the hydraulic actuator HA operates automatically. The intervention operation mode is the mode in which the hydraulic actuator HA operates automatically through operator intervention (hereinafter referred to as "intervention operation"). The transition mode is a transitional operating mode used to switch from the automatic operation mode to the intervention operation mode.

[0133] like Figure 6 As shown, the controller 30, as a functional unit, includes a target trajectory generation unit 301, an automatic operation control unit 302, an intervention operation control unit 303, and a mediation control unit 304. These functions are implemented, for example, by loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing it on the CPU 30C.

[0134] The target track generation unit 301 generates target tracks for designated locations of the excavator 100 or its attachments (e.g., suspended loads) that move in conjunction with the excavator 100 during automatic operation. For example, the target track generation unit 301 generates target tracks for the front end of the attachment AT, specifically for the working portion of the bucket 6. The working portion of the bucket 6 can be, for example, the tip of the bucket 6 during excavation, the back of the bucket 6 during leveling, or the back of the bucket 6 during compaction. Furthermore, the target track generation unit 301 can also generate target tracks for suspended loads attached to the bucket 6 during crane operations. Additionally, the target track generation unit 301 can generate target tracks for designated locations of the tracks 1CL and 1CR when automatically moving to the next working position along a predetermined preparation process.

[0135] For example, the target track generation unit 301 acquires information related to the current terrain shape of the work object based on the output of the sensor S6, etc. Furthermore, the target track generation unit 301 can generate a target track for the construction part of the bucket 6 based on the information related to the current terrain shape of the work object and information related to the target shape (target shape information). The target shape information is information related to the target construction surface. Information about the target construction surface can be input by the user via the input device 52 or the remote operation support device 300, or downloaded from an external device via the communication device 60. Specifically, when the difference between the current terrain shape and the target construction surface is relatively large compared to a predetermined reference, the target track generation unit 301 can generate a target track for the tip of the bucket 6 used for rough digging. On the other hand, when the difference between the current terrain shape and the target construction surface is relatively small compared to a predetermined reference, the target track generation unit 301 can generate a target track that moves the construction part of the bucket 6 along the target construction surface.

[0136] The automatic operation control unit 302 performs control related to the automatic operation function of the excavator 100. Specifically, the automatic operation control unit 302 controls the operation of the hydraulic actuators HA of the automatically operating object. The automatic operation control unit 302 controls the hydraulic actuators HA to move the excavator 100 and its attachments to a predetermined location along a target track. In semi-automatic operation, the automatic operation control unit 302 operates the hydraulic actuators HA of the automatically operating object in conjunction with the operation of other hydraulic actuators HA that are operated by the operator, so as to move the excavator 100 and its attachments to a predetermined location along the target track. Furthermore, in fully automatic operation, the automatic operation control unit 302 links multiple hydraulic actuators HA of the automatically operating object to move the excavator 100 and its attachments to a predetermined location along the target track. Specifically, the automatic operation control unit 302 outputs operating commands to the hydraulic control valves 31 used to operate the hydraulic actuators HA of the automatically operating object, so as to move the excavator 100 and its attachments to a predetermined location along the target track. More specifically, the automatic operation control unit 302 can determine the positions of the excavator 100 and its attachments at designated locations based on the outputs of sensors S1 to S5. Furthermore, the automatic operation control unit 302 can perform feedback control based on the deviation between the measured result and the target trajectory, thereby generating and outputting operation commands for the hydraulic control valve 31. For example, the operation command for the hydraulic control valve 31L corresponds to the operation of the bidirectional hydraulic actuator HA in the first direction. On the other hand, the operation command for the hydraulic control valve 31R corresponds to the operation of the bidirectional hydraulic actuator HA in the second direction.

[0137] The intervention operation control unit 303 controls the hydraulic actuator HA based on the intervention operation performed on the automatically operating object. Specifically, the intervention operation control unit 303 outputs an operation command to the hydraulic control valve 31 corresponding to the intervention operation performed on the hydraulic actuator HA of the automatically operating object.

[0138] The adjustment control unit 304 adjusts the output between the automatic operation control unit 302 and the intervention operation control unit 303. Specifically, the adjustment control unit 304 selects the operating mode of the hydraulic actuator HA that is to be automatically operated. When there are multiple hydraulic actuators HA that are to be automatically operated, the adjustment control unit 304 selects an operating mode for each of the multiple hydraulic actuators HA. Furthermore, based on the selected operating mode, the adjustment control unit 304 adjusts the output between the automatic operation control unit 302 and the intervention operation control unit 303, and outputs an operation command corresponding to the adjustment result to the hydraulic control valve 31.

[0139] In the absence of intervention, the mediation control unit 304 selects the automatic operation mode. On the other hand, in the presence of intervention, the mediation control unit 304 selects one of the following operation modes—automatic operation mode, intervention operation mode, and transition mode—based on predetermined conditions.

[0140] If the adjustment control unit 304 selects the automatic operation mode, it will output the operation command output from the automatic operation control unit 302 to the hydraulic control valve 31.

[0141] On the other hand, if the adjustment control unit 304 selects the intervention operation mode, it outputs the operation command from the intervention operation control unit 303 to the hydraulic control valve 31. Furthermore, if the adjustment control unit 304 selects the intervention operation mode, it sends a command to the target trajectory generation unit 301 to correct the target trajectory based on the actual operating state caused by the intervention operation (target trajectory correction command). Therefore, even if the position of the excavator 100 and its attachments deviates from the target trajectory to a certain extent due to the intervention operation, the target trajectory generation unit 301 can correct the target trajectory based on the position and trajectory deviated from due to the intervention operation. For example, the target trajectory generation unit 301 corrects the target trajectory by moving the target trajectory parallel to it so that it passes through the actual position of the excavator 100 and its attachments. Therefore, it is possible to suppress situations where, upon returning to automatic operation mode after the intervention operation ends, the hydraulic actuator HA experiences significant acceleration or deceleration due to the deviation between the target trajectory and the position of the excavator 100 and its attachments, causing the hydraulic actuator HA to loosen or vibrate. Therefore, the adjustment control unit 304 can smoothly resume automatic operation from the intervention operation based on the hydraulic actuator HA.

[0142] Furthermore, if the transition mode is selected, the regulating control unit 304 generates an operation command for transitioning from the automatic operation mode to the intervention operation mode and outputs it to the hydraulic control valve 31 (see reference). Figure 8 , Figure 10 and Figure 11 ).

[0143] Furthermore, if the transition mode is selected, the adjustment control unit 304 can send the target trajectory correction command to the target trajectory generation unit 301, similar to when the intervention operation mode is selected. This is because, in the transition mode, the intervention operation is sometimes canceled and the system reverts to the automatic operation mode.

[0144] [Control processing corresponding to intervention operations in automatic operation mode] Next, refer to Figure 7 The control processing corresponding to the intervention operation in the automatic operation mode executed by the controller 30 will be explained.

[0145] Figure 7 This is a flowchart that schematically illustrates an example of control processing related to intervention operations in automatic operation mode.

[0146] When the automatic operation mode is selected and intervention is in progress, this flowchart is executed every predetermined control cycle. Furthermore, if there are multiple hydraulic actuators HA for the object to be automatically operated, this flowchart is executed for each of those hydraulic actuators HA.

[0147] like Figure 7 As shown, in step S102, the adjustment control unit 304 determines whether the current direction of motion of the hydraulic actuator HA of the automatically running object is the same as the direction of motion corresponding to the intervention operation. If the current direction of motion of the hydraulic actuator HA of the automatically running object is the same as the direction of motion corresponding to the intervention operation, the adjustment control unit 304 proceeds to step S104; otherwise, it proceeds to step S110.

[0148] In step S104, the adjustment control unit 304 determines whether the amount of the intervention operation is greater than or equal to the current operating state of the hydraulic actuator HA of the automatically operating object. For example, the adjustment control unit 304 determines whether the pilot pressure of the hydraulic control valve 31 corresponding to the amount of the intervention operation is greater than or equal to the current pilot pressure of the hydraulic control valve 31. If the amount of the intervention operation is greater than or equal to the current operating state of the hydraulic actuator HA of the automatically operating object, the adjustment control unit 304 proceeds to step S106; otherwise, it proceeds to step S108.

[0149] In step S106, the adjustment control unit 304 selects the intervention operation mode. That is, the adjustment control unit 304 switches the operation mode of the hydraulic actuator HA of the automatically operating object from the automatic operation mode to the intervention operation mode.

[0150] On the other hand, in step S108, the adjustment control unit 304 selects the automatic operation mode. That is, the adjustment control unit 304 maintains the operation mode of the hydraulic actuator HA of the object to be automatically operated as automatic operation.

[0151] Furthermore, in step S110, the adjustment control unit 304 selects a transition mode. That is, the adjustment control unit 304 switches the operating mode of the hydraulic actuator HA of the automatically operating object from the automatic operation mode to the transition mode.

[0152] If any of the steps S106, S108, or S110 is completed, the controller 30 will end the processing of this flowchart.

[0153] Thus, if an intervention operation is initiated in the same direction as automatic operation, the adjustment control unit 304 can wait until the operation amount of the intervention operation reaches or exceeds the operation amount corresponding to the automatic operation of the hydraulic actuator HA, and then switch the hydraulic actuator HA to the intervention operation mode. Therefore, for example, it is possible to switch to the intervention operation mode at the same time as the intervention operation begins, suppressing situations such as vibration caused by sudden deceleration of the hydraulic actuator HA, and smoothly transitioning from automatic operation of the hydraulic actuator HA to operation based on intervention operation.

[0154] [Control processing in transition mode] Next, refer to Figure 8 The control processing in the transition mode executed by controller 30 is explained.

[0155] Figure 8 This is a flowchart that schematically illustrates an example of control processing in a transition mode.

[0156] When the hydraulic actuator HA is selected as the operating mode for automatic operation in the transition mode, this flowchart is executed every specified control cycle.

[0157] In this example, the operating amount corresponding to the movement of the bidirectional hydraulic actuator HA in a certain direction (e.g., the first direction mentioned above) is defined as a positive operating amount, and the operating amount corresponding to the movement in the opposite direction (e.g., the second direction mentioned above) is defined as a negative operating amount. For example, when the operating amount is converted into the pilot pressure on the secondary side of the hydraulic control valve 31, the pilot pressure of the hydraulic control valve 31L corresponding to the movement of the hydraulic actuator HA in the first direction is defined as a positive pilot pressure. On the other hand, the pilot pressure of the hydraulic control valve 31R corresponding to the movement of the hydraulic actuator HA in the second direction is defined as a negative pilot pressure.

[0158] like Figure 8 As shown, in step S202, the mediation control unit 304 determines whether the intervention operation is ongoing. For example, if the operation amount of the intervention operation is not zero, the mediation control unit 304 determines that the intervention operation is ongoing. Furthermore, if the operation amount of the intervention operation has not been continuously zero within the most recent specified period, the mediation control unit 304 can determine that the intervention operation is ongoing. If the intervention operation is ongoing, the mediation control unit 304 proceeds to step S204; if it is not ongoing, the mediation control unit 304 proceeds to step S212.

[0159] In step S204, the adjustment control unit 304 determines whether the operating amount of the hydraulic actuator HA of the automatically operating object has reached the operating amount required for intervention through the processing in step S206 up to the previous step. For example, the adjustment control unit 304 determines whether the pilot pressure of the hydraulic control valve 31 has reached the pilot pressure corresponding to the intervention operation through the processing in step S206 up to the previous step. If the operating amount of the hydraulic actuator HA of the automatically operating object has not reached the operating amount required for intervention, the adjustment control unit 304 proceeds to step S206; if it has, it proceeds to step S210.

[0160] In step S206, the regulating control unit 304 changes the operating amount of the hydraulic actuator HA in a manner that gradually approaches the operating amount of the intervention operation. Specifically, the regulating control unit 304 generates an operation command to change the pilot pressure on the secondary side of the hydraulic control valve 31 in a manner that gradually approaches the pilot pressure corresponding to the intervention operation, and outputs it to the hydraulic control valve 31. At this time, when the operation command corresponds to a positive pilot pressure, the operation command is output to the hydraulic control valve 31L, and when the operation command corresponds to a negative pilot pressure, the operation command is output to the hydraulic control valve 31R.

[0161] For example, in step S206, the regulating control unit 304 uses the following formula (1) to calculate the command value PIout of the pilot pressure and outputs the operation command corresponding to the command value PIout to the hydraulic control valve 31.

[0162] PIout=PI_a+Kp·PI_b+Ki·∫(PI_b)dt…(1) Furthermore, the pilot pressure PI_a is the pilot pressure corresponding to the latest output (control command) of the automatic operation control unit 302. And, the pilot pressure PI_b is the pilot pressure corresponding to the intervention operation. The proportional gain Kp is the gain of the proportional term (the second term of equation (3)) of the pilot pressure PI_b in the command value PIout. The integral gain Ki is the gain of the integral term (the third term of equation (3)) of the pilot pressure PI_b in the command value PIout. The third term of equation (3) is the integral term of the pilot pressure PI_b starting from the beginning of the intervention operation.

[0163] The absolute value of the integral term (the third term) in equation (3) increases over time from the start of the intervention operation. Therefore, the adjustment control unit 304 can make the command value PIout, i.e., the operating amount of the hydraulic actuator HA of the automatically running object, gradually approach the pilot pressure corresponding to the intervention operation over time.

[0164] If the processing in step S206 is completed, the controller 30 proceeds to step S208.

[0165] In step S208, the adjustment control unit 304 selects a transition mode. That is, the adjustment control unit 304 maintains the operating mode of the hydraulic actuator HA of the automatically operating object in the transition mode.

[0166] On the other hand, in step S210, the adjustment control unit 304 selects the intervention operation mode. That is, the adjustment control unit 304 changes the operation mode of the hydraulic actuator HA of the automatically operating object from the transition mode to the intervention operation mode, thereby completing the transition process from the automatic operation mode to the intervention operation mode.

[0167] Furthermore, in step S212, the adjustment control unit 304 selects the automatic operation mode. That is, the adjustment control unit 304 restores the operation mode of the hydraulic actuator HA of the automatically operating object from the transition mode to the automatic operation mode.

[0168] If any of the steps S208, S210, or S212 is completed, the controller 30 will end the processing of this flowchart.

[0169] Thus, the adjustment control unit 304 can control the hydraulic control valve 31 to gradually bring the actual operating amount of the hydraulic actuator HA closer to the operating amount of the intervention operation if an intervention operation is initiated in the opposite direction to automatic operation. Therefore, for example, it is possible to switch to intervention operation mode at the same time as intervention operation begins, suppressing situations such as vibration caused by sudden deceleration of the hydraulic actuator HA, and smoothly transitioning from automatic operation of the hydraulic actuator HA to operation based on intervention operation.

[0170] [Control processing in intervention operation mode] Next, refer to Figure 9 The control processing in the intervention operation mode executed by the controller 30 is explained.

[0171] When the hydraulic actuator HA is selected as the automatic operation mode, this flowchart is executed every specified control cycle.

[0172] Figure 9 This is a flowchart that schematically illustrates an example of control processing in an intervention operation mode.

[0173] like Figure 9As shown, in step S302, the adjustment control unit 304 determines whether the direction of the intervention operation is the same as the direction of motion of the hydraulic actuator HA corresponding to automatic operation. For example, the adjustment control unit 304 determines whether the direction of motion of the hydraulic actuator HA corresponding to the output of the intervention operation control unit 303 is the same as the direction of motion of the hydraulic actuator HA corresponding to the output of the automatic operation control unit 302. If the direction of the intervention operation is the same as the direction of motion of the hydraulic actuator HA corresponding to automatic operation, the adjustment control unit 304 proceeds to step S304; otherwise, it proceeds to step S306.

[0174] In step S304, the adjustment control unit 304 determines whether the operation amount of the intervention operation is less than the operation amount corresponding to the current operating state of the hydraulic actuator HA of the automatically operating object. If the operation amount of the intervention operation is less than the operation amount corresponding to the current operating state of the hydraulic actuator HA of the automatically operating object, the adjustment control unit 304 proceeds to step S308; otherwise, it proceeds to step S310.

[0175] On the other hand, in step S306, the mediation control unit 304 determines whether the intervention operation has ended. For example, the mediation control unit 304 determines that the intervention operation has ended when the operation amount of the intervention operation is zero. Furthermore, the mediation control unit 304 may determine that the intervention operation has ended if the operation amount of the intervention operation has remained at zero for a predetermined time or more. If the intervention operation has ended, the mediation control unit 304 proceeds to step S308; if the intervention operation has not yet ended, it proceeds to step S310.

[0176] In step S308, the adjustment control unit 304 selects the automatic operation mode. That is, the adjustment control unit 304 restores the operation mode of the hydraulic actuator HA of the object to the automatic operation mode from the intervention operation mode to the automatic operation mode.

[0177] On the other hand, in step S310, the adjustment control unit 304 selects the intervention operation mode. That is, the adjustment control unit 304 maintains the operation mode of the hydraulic actuator HA of the automatically operating object as the intervention operation mode.

[0178] If any of the processes in steps S308 and S310 is completed, the current flowchart processing ends.

[0179] Thus, if the amount of intervention is reduced to less than the amount corresponding to automatic operation, or if the intervention ends, the adjustment control unit 304 can return to the automatic operation mode. This is because the controller 30 achieves operation based on intervention while continuously performing automatic operation and in parallel with the control processing based on the automatic operation control unit 302. Therefore, for example, if the operator wants to correct a portion of the track of the excavator 100 and its accessories from a predetermined location to a target track, the controller 30 can continuously transition the operating state of the hydraulic actuator HA in the sequence of automatic operation → operation based on intervention → automatic operation. Therefore, operator convenience and work efficiency can be improved.

[0180] [Specific examples of the transition from automatic operation mode to interventional operation mode] Next, refer to Figure 10 , Figure 11 Specific examples of the transition from automatic operation mode to intervention operation mode related to the hydraulic actuator HA of an automatically operating object will be explained.

[0181] <Example 1> Figure 10 This is the first example of a graph showing the time-dependent change in pilot pressure during the transition from automatic to interventional operation mode. Specifically, Figure 10 This describes a specific example of the time-dependent change in the pilot pressure on the secondary side of the hydraulic control valve 31 during the transition from automatic operation mode to intervention operation mode when the direction of intervention operation is the same as the actual direction of action of the hydraulic actuator HA based on automatic operation.

[0182] In addition, the pilot pressure on the secondary side of the hydraulic control valve 31 is equivalent to the pilot pressure acting on the pilot port of the directional control valve 17X.

[0183] like Figure 10 As shown, in this example, in the automatic operation mode, at time t10, the intervention operation begins in the same direction as the operation direction of the hydraulic actuator HA based on automatic operation.

[0184] Then, as the amount of intervention increases, the pilot pressure corresponding to the intervention increases, gradually approaching the pilot pressure corresponding to automatic operation (dashed line in the figure), i.e., the pilot pressure output from hydraulic control valve 31 (solid line in the figure). Furthermore, at time t11, the pilot pressure corresponding to the intervention reaches the pilot pressure corresponding to automatic operation (…). Figure 7 Step S104 is... Therefore, the operating mode of the hydraulic actuator HA of the automatically operating object changes from automatic operating mode to intervention operating mode (...). Figure 7 Step S106).

[0185] After time t11, the state continues because the pilot pressure corresponding to the intervention operation is higher than the pilot pressure corresponding to automatic operation. Figure 9 (No to step S304), therefore the intervention operation mode continues ( Figure 9 Step S310).

[0186] Thus, in this example, the excavator 100 waits for the pilot pressure for intervention operation to rise above the actual pilot pressure of the hydraulic control valve 31, i.e., the pilot pressure corresponding to automatic operation, and then transitions to the intervention operation mode. Therefore, the hydraulic actuator HA can smoothly accelerate from the operating state corresponding to automatic operation while simultaneously transitioning to the operating state corresponding to intervention operation. Thus, the excavator 100 can smoothly transition from automatic operation of the hydraulic actuator HA to operation based on intervention operation.

[0187] <Example 2> Figure 11 This is the second example of a graph showing the time-dependent change in pilot pressure during the transition from automatic to interventional operation mode. Specifically, Figure 11 This illustrates a specific example of the time-dependent change in the pilot pressure on the secondary side of the hydraulic control valve 31 when transitioning from automatic operation mode to intervention operation mode, provided that the direction of intervention operation is opposite to the actual direction of action of the hydraulic actuator HA based on automatic operation.

[0188] like Figure 11 As shown, in this example, in the automatic operation mode, at time t20, intervention begins in the direction opposite to the direction of action (first direction) of the hydraulic actuator HA based on automatic operation (second direction). Figure 7 No to step S102). Therefore, the operating mode of the hydraulic actuator HA changes from automatic operation mode to transition mode (…). Figure 7 (Step S110). Then, the pilot pressure (the single-dotted line in the figure) corresponding to the intervention operation is increased in the second direction.

[0189] After time t20, matching the increase in the amount (absolute value) of the intervention operation, the pilot pressure in the first direction output from hydraulic control valve 31 (solid line in the figure), i.e., the pilot pressure on the secondary side of hydraulic control valve 31L, gradually decreases, approaching the pilot pressure corresponding to the intervention operation. Figure 8 (Step S206). Furthermore, at time t21, the pilot pressure of the hydraulic control valve 31 reaches zero. During the period from time t20 to time t21, the hydraulic actuator HA gradually decelerates and stops.

[0190] After time t21, the pilot pressure in the second direction output from hydraulic control valve 31, i.e., the pilot pressure on the secondary side of hydraulic control valve 31R, gradually increases and becomes closer to the pilot pressure corresponding to the intervention operation. Figure 8Step S206). Furthermore, at time t22, the pilot pressure output from the hydraulic control valve 31 in the second direction reaches the pilot pressure corresponding to the intervention operation ( Figure 8 Step S204 is as follows. Therefore, the operating mode of the hydraulic actuator HA changes from the transition mode to the intervention mode. Figure 8 Step S210). During the period from time t21 to time t22, the hydraulic actuator HA gradually accelerates from the stopped state in the opposite direction (second direction).

[0191] Thus, in this example, the excavator 100 gradually approaches the pilot pressure output from the hydraulic control valve 31 to the pilot pressure corresponding to the intervention operation. As a result, the excavator 100 can transition to the operating state corresponding to the intervention operation by gradually decelerating and stopping the hydraulic actuator HA, and then accelerating in the opposite direction. Therefore, the excavator 100 can smoothly transition from automatic operation of the hydraulic actuator HA to operation based on intervention.

[0192] Furthermore, as in the comparative example (two dashed lines in the figure), after the intervention operation begins, the hydraulic control valve 31 outputs the sum of the pilot pressure in the first direction corresponding to automatic operation (positive pilot pressure) and the pilot pressure in the second direction corresponding to the intervention operation (negative pilot pressure). At this time, as the amount of intervention operation increases, the pilot pressure in the first direction output from the hydraulic control valve 31, i.e., the pilot pressure on the secondary side of the hydraulic control valve 31L, decreases and approaches the pilot pressure corresponding to the intervention operation. At this time, as the intervention operation begins, the positions of the excavator 100 and its attachments move away from the target track, therefore the automatic operation control unit 302 increases the pilot pressure corresponding to automatic operation used to align the specified positions of the excavator 100 and its attachments with the target track. As a result, even assuming the pilot pressure corresponding to the intervention operation increases to its maximum, the pilot pressure corresponding to automatic operation also increases, so it is possible that the pilot pressure in the second direction may not be output from the hydraulic control valve 31.

[0193] Furthermore, it is possible to obtain the sum of the pilot pressures corresponding to automatic operation by multiplying the pilot pressure corresponding to the intervention operation by a proportional gain of more than 1, and then output it from the hydraulic control valve 31. However, at this time, the rate of change of the pilot pressure output from the hydraulic control valve 31 may become larger, which may result in rapid deceleration or acceleration of the hydraulic actuator HA.

[0194] In contrast, in this example, as shown in equation (3) above, in addition to the sum of the proportional terms of the pilot pressure corresponding to automatic operation and the pilot pressure corresponding to intervention operation, the integral term of the pilot pressure corresponding to intervention operation is also added. Therefore, the pilot pressure output from the hydraulic control valve 31 can be made close to and reach the pilot pressure corresponding to intervention operation, and the rapid deceleration and acceleration of the hydraulic actuator HA caused by changes in the pilot pressure output from the hydraulic control valve 31 can be suppressed.

[0195] Furthermore, when PI (Proportional Integral) control is used as feedback control, the automatic operation control unit 302 can stop updating the integral term in transition mode. This suppresses the increase in pilot pressure corresponding to automatic operation when the bucket 100 and the designated parts of the attachments leave the target track at the start of intervention. Therefore, the pilot pressure output from the hydraulic control valve 31 can reach the pilot pressure corresponding to intervention more quickly. In other words, the adjustment control unit 304 can end the transition mode in a shorter period, thereby transitioning to the intervention operation mode more quickly.

[0196] [Other Implementation Methods] Next, other implementation methods will be described.

[0197] The above embodiments can be modified or altered as appropriate.

[0198] For example, a control method related to the switching of the operating mode of the actuator of the excavator 100 in the above embodiment ( Figures 7-9 It can also be applied to other construction machinery with automatic operation functions. Other construction machinery includes, forklifts, wheel loaders, etc.

[0199] [effect] Next, the function of the construction machinery involved in this embodiment will be explained.

[0200] In this embodiment, the construction machinery is configured such that, when the actuator is in an automatic operation state, and the operator begins to input an operation input to the actuator, the actual operating state of the actuator and the operating state corresponding to the operator's input gradually approach each other, thereby transitioning to a state where the actuator operates according to the operator's input. The construction machinery is, for example, the excavator 100 described above. Furthermore, the construction machinery can be a forklift, a wheel loader, etc. The actuator is, for example, the hydraulic actuator HA described above. Furthermore, the actuator can also be an electric actuator.

[0201] Therefore, even if there is a deviation between the operating state of the actuator based on automatic operation and the operating state of the actuator corresponding to the operator's input at the beginning of the construction machinery operation, this difference will gradually converge over time, thus enabling the machinery to transition to a state where the actuator operates according to the operator's input. Thus, the construction machinery can smoothly transition from automatic operation of the actuator to operation based on the operator's input.

[0202] Furthermore, in this embodiment, the construction machinery can be configured such that, when the actuator is running automatically, and the operator's input is initiated in the direction opposite to the direction of the actuator's movement corresponding to automatic operation, the actuator gradually decelerates and stops, and then accelerates in the direction corresponding to the operator's input.

[0203] Therefore, when the operator inputs the operation input to the construction machinery in the opposite direction to the direction of the actuator corresponding to automatic operation, the machinery can smoothly transition from automatic operation of the actuator to operation based on the operator's operation.

[0204] Furthermore, in this embodiment, when the actuator is running automatically, if the operator's operation input is started in the direction opposite to the operation direction of the actuator corresponding to automatic operation, the actual operation state of the actuator and the operation state corresponding to the operator's operation input are brought close together over time, thereby transitioning to the operation state corresponding to the operator's operation input.

[0205] Therefore, when the operator inputs the operation input to the construction machinery in the opposite direction to the direction of the actuator corresponding to automatic operation, the machinery can smoothly transition from automatic operation of the actuator to operation based on the operator's operation.

[0206] Furthermore, in this embodiment, the construction machinery can be configured such that, when the actuator is running automatically, and the operator begins to input an operation in the same direction as the actuator's movement direction corresponding to the automatic operation, as the amount of the operator's input increases, the movement state of the actuator corresponding to the operator's input approaches the actual movement state over time, thereby transitioning to a state where the actuator performs an operation based on the operator's input.

[0207] Therefore, when the operator inputs the operation input to the construction machinery in the same direction as the direction of motion of the actuator corresponding to automatic operation, the operation can be smoothly transferred from automatic operation of the actuator to operation based on the operator's operation.

[0208] Furthermore, in this embodiment, the construction machinery may include a first control unit and a second control unit. The first control unit is, for example, the automatic operation control unit 302 described above. The second control unit is, for example, the adjustment control unit 304 described above. Specifically, the first control unit performs control related to the automatic operation of the actuator. The second control unit, when the actuator is automatically operated by the first control unit, transitions to a state where the actuator operates according to the operator's input when the operator begins to input an operation to the actuator. More specifically, the first control unit may also continue to perform control related to the automatic operation of the actuator after the operator begins to input an operation to the actuator. Moreover, the second control unit may also transition to a state where the actuator operates according to the operator's input while the control related to the automatic operation of the actuator based on the first control unit is ongoing.

[0209] Therefore, construction machinery can transition to a state where the actuator operates based on operator input while maintaining control related to automatic operation. Thus, even if the operator initially inputs input to slightly correct the actuator's action and then immediately stops, the construction machinery can immediately return to automatic operation. Therefore, construction machinery can achieve actuator operation that allows for partial correction of the actuator's action based on operator input, while presumably operating under automatic control.

[0210] Furthermore, in this embodiment, the construction machinery may also be such that, if the operator finishes inputting the actuator, the actuator's operating state up to the point where the operator finished inputting the actuator is restored to the state where the actuator is automatically operated by the first control unit.

[0211] Therefore, the construction machinery can smoothly transition from actuator operation based on operator input to automatic operation.

[0212] Furthermore, in this embodiment, the construction machinery can also be such that, when the actuator is running automatically, and the operator begins to input the operation input to the actuator based on remote operation, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operation input based on remote operation gradually approach each other, thereby transitioning to a state in which the actuator operates according to the operator's operation input.

[0213] Thus, construction machinery can be matched with the start of operation input based on remote operation by the operator, smoothly transitioning from automatic operation of the actuator to operation based on remote operation by the operator.

[0214] The embodiments have been described in detail above, but the present invention is not limited to this specific embodiment and various modifications and alterations can be made within the scope of the spirit described in the technical solution.

[0215] Finally, this application claims priority based on Japanese Patent Application No. 2023-141700, filed on August 31, 2023, and the entire contents of the Japanese Patent Application are incorporated herein by reference.

[0216] Symbol Explanation 1-Lower traveling body, 3-Upper slewing body, 4-Boom, 5-Stick, 6-Bucket, 7-Boom cylinder, 8-Stick cylinder, 9-Bucket cylinder, 10-Cockpit, 17-Control valve, 17X-Directional control valve, 26-Operating device, 26X-Joint control device, 30-Controller, 31, 31L, 31R-Hydraulic control valves, 60-Communication device, 100-Excavator, 300-Remote operation support device, 301-Target track generation unit, 302-Automatic operation control unit, 303-Intervention operation control unit, 304-Adjustment control unit, AT-Auxiliary device, HA-Hydraulic actuator, S1~S6, SX-Sensing device, S6B-Rear camera, S6F-Front camera, S6L-Left camera, S6R-Right camera.

Claims

1. A construction machine, wherein, When an operator begins to input an operation into the actuator while it is in automatic operation mode, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operation input gradually approach each other, thereby transitioning to a state where the actuator operates according to the operator's operation input.

2. The construction machinery according to claim 1, wherein, When the actuator is in automatic operation, if the operator inputs an operation in the direction opposite to the direction of the actuator's operation corresponding to automatic operation, the actuator gradually decelerates and stops, then accelerates in the direction corresponding to the operator's operation input.

3. The construction machinery according to claim 1 or 2, wherein, When the actuator is running automatically, if the operator inputs an operation in the direction opposite to the direction of the actuator's operation corresponding to automatic operation, the actual operating state of the actuator and the operating state corresponding to the operator's operation input are brought close together over time, thereby transitioning to the operating state corresponding to the operator's operation input.

4. The construction machinery according to claim 1 or 2, wherein, When the actuator is running automatically, if the operator inputs an operation in the same direction as the actuator's operating direction corresponding to automatic operation, the operating state of the actuator corresponding to the operator's operation input gradually approaches the actual operating state as the amount of the operator's operation input increases, thereby transitioning to a state where the actuator operates according to the operator's operation input.

5. The construction machinery according to claim 1 or 2, comprising: The first control unit performs control related to the automatic operation of the actuator; and When the operator begins to input an operation signal to the actuator while the actuator is running automatically via the first control unit, the second control unit transitions to a state where the actuator is activated based on the operator's input. The first control unit is responsible for continuously controlling the automatic operation of the actuator even after the operator has initiated operational input to the actuator. The second control unit is a state in which, while the control related to the automatic operation of the actuator based on the first control unit continues, it transitions to a state in which the actuator is operated according to the operator's input.

6. The construction machinery according to claim 5, wherein, If the operator finishes inputting the actuator, the actuator will return to the state of automatic operation via the first control unit, based on the operating state of the actuator up to the end of the operator's input.

7. The construction machinery according to claim 1 or 2, wherein, When an operator begins to input an operation into the actuator based on remote operation while the actuator is in automatic operation mode, the actual operating state of the actuator and the operating state of the actuator corresponding to the operator's operation input based on remote operation gradually approach each other, thereby transitioning to a state in which the actuator operates according to the operator's operation input.

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