Shovel and remote operation support system

Abstract

This invention relates to excavators and remote operation support systems, specifically addressing how to improve the ease of operation of excavators through a simple structure. The excavator (100) of this invention comprises: a lower traveling body (1) including a pair of left and right tracks (1C); an upper slewing body (3); a cab (10); traveling hydraulic motors (1ML, 1MR) respectively driving the left and right tracks (1C); a driver's seat (70) disposed in the cab (10) for the operator to sit in; and a pedal device (26C) including pedals (26C1, 26C2). Furthermore, the excavator can selectively switch between a normal mode and a single-pedal mode for the lower traveling body. In the normal mode, the traveling hydraulic motors are driven by pedal operation, and in the single-pedal mode, both are driven by pedal operation.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2024-232342, filed on December 27, 2024. The entire contents of that Japanese application are incorporated herein by reference.

[0002] This invention relates to excavators, etc. Background Technology

[0003] For example, regarding excavators, in addition to the left and right pair of pedal devices for operating the left and right pairs of tracks separately, a dedicated straight-traverse pedal device has also been disclosed (see Patent Document 1).

[0004] Patent Document 1: Japanese Patent No. 2846085 However, in Patent Document 1, the operating parts (pedal devices) for operating the left and right pairs of tracks are increased, which may lead to structural complexity. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide a technology that improves the ease of operation of excavators through a simple structure.

[0006] To achieve the above objectives, one embodiment of the present invention provides an excavator comprising: The lower running gear includes a pair of first and second tracks on the left and right sides; The upper rotating body is mounted on the lower walking body and rotates freely; The cockpit is located on the upper rotating body; The first actuator drives the first track; The second actuator drives the second track; A driver's seat, located in the cockpit, is provided for the operator to sit in; and The pedal device includes a first pedal and a second pedal, which can be operated by the operator seated in the driver's seat using their feet. The lower walking body can selectively switch between two motion modes, including a first motion mode and a second motion mode. In the first operating mode, the first actuator is driven according to the operation of the first pedal, and the second actuator is driven according to the operation of the second pedal. In the second operating mode, the first actuator and the second actuator are driven according to the operation of either the first pedal or the second pedal.

[0007] Furthermore, in another embodiment of the present invention, a remote operation support system is provided that supports the remote operation of an excavator, the excavator having: a lower traveling body including a pair of first and second tracks; an upper slewing body rotatably mounted on the lower traveling body; a driver's cab disposed on the upper slewing body; a first actuator for driving the first track; and a second actuator for driving the second track, the remote operation support system comprising: A driver's seat, located outside the excavator, is provided for the operator to sit in; and The pedal device includes a first pedal and a second pedal, which can be operated by the operator seated in the driver's seat using their feet. The lower walking body can selectively switch between two motion modes, including a first motion mode and a second motion mode. In the first operating mode, the first actuator is driven according to the operation of the first pedal, and the second actuator is driven according to the operation of the second pedal. In the second operating mode, the first actuator and the second actuator are driven according to the operation of either the first pedal or the second pedal.

[0008] Invention Effects According to the above embodiments, the ease of operation of excavators can be improved through a simple structure. Attached Figure Description

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

[0010] Figure 2 This is a diagram illustrating an example of the structure of an excavator.

[0011] Figure 3 This is a top view showing an example of the cockpit interior.

[0012] Figure 4 This is the first example of a diagram showing the functional structure related to the walking motion of the lower walking body.

[0013] Figure 5 This is a diagram illustrating a specific example of the output characteristics of a travel hydraulic motor relative to the amount of operation of the pedal device.

[0014] Figure 6 This is the first example of a picture showing the screen of a display device.

[0015] Figure 7 This is the second example of a picture showing the screen of a display device.

[0016] Figure 8 This is the third example of a picture showing the screen of a display device.

[0017] Figure 9 This is the fourth example of a picture showing the screen of a display device.

[0018] Figure 10 This is the fifth example of a picture showing the screen of a display device.

[0019] Figure 11 This is the sixth example of a picture showing the screen of a display device.

[0020] Figure 12 This is a flowchart illustrating, schematically, a first example of processing related to the walking motion of the lower walking body.

[0021] Figure 13 This is a flowchart illustrating a second example of the processing related to the walking motion of the lower walking body.

[0022] Figure 14 This is the seventh example of a picture showing the screen of a display device.

[0023] Figure 15 This is a flowchart illustrating, schematically, a third example of the processing related to the walking motion of the lower walking body.

[0024] Figure 16 This is the eighth example of a picture showing the screen of a display device.

[0025] Figure 17 This is a flowchart illustrating an example of the switching process for the movement mode of a lower walking body.

[0026] Figure 18 This is the second example of a diagram showing the functional structure related to the walking motion of the lower walking body.

[0027] Figure 19 This is the ninth example of a picture showing the screen of a display device.

[0028] Figure 20 This is a flowchart that schematically illustrates an example of the process related to a user determining the use of an excavator as an operator.

[0029] Figure 21 This is another example of the structure of an excavator.

[0030] Figure 22 This is the third example of a diagram illustrating the functional structures associated with the walking motion of the lower limbs.

[0031] Figure 23 This is a flowchart that schematically illustrates an example of the processing associated with the auto-cruise function.

[0032] Figure 24This is the 10th example of a display screen.

[0033] Figure 25 This is a diagram illustrating an example of a remote operation support system.

[0034] Explanation of symbols 1-Lower traveling body, 1C-Crawler, 1M-Traveling hydraulic motor, 1ML-Traveling hydraulic motor, 1MR-Traveling hydraulic motor, 3-Upper slewing body, 4-Boom, 5-Stick, 6-Bucket, 10-Cockpit, 15-Pilot pump, 17-Regulating valve, 17A-Control valve, 17B-Control valve, 26-Operating device, 26A-Joint control device, 26B-Joint control device, 26C-Pedal device, 26C1-Pedal, 26C1s-Operating transmission Sensors: 26C2-Pedal, 26C2s-Operation Sensor, 26s-Operation Sensor, 30-Controller, 31-Hydraulic Control Valve, 31A-Hydraulic Control Valve, 31B-Hydraulic Control Valve, 40-Remote Controller, 41-View Display, 42-Operating Device, 42A-Joystick Device, 42B-Joystick Device, 42C-Pedal Device, 43-Operation Sensor, 43A-Operation Sensor, 43B-Operation Sensor, 43C-Operation Sensor 46-Screen, 47-Screen, 48-Screen, 50-Display device, 52-Input device, 52A-Input device, 52B-Input device, 54-Sound output device, 56-Lighting device, 60-Communication device, 70-Driver's seat, 100-Excavator, 150-Remote operation support device, 301-Operation mode switching unit, 302-Travel command output unit, 303-Notification unit, 304-Storage unit, 305-User confirmation unit, 306- Notification Unit, 307-Setting Unit, 308-Automatic Cruise Control Unit, 309-Notification Unit, 3021-Travel Command Output Unit, 3021A-Travel Command Output Unit, 3021B-Travel Command Output Unit, 3022-Travel Command Output Unit, AT-Auxiliary Device, D1E-Display Device, D2EA-Input Device, D2EB-Input Device, DS-Driver's Seat, RC-Remote Control Cab, RO-Remote Operator, SYS-Remote Operation Support System. Detailed Implementation

[0035] The embodiments will now be described with reference to the accompanying drawings.

[0036] [Overview of Excavators] refer to Figure 1 The general outline of the excavator 100 involved in this embodiment will be described.

[0037] Figure 1This is a side view showing an example of an excavator 100. Hereinafter, the direction in which the auxiliary device AT extends when viewed from the perspective of the upper rotating body 3 under a top view of the excavator 100 will sometimes be defined as "forward" to describe the direction in the excavator 100 or the direction when viewed from the perspective of the excavator 100.

[0038] like Figure 1 As 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 driver's cab 10.

[0039] The lower traveling body 1 uses a pair of left and right tracks 1C to move the excavator 100. The left track 1C and right track 1C are each hydraulically driven by a travel hydraulic motor 1M. Thus, the lower traveling body 1 can move independently. Hereinafter, the travel hydraulic motor 1M that drives the left track 1C will sometimes be referred to as the travel hydraulic motor 1ML (see reference). Figure 2 The travel hydraulic motor 1M that drives the right track 1C is referred to as the travel hydraulic motor 1MR (reference). Figure 2 ).

[0040] 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 can be rotated by a rotating hydraulic motor 2M (see reference). Figure 2 The hydraulically driven rotary mechanism 2 rotates relative to the lower traveling body 1.

[0041] 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.

[0042] Bucket 6 is an example of an end-attachment, such as for excavation, slope work, and leveling work.

[0043] 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 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-connection accessories other than buckets, such as mixers, crushers, pulverizers, or lifting magnets, can also be installed at the front end of the boom 5. Additionally, pre-installed auxiliary devices, such as quick couplers or tilting rotators, can be provided between the boom 5 and the end-connection accessories.

[0044] The boom 4, stick 5, and bucket 6 are hydraulically driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively.

[0045] The cab 10 is a control room (also called a "cab") for the 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.

[0046] 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 1C), 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.

[0047] Furthermore, the excavator 100 can also have its driven components operated remotely by an operator outside the cab 10. The following explanation assumes that operator operation includes not only operations performed by the operator in the cab 10, but also remote operations performed by an operator outside the excavator 100.

[0048] For example, the remote operation support system SYS includes an excavator 100 and a remote operation support device 150 (see, for example, the following description). Figure 25 ).

[0049] The remote operation support system supports remote operation of the excavator 100 using the remote operation support device.

[0050] The remote operation support device 150 can be communicatively connected to the excavator 100 via a communication line, allowing the operator to remotely operate the excavator 100.

[0051] The remote operation support device 150 is, for example, a remote control cab RC located outside the excavator 100, and includes a remote operation device 42 identical to the operation device 26 inside the cab 10. Thus, the operator can sit in the driver's seat DS located in the remote control cab RC and operate the excavator 100 remotely from a location where it is not directly visually visible, by operating the remote operation device 42. Furthermore, the remote operation support device 150 can be a portable operation terminal device. Therefore, the operator can remotely operate the excavator 100 while directly monitoring its operating status from its surroundings.

[0052] The excavator 100, for example, transmits an image (surrounding image) showing the surrounding conditions in front of the excavator 100, based on a camera image output from its own camera device 45, to the remote operation support device 150 via a communication device 60. Furthermore, the excavator 100 can transmit the camera image output from the camera device 45 to the remote operation support device 150 via the communication device 60, and the remote operation support device 150 processes the camera image received from the excavator 100 to generate the surrounding image. The remote operation support device 150 includes a remote operation display device (e.g., display device D1E described later), and displays the surrounding image showing the surrounding conditions in front of the excavator 100 on the remote operation display device. Furthermore, the remote operation support device 150 can display information screens identical to those displayed on the display device 50 inside the excavator 100's cab 10 on the remote operation display device. Therefore, the operator using the remote operation support device 150 can remotely operate the excavator 100 while simultaneously checking the surrounding images, information screens, and other displays showing the surrounding conditions of the excavator 100 shown on the remote operation display device. The excavator 100 activates its driven components based on signals (hereinafter referred to as "remote operation signals") indicating the content of the remote operation received from the remote operation support device 150 via the communication device 60. Thus, the remote operation support system SYS enables remote operation of the excavator 100 using the remote operation support device 150.

[0053] Furthermore, the excavator 100 can also automatically operate the actuators without relying on the operator's commands. Thus, the excavator 100 can achieve the function of automatically operating at least a portion of the driven components such as the lower traveling body 1, the upper rotating body 3, and the auxiliary device AT, which is the so-called "automatic operation function" or "machine control (MC) function".

[0054] Automatic operation functions include, for example, semi-automatic operation functions (operation support type MC functions). Semi-automatic operation functions automatically activate driven components (actuators) other than the object being operated, based on operator input. Furthermore, automatic operation functions can include fully automatic operation functions (fully automatic type MC functions). Fully automatic operation functions automatically activate 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 cab 10 can be unmanned. Moreover, semi-automatic and fully automatic operation functions, for example, include 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 operated object are automatically determined according to predefined rules. Furthermore, semi-automatic and fully automatic operation functions may also include autonomous 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.

[0055] Furthermore, the operation of the excavator 100 can be monitored from outside the excavator 100. For example, when the excavator 100 is operating automatically, its operation can be monitored from outside the excavator 100. In this case, in order to support the monitor to monitor the operation from outside the excavator 100, a remote monitoring support device, the same as the remote operation support device 150, is provided.

[0056] The remote monitoring support device includes, for example, a remote monitoring display device, which, similar to the remote operation display device, displays surrounding images, information screens, etc., indicating the surrounding conditions of the excavator 100. Thus, the monitor can monitor the operating status of the excavator 100 by using the remote monitoring support device to view the surrounding images, information screens, etc.

[0057] Furthermore, the monitor can intervene in the excavator 100 using a remote operation support device. For example, the remote monitoring support device includes an intervention operation device and sends a remote operation signal indicating the operation content of the intervention operation device to the excavator 100. Thus, for example, in cases where the excavator 100's work is inappropriate or its safety is compromised, the monitor can use the intervention operation device to bring the excavator 100 to an emergency stop or to perform a retreating maneuver to a safe position or posture.

[0058] [An example of the structure of an excavator] Apart from Figure 1 In addition, also refer to Figure 2 , Figure 3An example of the structure of the excavator 100 will be described.

[0059] Figure 2 This is a diagram illustrating an example of the structure of an excavator 100. Figure 3 This is a top view showing an example of the interior of the cockpit 10.

[0060] The excavator 100 includes the components of a hydraulic drive system, an operating system, a user interface system, and a control system.

[0061] <Hydraulic Drive System> The hydraulic drive system of the excavator 100 is a set of constituent components related to the hydraulic drive of the driven components of the excavator 100.

[0062] like Figure 2 As shown, the hydraulic drive system of the excavator 100 includes multiple hydraulic actuators HA that hydraulically drive multiple driven components. These driven components include the left and right tracks 1C of the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6. The multiple hydraulic actuators HA include traveling hydraulic motors 1ML and 1MR, a slewing hydraulic motor 2M, a boom cylinder 7, a stick cylinder 8, and a bucket cylinder 9. 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 regulating valve 17.

[0063] Hereinafter, the hydraulic actuator HA is used to generally or individually represent the constituent components of the travel hydraulic motor 1M, the swing hydraulic motor 2M, the boom cylinder 7, the stick cylinder 8, the bucket cylinder 9, etc.

[0064] Furthermore, 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.

[0065] Engine 11 is the prime mover of excavator 100 and 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 target speed under the direct or indirect control of controller 30 (described later), and drives main pump 14 and pilot pump 15.

[0066] Alternatively, other types of prime movers (e.g., electric motors) can be mounted on the excavator 100 instead of the engine 11.

[0067] The regulator 13 adjusts the output of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swashplate of the main pump 14 (hereinafter referred to as the "deflection angle") according to the control command from the controller 30.

[0068] The main pump 14 supplies working oil to the regulating valve 17 via a high-pressure hydraulic line. Similar to the engine 11, the main pump 14 is, for example, mounted at the rear of the upper rotating body 3. 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, the piston stroke length is adjusted by regulating the deflection angle of the swashplate under the control of the controller 30, thereby controlling the discharge flow rate and discharge pressure.

[0069] The regulating valve 17 drives the hydraulic actuators HA according to the operator's operation or the operation command corresponding to the automatic operation function (hereinafter referred to as the "automatic operation command"). The regulating valve 17 is mounted, for example, in the central part of the upper rotating body 3. The regulating valve 17 is connected to the main pump 14 through a hydraulic line, and selectively supplies working oil supplied from the main pump 14 to each hydraulic actuator HA according to the operator's operation or the automatic operation command. For example, the regulating valve 17 is a valve unit including multiple control valves (e.g., directional valves), and includes control valves 17A and 17B, which control the flow rate and flow direction of the working oil supplied from the main pump 14 to each hydraulic actuator HA.

[0070] Control valve 17A controls the flow rate and direction of the working oil supplied from the main pump 14 to the travel hydraulic motor 1ML. Therefore, control valve 17A controls the output (driving force) and rotation direction of the travel hydraulic motor 1ML. Control valve 17B controls the flow rate and direction of the working oil supplied from the main pump 14 to the travel hydraulic motor 1MR. Therefore, control valve 17B controls the output (driving force) and rotation direction of the travel hydraulic motor 1MR.

[0071] Operating System The operating system of the excavator 100 consists of components related to the operation of the hydraulic actuator HA.

[0072] like Figure 2 As shown, the operating system of the excavator 100 includes a pilot pump 15, a gantry 23, a gantry lock valve 25V, a limit switch 25S, an operating device 26, and a hydraulic control valve 31.

[0073] Pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., hydraulic control valve 31) via pilot line 25. Similar to engine 11, pilot pump 15 is, for example, mounted at the rear of upper rotating body 3. Pilot pump 15 is, for example, a fixed-capacity hydraulic pump, driven by engine 11 as described above.

[0074] Alternatively, the pilot pump 15 can be omitted. In this case, working oil discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like can be supplied to various hydraulic equipment such as the operating device 26.

[0075] The door lock valve 25v is located upstream of all the various hydraulic equipment that receive the working oil from the pilot pump 15 in the pilot line 25. The door lock valve 25v switches the connection and disconnection (disconnection) of the pilot line 25 by opening / closing a limit switch 25s that is linked to the operating state of the door lever 23 located inside the cockpit 10.

[0076] The gantry 23 is a mechanical input device used to switch between a state where the excavator 100 can be started and operated based on the operating device 26, and a state where the excavator 100 cannot be started or operated. For example, the gantry 23 is provided on the upper surface of the control console 72L on the left side of the driver's seat 70. For example, the controller 30 controls whether to allow the excavator 100 to start, including starting the engine 11, based on the operating state of the gantry 23. Furthermore, as described above, the gantry 23 can switch the connection and disconnection of the pilot line 25 according to its operating state, thereby switching between the operable and inoperable states of the hydraulic actuator HA of the excavator 100. For example, as... Figure 2 As shown, based on the operating state of the door lever 23, the limit switch 25s is set to on / off, and the output (electrical signal) corresponding to the on / off state of the limit switch 25s is input to the controller 30. Furthermore, the controller 30 outputs a control signal to the door lock valve 25v based on the content of the electrical signal from the limit switch 25s. Alternatively, by inputting the output (electrical signal) of the limit switch 25s to the door lock valve 25v, the door lock valve 25v can switch between on and off states based on the operating state of the door lever 23.

[0077] Furthermore, a latch 24, which is linked to the operating state of the gantry 23, is disposed on the front surface of the control console 72L on the left side of the driver's seat 70. When the gantry 23 is in the operable state of the excavator 100, the latch 24 is in a forward-facing upright position to prevent lateral movement between the driver's seat 70 and the passenger compartment 10 (see reference). Figure 3 On the other hand, when the gantry 23 is in an inoperable state for the excavator 100, the latch 24 is housed in a downward-facing position within the control console 72L, allowing lateral movement between the driver's seat 70 and the entry / exit port of the cab 10. Thus, unless the latch 24 is in a forward-protruding position according to the operation of the gantry 23, the operator cannot operate the excavator 100, thereby improving the safety of the excavator 100.

[0078] The operating device 26 is located within reach of the operator from the driver's seat 70 in the cab 10, and is used by the operator to operate the various driven components, namely, the left and right tracks of the lower walking body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive the various driven components.

[0079] The operating device 26 is, for example, electrically operated. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as the "operation signal") corresponding to the operator's operation, and the operation signal is input to the controller 30. Furthermore, the controller 30 outputs a control command (operation command) corresponding to the operation signal to the hydraulic control valve 31, that is, an operation command corresponding to the operation performed on the operating device 26. Thus, through the pilot line 27, a pilot pressure corresponding to the operation performed on the operating device 26 is input from the hydraulic control valve 31 to the regulating valve 17, and the regulating valve 17 can drive each hydraulic actuator HA according to the operation performed on the operating device 26.

[0080] like Figure 3 As shown, the operating device 26 includes a joystick device 26A, a joystick device 26B, and a pedal device 26C.

[0081] The joystick device 26A is, for example, located on the front of the upper surface of the control console 72L on the left side of the driver's seat 70 inside the cab 10, with its base covered by a joystick cover CVA. The joystick device 26A is used by the operator to operate any two of the following: the swing hydraulic motor 2M, the boom cylinder 7, the stick cylinder 8, and the bucket cylinder 9. Thus, the operator seated in the driver's seat 70 can operate the hydraulic actuators HA of two of these components using the joystick device 26A with their left hand. For example, the joystick device 26A operates the swing hydraulic motor 2M and the stick cylinder 8; the swing hydraulic motor 2M is operated by lateral movement of the joystick device 26A, and the stick cylinder 8 is operated by longitudinal movement of the joystick device 26A. The longitudinal and lateral movements of the joystick device 26A correspond to the forward / backward and left / right directions of the excavator 100, respectively, and the same applies to the joystick device 26B, which will be described later.

[0082] The joystick device 26B is, for example, located on the front of the upper surface of the control console 72R on the right side of the driver's seat 70 inside the cab 10, with its base covered by a joystick cover CVB. The joystick device 26B is used by the operator to operate the remaining two of the following: the swing hydraulic motor 2M, the boom cylinder 7, the stick cylinder 8, and the bucket cylinder 9, excluding those operated by the joystick device 26A. Thus, the operator seated in the driver's seat 70 can operate the hydraulic actuators HA of the remaining two of the following—the swing hydraulic motor 2M, the boom cylinder 7, the stick cylinder 8, and the bucket cylinder 9—using the joystick device 26B with their right hand. For example, the joystick device 26B operates the boom cylinder 7 and the bucket cylinder 9; longitudinal operation of the joystick device 26B operates the boom cylinder 7, and lateral operation of the joystick device 26B operates the bucket cylinder 9.

[0083] The pedal device 26C is located on the ground in front of the driver's seat inside the cockpit 10. The pedal device 26C is used by the operator to operate the travel hydraulic motor 1ML and the travel hydraulic motor 1MR. The pedal device 26C includes pedal 26C1, pedal 26C2, left control lever 26C3 and right control lever 26C4.

[0084] The pedal 26C1 is used by the operator to operate the travel hydraulic motor 1ML that drives the left track 1C. Thus, the operator, seated in the driver's seat 70, can operate the travel hydraulic motor 1ML by operating the pedal 26C1 with his left foot.

[0085] The pedal 26C2 is used by the operator to operate the travel hydraulic motor 1MR that drives the right track 1C. Thus, the operator, seated in the driver's seat 70, can operate the travel hydraulic motor 1MR by operating the pedal 26C2 with his right foot.

[0086] The left control lever 26C3 is used by the operator to operate the travel hydraulic motor 1ML that drives the left track 1C. Thus, the operator, seated in the driver's seat 70, can operate the travel hydraulic motor 1ML by operating the left control lever 26C3 with his left hand.

[0087] The right control lever 26C4 is used by the operator to operate the travel hydraulic motor 1MR that drives the right track 1C. Thus, the operator, seated in the driver's seat 70, can operate the travel hydraulic motor 1MR by operating the right control lever 26C4 with their right hand.

[0088] For example, the operating device 26 includes an operation sensor 26s capable of detecting the operator's operation on the operating device 26. The operation includes the amount of operation and the direction of operation based on a neutral position. The operation sensor 26s may be, for example, a tilt sensor that detects the tilt angle of a joystick or pedal, or an angle sensor that detects the swing angle of a joystick or pedal about a swing axis. Furthermore, the operation sensor 26s may also be other types of sensors, such as pressure sensors, current sensors, and distance sensors. The operation sensor 26s may be provided for each actuator of the object being operated, and the operating device 26 outputs an electrical signal (operation signal) indicating the operation of the actuator of the object being operated. As described above, the operation signal is input to the controller 30.

[0089] Alternatively, the operating device 26 can also be a hydraulically piloted type that uses pilot pressure supplied from the pilot pump 15 as the source pressure to output pilot pressure corresponding to the operator's operation. Thus, the operating device 26 can supply pilot pressure corresponding to its own operation to the regulating valve 17. Therefore, the regulating valve 17 can drive each hydraulic actuator HA according to the operation of the operating device 26.

[0090] Furthermore, the control valve built into the regulating valve 17 that drives each hydraulic actuator HA can be a solenoid type. In this case, the operating signal output from the operating device 26 can be directly input to the solenoid control valve built into the regulating valve 17.

[0091] Furthermore, as described above, part or all of the hydraulic actuator HA can be replaced with an electric actuator. In this case, the controller 30 outputs, for example, control commands corresponding to the operator's operation or the remote operation specified by the remote operation signal to the electric actuator or the driver that drives the electric actuator.

[0092] Hydraulic control valves 31 are provided for each hydraulic actuator HA operated by the operating device 26 and for each driving direction of the hydraulic actuator HA (e.g., the extension and retraction directions of the boom cylinder 7). For example, a pair of hydraulic control valves 31 are provided for a double-acting hydraulic actuator HA used to drive the left and right tracks 1C, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6. The hydraulic control valves 31 can be provided, for example, in the pilot line between the pilot pump 15 and the regulating valve 17, and are configured to change their flow area (i.e., the cross-sectional area through which the working oil can flow). Thus, the hydraulic control valves 31 can use the working oil supplied to the pilot pump 15 through the pilot line 25 to output a predetermined pilot pressure to the secondary pilot line 27. Therefore, the hydraulic control valves 31 can act on the regulating valve 17 through the pilot line 27 with a predetermined pilot pressure corresponding to the control command (operation command) from the controller 30. Therefore, for example, the controller 30 can apply pilot pressure from the hydraulic control valve 31 to the regulating valve 17 according to the operation command (automatic operation command) corresponding to the automatic operation function, thereby enabling the excavator 100 to operate based on the automatic operation function. Furthermore, the controller 30 can also apply pilot pressure from the hydraulic control valve 31 to the regulating valve 17 according to the operation command corresponding to the remote operation signal, thereby enabling the excavator 100 to operate based on remote operation.

[0093] <User Interface System> The user interface system of the excavator 100 is a set of components related to the information exchange between the user and the excavator 100.

[0094] like Figure 5 As shown, the user interface system of the excavator 100 includes an operating device 26, a display device 50, and an input device 52.

[0095] Display device 50 conveys various information to the operator inside cockpit 10 via visual means. Display device 50 may be, for example, a liquid crystal display (LCD) or an organic EL (Electroluminescence) display. For example, such as... Figure 3 As shown, the display device 50 is located in the front right part of the cockpit 10 and outputs various information to the operator and others inside the cockpit 10 through visual means.

[0096] In addition to the display device 50, a lighting device that transmits various information to the operator visually can be installed inside the cab 10. This lighting device may include various warning lights (also called "indicator lights"). Furthermore, in addition to the display device 50, an external display device can be installed to transmit various information to workers and on-site supervisors outside the cab 10. Also, in addition to the display device 50 and the lighting device inside the cab 10, an external lighting device for the cab 10 can be installed to transmit various information to workers and on-site supervisors outside the cab 10. Furthermore, the excavator 100 can be equipped with a sound output device that transmits various information audibly to the operator inside the cab 10, workers outside the cab 10, and on-site supervisors. This sound output device may include, for example, a buzzer or a loudspeaker. Finally, the excavator 100 can be equipped with a device that transmits various information tactilely, such as through vibrations of the operator's seat.

[0097] The input device 52 receives various inputs from the user of the excavator 100, and the signals corresponding to the received inputs are input to the controller 30. The inputs received from the input device 52 are of a different type than the inputs received by the operating device 26 for operating the hydraulic actuator HA. For example, the input device 52 is installed inside the cab 10 and receives inputs from the operator inside the cab 10. Furthermore, the input device 52 may be installed, for example, on the side of the outer shell of the upper rotating body 3 and receive inputs from workers around the excavator 100.

[0098] For example, input device 52 includes a mechanical input device that accepts input from a user based on mechanical operation. Mechanical input devices include, for example, touch panels, touchpads, push-button switches, joysticks, toggle keys, rotary switches, etc. For instance, mechanical input devices installed inside the cockpit 10 include touch panels installed on the display device 50, joysticks, switches, control panels, and various joysticks, switches, and control panels installed on the control consoles 72L, 72R, 74, etc. Furthermore, door lever 23 is an example of input device 52.

[0099] Furthermore, the input device 52 may include a voice input device that accepts voice input from a user. The voice input device may include, for example, a microphone.

[0100] Furthermore, the input device 52 may also include a gesture input device that accepts user gesture input. The gesture input device may include, for example, a camera device that captures the user's gestures and the state of hand symbols.

[0101] Furthermore, the input device 52 may include a biometric input device for accepting 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.

[0102] <Communication Systems> The communication system of the excavator 100 is a set of components used for the excavator 100 to communicate with the outside world.

[0103] like Figure 2 As shown, the communication system of the excavator 100 involved in this embodiment includes a communication device 60.

[0104] The communication device 60 connects to an external communication line and communicates with devices located separately from the excavator 100. In addition to devices located outside the excavator 100, the devices located separately from the excavator 100 may also include 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 mobile communication modules of various specifications, such as Generation 5. Furthermore, the communication device 60 may include, for example, a satellite communication module. Additionally, the communication device 60 may also include, for example, a WiFi communication module, a Bluetooth (registered trademark) communication module, etc. Moreover, when multiple connectable communication lines NW exist, the communication device 60 may include multiple communication devices depending on the type of communication line NW.

[0105] Furthermore, the excavator 100 can operate independently without communicating with the outside world. In this case, the communication system of the excavator 100, including the communication device 60, can be omitted.

[0106] <Control System> The control system of the excavator 100 is a set of components related to various controls of the excavator 100.

[0107] like Figure 2 As shown, the control system of the excavator 100 includes a controller 30. Furthermore, the control system of the excavator 100 includes a camera device 45. The control system of the excavator 100 also includes, for example, various sensors such as limit switches 25s and operation sensors 26s, which acquire raw data for the controller 30 to perform various controls, as well as various switches.

[0108] The controller 30 performs various controls related to the excavator 100.

[0109] The functions of controller 30 can be implemented by any hardware or any combination of hardware and software. For example, controller 30 includes an auxiliary storage device 30A, a memory device 30B, a processor 30C, and an interface device 30D that are communicatively connected via bus BS1.

[0110] Auxiliary storage device 30A is a non-volatile storage unit that stores the program to be installed on controller 30, as well as files, data, etc., required for processing in controller 30. Auxiliary storage device 30A may be, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, etc. For example, when a program start instruction is present, the memory device loads the program from the auxiliary storage device, enabling the processor to read it. The memory device may be, for example, SRAM (Static Random Access Memory). The processor, for example, executes various processes according to the program's commands by executing the program loaded into memory device 30B. The processor may include, for example, a CPU (Central Processing Unit). Furthermore, processor 30C may include GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), etc. Interface device 30D functions, for example, as a communication interface for connecting to communication lines inside excavator 100. The interface device 30D can also include multiple different types of communication interfaces depending on the type of communication line to be connected. Furthermore, the interface device functions as an external interface for reading data from or writing data to the storage medium. The storage medium is, for example, a special tool connected to a connector located inside the cockpit 10 via a detachable cable. The storage medium can be, for example, a common storage medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the programs that implement the various functions of the controller 30 can be provided, for example, by a portable storage medium and installed in the auxiliary storage device 30A of the controller 30. Furthermore, the programs can also be downloaded from another computer outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0111] Furthermore, some of the functions of controller 30 can also be implemented by other devices. That is, the functions of controller 30 can also be implemented by multiple devices. For example, the functions of the storage area included in controller 30 can be implemented by an external storage device mounted on excavator 100 in a manner communicatively connected to controller 30. Moreover, the functions of controller 30 can be implemented by multiple controllers mounted on excavator 100.

[0112] The camera device 45 captures images of the surrounding environment of the excavator 100.

[0113] The camera device 45 is, for example, a monocular camera. Furthermore, the camera device 45 can be, for example, a three-dimensional camera (3D camera), such as a stereo camera, a TOF (Time of Flight) camera, a depth camera, etc., which can not only acquire two-dimensional image information, but also acquire three-dimensional information including information related to the distance of objects reflected in the image and the depth of the image.

[0114] For example, the camera device 45 includes a front camera, a rear camera, a left camera, and a right camera. The front camera captures images of the front of the upper rotating body 3. The rear camera captures images of the rear of the upper rotating body 3. The left camera captures images of the left side of the upper rotating body 3. The right camera captures images of the right side of the upper rotating body 3. Thus, the camera device 45 can capture images of the excavator 100 from above, covering an all-around, i.e., 360-degree angular direction centered on the excavator 100. Hereinafter, the front camera, rear camera, left camera, and right camera will sometimes be collectively referred to or individually as "camera 45X".

[0115] The output data of the camera device 45 (camera 45X) is input to the controller 30 via a one-to-one communication line and vehicle network. Thus, for example, the controller 30 can grasp the surrounding situation of the excavator 100 based on the output data of the camera 45X.

[0116] Alternatively, some or all of the cameras 45X can be omitted. Furthermore, in the excavator 100, instead of the camera unit 45 or otherwise, a range sensor (also called a "distance sensor") capable of acquiring information indicating the distance to objects surrounding the excavator 100 can be provided. Examples of range sensors include LIDAR (Light Detecting and Ranging), millimeter-wave radar, and ultrasonic sensors.

[0117] [Example 1 of functional structures related to walking movements of the lower limbs] refer to Figure 4 , Figure 5 The first example of a functional structure related to the walking motion of the lower walking body 1 will be described.

[0118] Figure 4 This is a diagram illustrating the first example of a functional structure related to the walking motion of the lower walking body 1. Figure 5 This is a diagram illustrating a specific example of the output characteristics of the travel hydraulic motor 1M relative to the operating amount of the pedal device 26C. Figure 5 This includes an example illustrating the output characteristics of the travel hydraulic motor 1M relative to the operating amount of the pedal device 26C. Figure 5 A represents an example of the output characteristics of the travel hydraulic motor 1M relative to the operating amount of the pedal device 26C. Figure 5 B.

[0119] In this example, we will explain the concept based on the premise that there are multiple operating modes as the operating modes of the lower walking body 1. For example, the excavator 100 has a normal walking mode and a single-pedal mode (SPM) as the operating modes of the lower walking body 1.

[0120] In normal travel mode, the excavator 100 drives the travel hydraulic motor 1ML by operating pedal 26C1 and the travel hydraulic motor 1MR by operating pedal 26C2. Thus, in normal travel mode, the operator can operate the travel hydraulic motor 1ML by operating pedal 26C1 and the travel hydraulic motor 1MR by operating pedal 26C2. Therefore, in normal travel mode, the operator can independently operate the travel hydraulic motors 1ML and 1MR using pedals 26C1 and 26C2 to move the lower traveling body 1.

[0121] In single-pedal mode, the excavator 100 drives the travel hydraulic motors 1ML and 1MR in the same direction of rotation by operating either pedal 26C1 or 26C2 (hereinafter referred to as the "main pedal" for convenience). Thus, the operator can operate both travel hydraulic motors 1ML and 1MR by operating the main pedal of pedals 26C1 or 26C2. Therefore, in single-pedal mode, the operator can move the lower traveling body 1 by operating only the main pedal. This improves the convenience of operations related to the walking motion of the lower traveling body 1.

[0122] In single-pedal mode, the main pedal is, for example, pre-fixed to either pedal 26C1 or 26C2. The pre-fixed main pedal can be changed from pedal 26C1 or 26C2 based on predetermined input from a user such as an operator via input device 52 (e.g., input displayed on the main pedal setting screen of display device 50). Furthermore, in single-pedal mode, the main pedal can be changed to any pedal that was used when either pedal 26C1 or 26C2 was not operated. The following description focuses on the case where, in single-pedal mode, the main pedal is the right pedal 26C2 of pedals 26C1 or 26C2.

[0123] like Figure 4 As shown, the excavator 100 includes control valves 17A and 17B, pedals 26C1 and 26C2, operation sensors 26C1s and 26C2s, a controller 30, hydraulic control valves 31A and 31B, a display device 50, and an input device 52A, as components related to the walking motion of the lower walking body 1. Furthermore, the excavator 100 may also include the input device 52B.

[0124] The operation sensor 26C1s is a specific example of the operation sensor 26s. The operation sensor 26C1s detects the operation content of the pedal 26C1 and outputs an operation signal corresponding to that operation content.

[0125] The operation sensor 26C2s is a specific example of the operation sensor 26s. The operation sensor 26C2s detects the operation of the pedal 26C2 and outputs an operation signal corresponding to that operation.

[0126] The operation signals of the operation sensors 26C1s and 26C2s are input to the controller 30 through one-to-one communication lines, vehicle networks, etc.

[0127] The controller 30 includes an operation mode switching unit 301, a walking command output unit 302, and a notification unit 303, serving as a functional unit. 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 through the processor 30C.

[0128] Hydraulic control valve 31A is a specific example of hydraulic control valve 31. Hydraulic control valve 31A uses pilot pressure supplied from the primary side of pilot pump 15 to act on the pilot port of control valve 17A with pilot pressure corresponding to the travel command output from travel command output unit 302. Figure 4For simplicity, only one hydraulic control valve 31A is shown in the diagram. However, in practice, a pair of hydraulic control valves 31A are provided, which apply pilot pressure to pilot ports provided for each drive direction of the reciprocating travel hydraulic motor 1ML. Thus, control valve 17A can control the output (driving force) and drive direction of the travel hydraulic motor 1ML based on the pilot pressure supplied from the pair of hydraulic control valves 31A.

[0129] Hydraulic control valve 31B is a specific example of hydraulic control valve 31. Hydraulic control valve 31B uses pilot pressure supplied from the secondary side of pilot pump 15 to apply pilot pressure corresponding to the travel command output from travel command output unit 302 to the pilot port of control valve 17B. Figure 4 For simplicity, only one hydraulic control valve 31B is shown in the diagram. However, in practice, a pair of hydraulic control valves 31B are provided, which apply pilot pressure to pilot ports provided for each drive direction of the reciprocating travel hydraulic motor 1MR. Thus, control valve 17B can control the output (driving force) and drive direction of the travel hydraulic motor 1MR based on the pilot pressure supplied from the pair of hydraulic control valves 31B.

[0130] Input device 52A is a specific example of an input device 52 installed inside the cockpit 10. Input device 52A receives input from users of the excavator 100, such as operators, for switching the operating mode of the lower traveling block 1; in other words, an input requesting a change in the operating mode of the lower traveling block 1 (i.e., setting change). Input device 52A can be a dedicated input device 52 for receiving inputs for switching the operating mode of the lower traveling block 1, or it can be a general-purpose input device 52 capable of accepting other types of inputs. Input device 52A is, for example, a rotary switch located at the front (upper) end of the joystick device 26B (or joystick device 26A). The rotary switch can be an alternating switch or a momentary switch. In the former case, for example, each time the rotary switch is operated (pressed), the normal traveling mode and the single-pedal mode are switched selectively. In the latter case, for example, the normal traveling mode is in the state when the rotary switch is not operated (pressed), and based on this state, the single-pedal mode is switched only when the rotary switch is operated (pressed). Furthermore, the input device 52A can be other types of switches, joysticks, etc., or it can be a touch panel that can operate the setting screen of the movement mode displayed on the lower part of the walking body 1 of the display device 50. In addition, the input device 52A can be the aforementioned voice input device, gesture input device, etc.

[0131] Input device 52B is a specific example of an input device 52 installed inside the cab 10. Input device 52B receives input from the operator or other user of the excavator 100 for adjusting the travel direction of the lower traveling body 1 in single-pedal mode; in other words, it requests adjustment of the travel direction of the lower traveling body 1. When the travel hydraulic motors 1ML and 1MR operate identically (specifically, their rotational speed and direction of rotation), the lower traveling body 1 travels straight. On the other hand, if the rotational movements of the travel hydraulic motors 1ML and 1MR differ, the travel direction of the lower traveling body 1 changes according to the difference between the travel hydraulic motors 1ML and 1MR. Specifically, if the travel hydraulic motors 1ML and 1MR rotate in the same direction at different speeds, the lower traveling body 1 rotates smoothly; if one of the travel hydraulic motors 1ML and 1MR stops while the other rotates, the lower traveling body 1 pivots; if the travel hydraulic motors 1ML and 1MR rotate in opposite directions, the lower traveling body 1 pivots. Therefore, the input for adjusting the travel direction of the lower walking body 1 is equivalent to an input that adjusts at least one of the rotational speeds and rotational directions of the travel hydraulic motors 1ML and 1MR in a different manner. Thus, for example, an operator of the excavator 100 can, via input device 52B, create a difference in the drive speeds of the left and right tracks 1C when their drive directions are the same. As a result, the operator of the excavator 100 can smoothly rotate the lower walking body 1 towards the track 1C driven by the travel hydraulic motor 1ML or 1MR with a lower drive speed than the other, changing the travel direction of the lower walking body 1. Furthermore, for example, the operator of the excavator 100 can, via input device 52B, stop one track 1C relative to either the left or right track 1C, or drive it in the opposite direction. As a result, the operator of the excavator 100 can pivot the lower walking body 1 or perform a stationary rotation (rotation direction). The input device 52B is, for example, an alternating sliding lever located at the front (upper) end of the joystick device 26B (or joystick device 26A). Furthermore, the input device 52B can be other types of switches, joysticks, or even a touch panel capable of operating a setting screen displayed on the display device 50 related to adjusting the output of the travel hydraulic motors 1ML and 1MR. The function of the input device 52B can also be achieved by using one of the pedals 26C1 and 26C2 in single-pedal mode, which is not the main pedal (hereinafter referred to as the "auxiliary pedal"). In this case, the operator can operate the main pedal of pedals 26C1 and 26C2 to control the absolute value of the overall output of the travel hydraulic motors 1ML and 1MR, while simultaneously adjusting the difference in at least one of the rotational speed and direction of rotation of the travel hydraulic motors 1ML and 1MR by operating the auxiliary pedal.

[0132] In single-pedal mode, the output (driving force) of the travel hydraulic motors 1ML and 1MR is essentially the same value corresponding only to the input from the operation sensor corresponding to the main pedal among the operation sensors 26C1s and 26C2s. Therefore, in single-pedal mode, the travel hydraulic motors 1ML and 1MR rotate in the same direction at the same speed, resulting in the lower travel unit 1 moving straight. In contrast, in single-pedal mode, the excavator 100 achieves at least one different state in terms of the rotational speed and direction of rotation of the travel hydraulic motors 1ML and 1MR based on the input from the input device 52B. Thus, the operator can move the lower travel unit 1 by operating only one of the pedals 26C1 and 26C2 (the main pedal), and further adjust the travel direction of the lower travel unit 1 by inputting to the input device 52B (or operating the auxiliary pedal).

[0133] The motion mode switching unit 301 switches the motion mode of the lower walking body 1 that is actually used among the multiple motion modes of the lower walking body 1. In this example, the motion mode switching unit 301 switches (i.e. sets) the motion mode of the lower walking body 1 by selecting either the normal walking mode or the single-pedal mode.

[0134] For example, the operation mode switching unit 301 switches the operation mode of the lower walking body 1 between a normal walking mode and a single-pedal mode based on input from the input device 52A. Specifically, for example, when the input device 52 receives an input requesting a change in the operation mode of the lower walking body 1 (i.e., a setting change), the operation mode switching unit 301 switches the operation mode of the lower walking body 1 to the operation mode specified by the input. Furthermore, for example, when the input device 52A is a voice input device, the operation mode switching unit 301 switches the operation mode of the lower walking body 1 to the operation mode indicated by the voice input when the input device 52A receives a voice input of a specific phrase requesting a change in the operation mode of the lower walking body 1 (e.g., "switch to SPM", "return to normal walking mode", etc.) (specifically, during voice recognition). Additionally, for example, when the input device 52A is a gesture input device, the motion mode switching unit 301, upon receiving a specific gesture, hand symbol, or the like requesting a change in the motion mode of the lower walking body 1 via the input device 52A (specifically, during image recognition), switches the motion mode of the lower walking body 1 to the motion mode indicated by the gesture input.

[0135] Furthermore, when the input device 52A receives an input requesting a change in the operating mode of the lower walking body 1 (i.e., a setting change), the operating mode switching unit 301 can also request the operator's consent (also referred to as "acceptance") for the change in the operating mode of the lower walking body 1. Moreover, when the input device 52 receives an input indicating consent to change the operating mode of the lower walking body 1, the operating mode switching unit 301 can switch the operating mode of the lower walking body 1 to the operating mode specified by the input. The input indicating consent can be received through the input device 52A or through an input device 52 other than the input device 52A. In this case, if the operator does not consent to the operating mode of the lower walking body 1, the operating mode switching unit 301 can also prevent the walking action of the lower walking body 1. Specifically, for example, if the operator does not consent, the operating mode switching unit 301 sets the door lock valve 25V to the off state. Additionally, the operating mode switching unit 301 can also refrain from inputting operating signals for the pedals 26C1 and 26C2 to the walking command output unit 302. Therefore, by not outputting walking commands to the hydraulic control valves 31A and 31B corresponding to the walking hydraulic motors 1ML and 1MR respectively, the controller 30 can prevent the walking action of the lower walking body 1.

[0136] Specifically, for example, when an input device 52A is received requesting a change in the operating mode of the lower walking body 1 (i.e., a setting change), the operating mode switching unit 301 causes the display device 50 to display an agreement screen for confirming the setting change of the operating mode of the lower walking body 1. The agreement screen is a screen that the operator can operate via the input device 52 (e.g., a touch panel). Furthermore, when an operation to agree to the change in the operating mode of the lower walking body 1 (setting change) is performed via the input device 52 on the agreement screen, the operating mode switching unit 301 switches the operating mode of the lower walking body 1 to the operating mode specified by the initial input.

[0137] Additionally, for example, when the input device 52A receives a voice input requesting a change in the operating mode of the lower vehicle 1, the operating mode switching unit 301 outputs a confirmation message requesting consent to change the operating mode of the lower vehicle 1 through a speaker or other means inside the cockpit 10 (e.g., "Switch to SPM. Is that alright?", "Return to normal operating mode. Is that alright?", etc.). Then, when the operating mode switching unit 301 receives a voice input indicating consent (e.g., "Okay, no problem.", etc.) through the input device 52A, it switches the operating mode of the lower vehicle 1 to the operating mode specified by the initial voice input.

[0138] Additionally, for example, when the input device 52A receives an input gesture, hand symbol, or similar input requesting a change in the operating mode of the lower vehicle 1, the operating mode switching unit 301 causes the display device 50 to display a message requesting consent to change the operating mode of the lower vehicle 1 (e.g., "Switch to SPM. Is that alright?", "Return to normal operating mode. Is that alright?", etc.). Alternatively, the operating mode switching unit 301 can also output a message requesting consent to change the operating mode of the lower vehicle 1 from a speaker or similar source inside the cockpit 10. Then, when the operating mode switching unit 301 receives a specific gesture, hand symbol, or similar input indicating consent via the input device 52A, it switches the operating mode of the lower vehicle 1 to the operating mode initially specified by the input.

[0139] The travel command output unit 302 outputs operating commands (travel commands) for the movement of the track 1C to the hydraulic control valves 31A and 31B corresponding to the travel hydraulic motors 1ML and 1MR, respectively. The travel command output unit 302 includes a travel command output unit 3021 and a travel command output unit 3022.

[0140] When the lower traveling body 1 is in normal traveling mode, the traveling command output unit 3021 outputs traveling commands to the hydraulic control valves 31A and 31B. The traveling command output unit 3021 includes traveling command output units 3021A and 3021B.

[0141] The travel command output unit 3021A generates a travel command corresponding to the right track 1C based on the operation signal input from the operation sensor 26C1s and outputs it to the hydraulic control valve 31A. The travel command output unit 3021B generates a travel command corresponding to the left track 1C based on the operation signal input from the operation sensor 26C2s and outputs it to the hydraulic control valve 31B. Thus, in normal travel mode, the operator can move the lower walking body 1 by individually operating the pedals 26C1 and 26C2.

[0142] When the lower walking body 1 operates in single-pedal mode, the walking command output unit 3022 outputs walking commands to the hydraulic control valves 31A and 31B.

[0143] For example, the walking command output unit 3022 generates a walking command with the same content based on the operation signal input from the operation sensors 26C1s and 26C2s corresponding to the main pedal, and outputs it to the hydraulic control valves 31A and 31B. As a result, the controller 30 can make the lower walking body 1 move straight according to the operation of any one of the pedals 26C1 and 26C2 by the operator.

[0144] Furthermore, in addition to the operation signal input from the operation sensor corresponding to the main pedal, the walking command output unit 3022 also generates walking commands based on user input received by the input device 52B and outputs them to the hydraulic control valves 31A and 31B. At this time, the walking commands output to the hydraulic control valves 31A and 31B are generated based on the input received by the input device 52B, causing a difference in the output of the walking hydraulic motors 1ML and 1MR. Thus, the controller 30 can make the lower walking body 1 rotate smoothly based on the operator's operation of any one of the pedals 26C1 and 26C2 and the input from the input device 52B.

[0145] The notification unit 303 notifies users of the excavator 100, such as the operator, of the operating mode of the lower traveling block 1. The notification unit 303 may use a visual method, such as through the display device 50, to provide notifications related to the operating mode of the lower traveling block 1. Furthermore, the notification unit 303 may use an auditory method, such as through a sound output device (e.g., a speaker), to provide notifications related to the operating mode of the lower traveling block 1. Additionally, the notification unit 303 may use a tactile method, such as through vibrations of the driver's seat, to provide notifications related to the operating mode of the lower traveling block 1.

[0146] Notifications related to the movement pattern of the lower walking body 1 may include, for example, a notification indicating the current movement pattern of the lower walking body 1 (see, for example, the following description). Figure 7 The information display area 41t1 indicates the current movement mode of the lower walking body 1. This notification does not need to be implemented in all movement modes; for example, it can be implemented only in specific movement modes such as the single-pedal mode (see below for reference). Figure 6 , Figure 7 ).

[0147] Furthermore, the notification related to the movement mode of the lower walking body 1 may include, for example, a notification detailing the specific content of the current movement mode. This notification detailing the current movement mode may include, for example, a notification regarding the operation method of the lower walking body 1 in single-pedal mode (see, for example, the following description). Figure 7 Information display area 41t2).

[0148] Furthermore, the notification related to the movement pattern of the lower walking body 1 may include, for example, a notification of a method for canceling the current movement pattern (see, for example, the following description). Figure 7 Information display area 41t3).

[0149] [Specific examples of the output characteristics of the travel hydraulic motor relative to the operating amount of the pedal device] Next, refer to Figure 5A specific example of the output characteristics of the travel hydraulic motor 1M, which corresponds to the operating amount of the pedal device 26C, will be explained.

[0150] Figure 5 This is a diagram illustrating a specific example of the output characteristics of the travel hydraulic motor 1M relative to the operating amount of the pedal device 26C.

[0151] Specifically, Figure 5 The first example includes the output characteristics of the travel hydraulic motor 1M, which represents the operating amount relative to the pedal device 26C. Figure 5 A and the second example representing the output characteristics of the travel hydraulic motor 1M relative to the operating amount of the pedal device 26C. Figure 5 B.

[0152] For example, such as Figure 5 As shown in A, in single-pedal mode, the rate of increase in output (speed) relative to the increase in operation is set to be gradual compared to the normal walking mode.

[0153] Therefore, the operator can easily fine-tune the walking speed of the lower walking body 1, for example, in single-pedal mode. This improves the operator's control over the lower walking body 1.

[0154] And, for example, such as Figure 5 As shown in B, in single-pedal mode, the upper limit of output relative to the increase in operation amount can be set to be smaller compared to the normal walking mode.

[0155] Therefore, the operator can easily make fine adjustments to the alignment of the lower walking body 1, for example, in single-pedal mode. This improves the operator's control over the lower walking body 1.

[0156] Furthermore, examples 1 and 2 above can be combined.

[0157] Thus, in this example, in the single-pedal mode, compared to the normal walking mode, the walking command output unit 302 suppresses the output characteristics relative to the operating amount. This improves the operator's operability of the lower walking body 1 in single-pedal mode.

[0158] [Example of a display device's screen] refer to Figure 6 The first example (screen 41) of the screen on the display device 50 will be described.

[0159] In addition, compared with this example ( Figure 6 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 150 and the monitoring display device of the remote monitoring support device.

[0160] In this example, the explanation assumes that the controller 30 has four or more control modes, including normal mode, load mode, boost mode, and MC-MG mode. (The following section will discuss further.) Figure 7 The same applies to the example.

[0161] For example, the controller 30 can select one of several control modes, such as normal mode, payload mode, boost mode, and MC-MG mode.

[0162] Normal mode is the standard control mode of controller 30.

[0163] The lifting mode is a control mode used by the controller 30 to perform controls related to the crane function of the excavator 100.

[0164] The crane function of the excavator 100 is a function that supports the operation of the operator for crane operations, which involves moving a load by suspending it on a hook (not shown) located at the front end of the auxiliary device AT of the excavator 100.

[0165] For example, the controller 30 prohibits the opening action of the bucket 6 in lifting mode. Thus, the controller 30 can prevent the bucket 6 from opening during crane operation.

[0166] Furthermore, for example, the controller 30 limits the operating speed of the hydraulic actuator HA in lifting mode. Specifically, the controller 30 sets the operating speed of the auxiliary device corresponding to the operation of the hydraulic actuator HA to be lower than that in normal mode (also known as "normal mode"). Normal mode is the standard control mode of the controller 30. As a result, the controller 30 is able to suppress the occurrence of large swaying, falling, etc. of the load during crane operation.

[0167] Furthermore, for example, in lifting mode, the controller 30 calculates the load status of the excavator 100 caused by the hoisted load and displays the calculation results on the display device 50 inside the cab 10. Thus, the operator of the cab 10 can monitor the load status of the excavator 100 caused by the hoisted load while performing crane operations.

[0168] The load state of the excavator 100 is, for example, divided into multiple stages and defined by the load (weight) W of the hoisted object. The load W is measured, for example, based on the output of a cylinder pressure sensor that detects the oil chamber pressure of the boom cylinder 7, stick cylinder 8, and bucket cylinder 9. Specifically, the load state of the excavator 100 can be defined in ascending order as stage 1, stage 2, and stage 3. Stage 1 indicates a state where the load W is less than a threshold Wth1. The threshold Wth1 is predefined as a value smaller than a predefined rated load Wlim. Stage 2 indicates a state where the load W is greater than threshold Wth1 but less than threshold Wth2. The threshold Wth2 is predefined as a value greater than threshold Wth1 but less than the rated load Wlim. Stage 3 indicates a state where the load W is greater than threshold Wth2.

[0169] Furthermore, the load condition of the excavator 100 is considered not only in relation to the load being lifted, but also in relation to the posture of the auxiliary device AT. The posture of the auxiliary device AT is determined, for example, based on the output of a posture sensor that detects the posture of the upper slewing body 3, boom 4, stick 5, and bucket 6. For instance, the controller 30 can calculate the overturning moment of the excavator 100 based on the load being lifted and the posture of the auxiliary device, and calculate the load condition of the excavator 100 caused by the load based on the magnitude of the overturning moment.

[0170] Furthermore, for example, in lifting mode, the controller 30 changes the color of the external indicator light (not shown) according to the load state of the excavator 100 caused by the hoisting load. For example, when the load state of the excavator 100 caused by the hoisting load is in stage 1, the controller 30 controls the external indicator light to emit green or blue. When the load state of the excavator 100 caused by the hoisting load is in stage 2, the controller 30 controls the external indicator light to emit yellow or orange. When the load state of the excavator 100 caused by the hoisting load is in stage 3, the controller 30 controls the external indicator light to emit red. Thus, the controller 30 can, for example, enable personnel around the excavator 100, such as those performing the hoisting operation, to determine the load state of the excavator 100 caused by the hoisting load based on the color emitted by the external indicator light.

[0171] The MC-MG mode is a control mode used by the controller 30 to perform control functions related to the equipment control and equipment guidance functions of the excavator 100.

[0172] Excavator 100, for example, has equipment guidance and equipment control functions.

[0173] The equipment guidance and control functions of the excavator 100 are functions that support the operator in operating the excavator 100 based on the construction target shape of the work object. The construction target shape of the work object is, for example, a predefined target construction surface.

[0174] For example, in the equipment guidance function, information such as the relative position and relative posture of the working part of the auxiliary device AT relative to the target shape of the work object is provided to the operator through the display device 50.

[0175] Furthermore, for example, in the equipment control function, the excavator 100 causes the auxiliary device AT to operate automatically or semi-automatically to achieve the target shape of the work object. In addition to the auxiliary device AT, the lower traveling body 1 and the upper rotating body 3 can also be operated automatically or semi-automatically in the equipment control function.

[0176] "Semi-automatic" may include, for example, the following method: if the operator operates a hydraulic actuator HA, other hydraulic actuators HA will operate in conjunction, thereby causing the auxiliary device AT to operate to achieve the target shape of the work object. Furthermore, "semi-automatic" may include the following method: based on the operator's operation, the operation of the auxiliary device AT is appropriately adjusted according to the action corresponding to the operator's operation, thereby causing the auxiliary device AT to operate to achieve the target shape of the work object.

[0177] For example, controller 30 always provides device guidance functionality in MC-MG mode. Furthermore, in MC-MG mode, controller 30 provides device control functionality when it receives an input requesting device control functionality from the operator via input device 52.

[0178] In MC-MG mode, the controller 30 measures the distance between the reference point of the working part of the auxiliary device AT (i.e., the bucket 6) and the target construction surface, and notifies the operator of this distance via the display device 50. The reference point of the bucket 6 is, for example, the point corresponding to the tip of the bucket 6. Furthermore, the reference point of the bucket 6 is a predetermined point on the flat surface of the back of the bucket 6. The reference point of the bucket 6 can be changed according to the work requirements.

[0179] Furthermore, in MC-MG mode, the controller 30 measures the posture of the working part (bucket 6) of the auxiliary device AT relative to the target construction surface and notifies the operator of the posture status through the display device 50.

[0180] Furthermore, when the equipment control function is effective in MC-MG mode, the controller 30 will automatically activate auxiliary devices such as AT according to the operator's operation, so that the reference point of the bucket 6 moves along the target track.

[0181] The target track is defined, for example, as being along the target construction surface. Furthermore, the target track can be defined based on a comparison of the shape of the target construction surface and the ground surface of the current work object. The shape of the ground surface of the current work object is obtained, for example, from an image captured by the camera device 45. For example, if the difference between the shape of the target construction surface and the ground surface of the current work object is greater than a predetermined reference, the rough excavation target track is defined in a way that reduces the difference between the ground surface of the work object and the target construction surface. On the other hand, if the difference between the shape of the target construction surface and the ground surface of the current work object is less than a predetermined reference, the target track is defined as being along the target construction surface.

[0182] In addition, the controller 30 can use two or three control modes, or more than five.

[0183] Figure 6 This is the first example of a display screen on display device 50. Specifically, Figure 6 This is a specific example (screen 41) of a screen showing the selection of the normal mode as the control mode of the controller 30 and the selection of the normal walking mode as the action mode of the lower walking body 1.

[0184] The screen 41 includes display areas 41A to 41E.

[0185] Display areas 41A to 41E are arranged sequentially from top to bottom.

[0186] Display area 41A is located at the top of screen 41. Regardless of the control mode selected by controller 30, fixed content is displayed in display area 41A.

[0187] Display area 41A includes information display areas 41a to 41e and 41g to 41k.

[0188] The current date and time are displayed in information display area 41a. The currently selected travel mode of the excavator 100 is displayed in information display area 41b. An image representing the currently installed termination attachment is displayed in information display area 41c. Information related to the combustion consumption rate (fuel consumption rate) of the excavator 100 is displayed in information display area 41d. Information display area 41d includes, for example, an information display area 41d1 displaying the total average fuel consumption rate or the interval average fuel consumption rate, and an information display area 41d2 displaying the instantaneous fuel consumption rate. Information indicating the control status of the engine 11 is displayed in information display area 41e.

[0189] The information display area 41g displays the current temperature of the engine 11's coolant. The information display area 41h displays the remaining fuel in the fuel tank. The information display area 41i displays the operating mode corresponding to the engine 11's rotational speed. The information display area 41j displays the remaining urea solution in the urea tank. The information display area 41k displays the temperature of the hydraulic drive system's operating oil.

[0190] Display areas 41B to 41D are located in the center of the vertical direction of the screen 41. Display areas 41B to 41D display the content inherent to the control mode selected by the controller 30. The display content inherent to each of the multiple control modes can be fixed or changed according to a request input by the user through the input device 52.

[0191] The surrounding image is displayed in display areas 41B and 41C, and display area 41n is displayed.

[0192] The peripheral image display area 41n displays an image (hereinafter referred to as "peripheral image") representing the surrounding conditions of the excavator 100 based on the camera image captured by the camera device 45. The peripheral image display area 41n includes peripheral image display areas 41n1 to 41n3.

[0193] The peripheral image display area 41n1 is displayed in the display area 41B adjacent to the information display area 41d included in the display area 41A.

[0194] In this example, a top-down image FV, generated from the image captured by the camera device 45, showing the surroundings of the excavator 100 from a bird's-eye view, is displayed in the peripheral image display area 41n1. Furthermore, an excavator image GE is displayed in the peripheral image display area 41n1 in a manner simulating a top-down view of the excavator 100. The excavator image GE and the top-down image FV are arranged in the peripheral image display area 41n1 in a manner consistent with their positional relationship and the positional relationship between the excavator 100 and the camera range included in the top-down image FV.

[0195] Peripheral image display areas 41n2 and 41n3 are displayed adjacent to each other below peripheral image display area 41n1 in display area 41C. Peripheral image display areas 41n2 and 41n3 are arranged adjacently on the left and right sides of the display area 41C with the center in the left-right direction as the reference.

[0196] In this example, the rear image BM, representing the rear view of the excavator 100, is displayed in the peripheral image display area 41n2, and the right image RM, representing the right view of the excavator 100, is displayed in the peripheral image display area 41n3. The rear image BM and the right image RM correspond to the camera images from the rear camera and the right camera, respectively.

[0197] The display area 41D includes information display areas 41f and 41m.

[0198] The information display area 41f is arranged adjacent to the surrounding image display area 41n2 below it. The cumulative operating time of the engine 11 is displayed in the information display area 41f.

[0199] The information display area 41m is arranged adjacent to the surrounding image display area 41n3 and to the right of the information display area 41f. The operating status of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

[0200] The information display area 41m1 displays the current location of the air outlet used by the air conditioner. The information display area 41m2 displays the current operating mode of the air conditioner. The information display area 41m3 displays the current set temperature of the air conditioner. The information display area 41m4 displays the current set airflow of the air conditioner.

[0201] Display area 41E is located at the lower part of screen 41. In display area 41E, fixed display content is shown regardless of the control mode selected by controller 30. Specifically, display area 41E displays a set of labels 41q representing the operational requirements for selecting a control mode from multiple control modes applicable to controller 30. For example, the operator can operate label group 41q using the touch panel of display device 50 as an input device 52. Furthermore, the operator can operate label group 41q using a switch attached to display device 50 as an input device 52.

[0202] For convenience, the display areas 41A and 41E that do not depend on the control mode of the controller 30 will sometimes be referred to as "fixed display areas", and the display areas 41B and 41D that depend on the control mode will sometimes be referred to as "variable display areas".

[0203] Tag group 41q includes tags 41q1 to 41q6. Tags 41q1 to 41q6 are arranged sequentially from left to right along the left-right direction.

[0204] Label 41q1 is an operation icon used for settings related to screen 41.

[0205] For example, the settings related to screen 41 include settings related to label group 41q. These settings include, for example, the arrangement order of the operation icons corresponding to the four control modes on labels 41q2-41q5. Thus, the operator can customize the arrangement order of the operation icons corresponding to the four control modes on labels 41q2-41q5. Furthermore, the position of the operation icon corresponding to the normal mode can be fixed at label 41q2. In this case, the operator can customize the arrangement order of the operation icons corresponding to the three control modes on labels 41q3-41q5. Additionally, the settings related to label group 41q can include settings related to the specifications of the cursor (also called a "pointer") indicating the selected control mode of the controller 30. For example, such as... Figure 6 As shown, the cursor is displayed by highlighting the operation icon corresponding to the selected control mode, but this can also be achieved by changing the settings to use a rectangle surrounding the operation icon. For convenience, the highlighted operation icon of one of the multiple labels will sometimes be used as the cursor's pointing state in the following description. Furthermore, the settings related to label group 41q include the following: when there are four or more control modes, select the four control modes corresponding to the four operation icons arranged on labels 41q2 to 41q5. For example, as... Figure 6 As shown, labels 41q3 to 41q5 display operation icons corresponding to the payload mode, boost mode, and MC-MG mode, respectively. However, some or all of these icons can be changed to operation icons corresponding to other control modes. Furthermore, the operation icon corresponding to the normal mode can be one of the specifications required to be included in labels 41q2 to 41q5. In this case, the operator can customize the three control modes corresponding to the three operation icons arranged on labels 41q2 to 41q5, excluding the one corresponding to the normal mode.

[0206] Furthermore, the settings related to screen 41 may include settings for the specifications related to the display content of the variable display area (i.e., display area 41B to display area 41D) of screen 41 in each control mode.

[0207] In addition, the settings related to screen 41 may include settings related to the movement mode of the lower walking body 1.

[0208] For example, if a label 41q1 is selected, multiple operation icons corresponding to multiple possible settings are displayed adjacently on the label group 41q. Thus, the operator can select an operation icon from the displayed operation icons using a touch panel or the like, which serves as an input device 52, to perform the desired setting operation.

[0209] Labels 41q2 to 41q5 are operation icons corresponding to four of the multiple control modes. Thus, the operator can select and confirm the operation of any one of the labels 41q2 to 41q5 using a touch panel or similar input device 52, thereby selecting a control mode applicable to the controller 30 from the multiple control modes.

[0210] In this example, the operation icon corresponding to the normal mode is displayed on label 41q2. The operator can select the normal mode from multiple control modes as the control mode applied to the controller 30 by operating label 41q2 using the touch panel, which serves as the input device 52.

[0211] In this example, the operation icon corresponding to the elevated mode is displayed on label 41q3. Thus, the operator can select the elevated mode from multiple control modes as the control mode applied to the controller 30 by using the label 41q3 on a touch panel or similar device.

[0212] In this example, the operation icon corresponding to the MC-MG mode is displayed on label 41q4. Thus, the operator can select the MC-MG mode from multiple control modes as the control mode applied to the controller 30 by using the label 41q4 on a touch panel or similar device.

[0213] In this example, the operation icon corresponding to the payload mode is displayed on label 41q5. Thus, the operator can select the payload mode from multiple control modes as the control mode applied to the controller 30 by using the label 41q5, such as a touch panel.

[0214] When there are more than four control modes, label 41q6 is an operation icon corresponding to other control modes, which are different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5. Therefore, the operator can select label 41q6 using a touch panel or similar device to select other control modes that are different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5.

[0215] For example, if label 41q6 is selected, the operation icons corresponding to other control modes are displayed adjacent to each other on label group 41q. These other control modes are different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5. Thus, the operator can select an operation icon from the displayed operation icons using a touch panel or similar device, thereby selecting an other control mode different from the four control modes corresponding to the operation icons of labels 41q2 to 41q5.

[0216] For example, when another control mode corresponding to label 41q6 is selected as the control mode applied to controller 30, the operation icon of label 41q6 changes from its state in this example to the operation icon corresponding to the selected other control mode. Furthermore, the cursor is positioned on label 41q6. Thus, the user can confirm the control mode being applied to controller 30 through the operation icon of label 41q6.

[0217] In this example, the normal mode is selected from multiple control modes as the control mode applied to the controller 30. Therefore, label 41q2, which displays the operation icon corresponding to the normal mode in label group 41q, is highlighted, and the cursor is positioned on label 41q2. Thus, the operator can confirm that the normal mode has been selected.

[0218] Furthermore, the display content of the variable display area corresponding to the normal mode, specifically the type and configuration of the information displayed, can be changed according to predetermined input by the operator via input device 52. Specifically, the controller 30 can change the display content of the variable display area based on the operation performed on the label 41q1 via the touch panel. For example, the display content of the peripheral image display area 41n, specifically the type and configuration of the peripheral images included in the peripheral image display area 41n, can be arbitrary. Moreover, the display content of the variable display area corresponding to other control modes can also be changed in the same way.

[0219] [Example 2 of a display device's screen] refer to Figure 7 The second example (screen 41) of the screen on the display device 50 will be described.

[0220] In this example, sometimes the above example 1 ( Figure 6 The same or corresponding structures are marked with the same symbols, and the explanation focuses on the parts that are different from the first example above, while the explanation of the parts that are the same or corresponding to the first example above is omitted.

[0221] In addition, compared with this example ( Figure 7 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 150 and the monitoring display device of the remote monitoring support device.

[0222] Figure 7 This is the second example of a diagram showing the screen of display device 50. Specifically, Figure 7 This is a specific example (screen 41) of a screen showing the selection of the normal mode as the control mode of the controller 30 and the selection of the single-pedal mode as the operation mode of the lower walking body 1.

[0223] like Figure 7 As shown, in this example, screen 41 is similar to the first example mentioned above in that it includes the pop-up image 41t. Figure 6 (This is different.) Furthermore, in this example, screen 41 can be the same as in the first example above in other aspects.

[0224] In this example, the pop-up image 41t is positioned in display area 41D below information display areas 41f and 41m and adjacent to display area 41E. The pop-up image 41t includes information display areas 41t1, 41t2, and 41t3.

[0225] The information display area 41t1 displays text information indicating that the single-pedal mode, which is the operating mode of the lower walking body 1, is currently being executed. This allows the operator to easily determine that the current operating mode of the lower walking body 1 is the single-pedal mode.

[0226] The information display area 41t2 displays text and graphic information indicating that the vehicle can be moved by operating only the right pedal 26C2 of the left and right pedals 26C1 and 26C2.

[0227] Therefore, the operator can easily understand that in single-pedal mode, the lower walking body 1 can be moved by operating only the right pedal 26C2.

[0228] The information display area 41t3 displays information explaining how to deactivate the single-pedal mode, i.e., how to switch from the single-pedal mode to the normal operating mode. Specifically, the information display area 41t3 displays textual and graphic information indicating that the single-pedal mode can be deactivated by operating the rotary switch (input device 52A) located at the front (upper) end of the joystick in the joystick device 26B that is gripped by the operator.

[0229] Therefore, the operator can easily master the method of disengaging the one-pedal mode.

[0230] [Example 3 of a display device's screen] Reference Figure 8 The third example (screen 41) of the screen on the display device 50 will be described.

[0231] In this example, regarding the first example mentioned above ( Figure 6 ), Example 2 ( Figure 7 The same or corresponding structures are labeled with the same reference numerals in the figures. The description focuses on the parts that are different from the first and second examples above, and sometimes the description of the parts that are the same or corresponding to the first and second examples above is omitted.

[0232] In addition, compared with this example ( Figure 8The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 150 and the monitoring display device of the remote monitoring support device.

[0233] Figure 8 This is the third example of a diagram showing the screen of display device 50. Specifically, Figure 8 This is a specific example of screen 41 when the normal mode is selected as the control mode of the controller 30 and the normal walking mode is selected as the action mode of the lower walking body 1.

[0234] like Figure 8 As shown, in this example, screen 41 is similar to the first example mentioned above in that it contains the icon image 41u. Figure 6 (This is different.) Furthermore, in this example, screen 41 can be the same as in the first example above in other aspects.

[0235] Icon image 41u is an image representing the movement pattern of the currently selected lower walking body 1.

[0236] In this example, the icon image 41u is located in display area 41A, below information display area 41a and to the right of information display area 41d, and is arranged vertically adjacent to display area 41B. The icon image 41u includes icon 41u1 and character information 41u2.

[0237] Icon 41u1 is an image that mimics the foot stepping on pedals 26C1 and 26C2. In this example, icon 41u1 is drawn with a blank background on a black background, indicating that the lower walking body 1 is in the normal walking mode.

[0238] Character information 41u2 represents the movement mode of the currently selected lower walking body 1. Specifically, character information 41u2 is configured on icon 41u1 and depicted as "Normal" in blank space against a black background. Thus, the operator can recognize that the movement mode of the currently selected lower walking body 1 is the normal walking mode.

[0239] Thus, in this example, the display device 50 can notify the operator via the icon image 41u that the normal walking mode has been selected as the action mode of the lower walking body 1.

[0240] [Example 4 of a display device's screen] Reference Figure 9 The fourth example (screen 41) of the screen on the display device 50 will be described.

[0241] In this example, regarding the first example mentioned above ( Figure 6 )~Case 3 ( Figure 8The same or corresponding structures are labeled with the same reference numerals in the figures. The description focuses on the parts that are different from those in Examples 1 to 3 above, and sometimes the description of the parts that are the same or corresponding to those in Examples 1 to 3 above is omitted.

[0242] In addition, compared with this example ( Figure 9 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 150 and the monitoring display device of the remote monitoring support device.

[0243] Figure 9 This is the fourth example of a diagram showing the screen of display device 50. Specifically, Figure 9 This is a specific example of screen 41 when the normal mode is selected as the control mode of the controller 30 and the single-pedal mode is selected as the action mode of the lower walking body 1.

[0244] like Figure 9 As shown, in this example, screen 41 contains the icon image 41u, which is similar to the second example mentioned above. Figure 7 (This is different.) Furthermore, in this example, screen 41 can be the same as in example 2 above in other aspects.

[0245] Icon image 41u and the third example above ( Figure 8 Similarly, it contains icon 41u1 and character information 41u2.

[0246] like Figure 9 As shown, in this example, unlike the third example above, icon 41u1 is depicted in a pear-skin shape against a black background, indicating that the movement mode of the lower walking body 1 is a single-pedal mode.

[0247] In this example, unlike example 3 above, the character information 41u2 is depicted as "SPM" in a pear-skin texture against a black background. Thus, the operator can identify the currently selected lower walking body 1's movement mode as single-pedal mode.

[0248] Thus, in this example, the display device 50 can notify the operator via the icon image 41u that the normal walking mode has been selected as the action mode of the lower walking body 1.

[0249] [Settings for the lower walking character's movement mode] Reference Figure 10 , Figure 11 Specific examples (screens 46 and 44) ​​of the setting screen for the motion mode of the lower walking body 1 displayed on the display device 50 will be explained.

[0250] In addition, compared with this example ( Figure 10 , Figure 11The same content on screens 46 and 44 can also be displayed on the remote operation display device of the remote operation support device 150 and the remote monitoring support device display device.

[0251] Figure 10 , Figure 11 These are the fifth and sixth examples of images showing the screen of display device 50. Specifically, Figure 10 This is an example of a screen showing the motion mode settings for the lower walking body 1 (screen 46). Figure 11 This is an example of a screen (screen 44) showing the set state for determining the movement mode of the lower walking body 1.

[0252] For example, in Figures 6-9 In screen 41 (hereinafter referred to as "standard screen" for convenience), the label 41q1 is selected via input device 52, and the operation icon for setting the motion mode of the lower walking body 1 is selected from the multiple operation icons displayed. Figure 10 The image 46 is displayed on the display device 50. Additionally, for example, according to the method described later... Figure 19 The predetermined input of the input device 52 in screen 48 is displayed on the display device 50. Figure 10 Screen 46.

[0253] like Figure 10 As shown, screen 46 includes image selection icons 46a and 46b, a confirmation icon 46c, and screen transition icons 46d and 46e.

[0254] Selecting images 46a and 46b is an image group representing the options for the movement patterns of the lower walking body 1.

[0255] Image 46a is an image representing the normal walking mode, which is an option for the movement mode of the lower walking body 1. Image 46a displays an image illustrating the normal walking mode, and a radio button for selecting the normal walking mode is displayed in the upper left corner. The image illustrating the normal walking mode in image 46a includes, for example, explanatory text explaining the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1, as well as image information showing a schematic diagram illustrating the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1.

[0256] Image 46b is an image representing the single-pedal mode as an option for the movement mode of the lower walking body 1. Image 46b displays an image illustrating the single-pedal mode, and a radio button for selecting the single-pedal mode is displayed in the upper left corner. Image 46a, which illustrates the single-pedal mode, includes, for example, explanatory text explaining the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1, as well as image information showing a schematic diagram illustrating the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1.

[0257] The operator selects either the normal walking mode or the single-pedal mode by using the radio button on either of the selection images 46a or 46b via the input device 52. In this example, the radio button for selection image 46a is selected, and the normal walking mode is selected as the operating mode of the lower walking body 1.

[0258] The confirmation icon 46c is an icon that can be operated via the input device 52. Specifically, the confirmation icon 46c is an icon used to determine the operation mode of the lower walking body 1 based on the selection state of the radio buttons of the selection images 46a and 46b.

[0259] The screen switching icons 46d and 46e are icons that can be operated via the input device 52. Specifically, the screen switching icons 46d and 46e are icons used to switch the display content of the display device 50 from the setting screen (screen 46) of the lower walking body 1's operating mode to other screens under the control of the controller 30.

[0260] The screen switching icon 46d is an icon for switching the display content of the display device 50 from the setting screen (screen 46) of the lower walking body 1's operating mode to the screen that is displayed immediately before it.

[0261] The screen switching icon 46e is an icon for switching the display content of the display device 50 from the setting screen (screen 46) of the lower walking body 1's operating mode to a standard screen (e.g., screen 41).

[0262] For example, when the input device 52 operates the confirmation icon 46c on the screen 46, under the control of the controller 30, the display content of the display device 50 changes from screen 46 to a confirmation screen for finally determining the movement mode of the lower walking body 1 (e.g., Figure 11 (Scene 44)

[0263] For example, such as Figure 11As shown, the screen 47, which is the agreement screen, is constructed by displaying the display content of the screen 46 in gray, and displaying the pop-up image 47a overlaid on the display content of the gray screen 46.

[0264] The pop-up image 47a contains character information 47a1, image information 47a2, an "agree" icon 47a3, and a screen transition icon 47a4.

[0265] Character information 47a1 indicates that the movement mode of the lower walking body 1 has been set to the content of image information 47b. In this example, character information 47a1 displays the explanatory text "The operation mode has been changed as follows."

[0266] Image information 47a2 represents the movement mode of the lower walking body 1 of the object whose settings have been agreed upon via screen 47. In this example, image information 47a2 represents the normal walking mode selected via the radio button of selection image 46a on screen 46. Specifically, for example, image information 47a2 displays the name, common name, or abbreviation of the movement mode of the lower walking body 1 of the object whose settings have been agreed upon (in this example, "Normal"), and displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1 in the movement mode of the lower walking body 1 of the object whose settings have been agreed upon.

[0267] The consent operation icon 47a3 is an icon that can be operated via the input device 52. Specifically, the consent operation icon 47a3 is an icon used to consent to the operation of the lower walking body 1, represented by the image information 47a2 (in this example, the normal walking mode), under the control of the controller 30. Specifically, when the consent operation icon 47a3 is operated via the input device 52, the setting change of the lower walking body 1 to the operation mode represented by the image information 47a2 is completed under the control of the controller 30. Furthermore, the display content of the display device 50 is switched, for example, from the consent screen (screen 47) to the standard screen (e.g., screen 41) under the control of the controller 30.

[0268] The screen switching icon 47a4 is an icon that can be operated via the input device 52. Specifically, the screen switching icon 47a4 is an icon used to switch (i.e., return) the display content of the display device 50 from the screen indicating the operating mode of the lower walking body 1 (screen 47) to the setting screen under the control of the controller 30. Thus, by operating the screen switching icon 47a4 via the input device 52, the operator can return to the setting screen (screen 46) and reset the operating mode of the lower walking body 1.

[0269] Thus, in this example, the display device 50 allows the operator or others to set the operating mode of the lower walking body 1 via the screen 46. Furthermore, in this example, the display device 50 allows the operator or others to agree to the operating mode setting of the lower walking body 1 shown on the screen 46 via the screen 47.

[0270] [Example 1 of control processing related to the walking motion of the lower gaiter] refer to Figure 12 The first example of control processing related to the walking motion of the lower walking body 1 will be specifically described.

[0271] Figure 12 This is a flowchart schematically illustrating a first example of control processing related to the walking motion of the lower walking body 1.

[0272] For example, during the operation of excavator 100, this process is repeatedly executed at predetermined processing cycles.

[0273] like Figure 12 As shown, in step S102, the motion mode switching unit 301 determines whether the current motion mode of the lower walking body 1 is a single-pedal mode. If the current motion mode of the lower walking body 1 is not a single-pedal mode (i.e., in the normal walking mode), the motion mode switching unit 301 proceeds to step S104; if it is a single-pedal mode, it proceeds to step S108.

[0274] In step S104, the walking command output units 3021A and 3021B acquire the latest operation signals input from the operation sensors 26C1s and 26C2s corresponding to the left and right pedals 26C1 and 26C2.

[0275] If step S104 is completed, the controller 30 proceeds to step S106.

[0276] In step S106, the walking command output units 3021A and 3021B respectively generate walking commands for the track 1C to move based on the operation signals corresponding to the left and right pedals 26C1 and 26C2.

[0277] If step S106 is completed, the controller 30 proceeds to step S112.

[0278] On the other hand, in step S108, the walking command output unit 3022 acquires the operation signal input from the operation sensor 26C2s corresponding to the right pedal 26C2. Furthermore, if it is possible to acquire the input from the input device 52B, namely, the input (adjustment input) for adjusting at least one of the rotational speed and rotational direction between the walking hydraulic motors 1ML and 1MR, the walking command output unit 302 can further acquire the adjustment input.

[0279] If the processing in step S108 is completed, the controller 30 proceeds to step S110.

[0280] In step S110, the walking command output unit 3022 generates walking commands for the respective walking of the left and right tracks 1C based on the operation signal of the operation sensor 26C2s corresponding to the right pedal 26C2. Furthermore, when the input (adjustment input) from the input device 52B is received in step S108, the walking command output unit 3022 generates walking commands for the respective walking of the left and right tracks 1C based not only on the operation signal of the operation sensor 26C2s corresponding to the right pedal 26C2, but also on the adjustment input from the input device 52B.

[0281] If step S110 is completed, the controller 30 proceeds to step S112.

[0282] In step S112, the walking command output unit 302 outputs the walking commands generated in step S106 or step S110 for the walking of the left and right tracks 1C to the hydraulic control valves 31A and 31B corresponding to the left and right tracks 1C respectively.

[0283] If step S112 is completed, the controller 30 will end the current process.

[0284] [Example 2 of control processing related to walking movements of the lower gaiter] refer to Figure 13 The second example of control processing related to the walking motion of the lower walking body 1 will be described.

[0285] Figure 13 This is a flowchart illustrating a second example of control processing related to the walking motion of the lower walking body 1.

[0286] For example, during the operation of excavator 100, this process is repeatedly executed at predetermined processing cycles.

[0287] like Figure 13 As shown, in step S202, the motion mode switching unit 301 determines whether the current motion mode of the lower walking body 1 is a single-pedal mode. If the current motion mode of the lower walking body 1 is not a single-pedal mode (i.e., in the normal walking mode), the motion mode switching unit 301 proceeds to step S204; if it is a single-pedal mode, it proceeds to step S212.

[0288] The processing of step S204 and Figure 12 The process of step S104 is the same, so the explanation is omitted.

[0289] If step S204 is completed, the controller 30 proceeds to step S206.

[0290] In step S206, the walking command output unit 3021 determines, based on the operation signal acquired in step S204, whether the operator operated only the right pedal 26C2 of the left and right pedals 26C1 and 26C2. If the operator operated only the right pedal 26C2, the walking command output unit 3021 proceeds to step S208; otherwise (i.e., if both left and right pedals 26C1 and 26C2 were operated), it proceeds to step S210.

[0291] In step S208, the walking command output unit 3021 determines whether the rate of increase of the operation amount of the right pedal 26C2 within the most recent predetermined time is greater than or equal to a predetermined threshold Th1. The most recent predetermined time is, for example, the time between the last processing cycle and the current processing cycle. The threshold Th1 is, for example, equivalent to the lower limit of the rate of increase corresponding to the state where the pedal 26C2 is pressed relatively deeply (e.g., pressed all the way down). If the rate of increase of the operation amount of the pedal 26C2 within the most recent predetermined time is not greater than or equal to the threshold Th1, the walking command output unit 3021 proceeds to step S210; if it is greater than or equal to the threshold Th1, no walking command is output and the current process ends.

[0292] For example, even though the current operating mode of the lower walking body 1 is the normal walking mode, the operator may mistakenly think it is the single-pedal mode and abruptly depress the right pedal 26C2, which is the main pedal. At this time, since it is the normal walking mode, only the right track 1C in the excavator 100 starts to move rapidly, which may result in pivoting against the operator's intention.

[0293] In contrast, according to steps S206 and S208, even if the right pedal 26C2 is suddenly depressed in normal walking mode, the lower walking body 1 can be prevented from moving. Therefore, it is possible to suppress unexpected movements of the excavator 100 caused by the operator's misunderstanding of the lower walking body 1's movement pattern. Thus, it is possible to balance the improved operator operability resulting from the single-pedal mode with the safety of the excavator 100.

[0294] Additionally, in step S208, if the rate of increase of the operation amount of pedal 26C2 within the most recent predetermined time exceeds a threshold Th1, the travel command output unit 3021 can change the processing to proceed to step S216 after generating a travel command to prevent the left and right tracks 1C from moving. Furthermore, in step S208, if the rate of increase of the operation amount of pedal 26C2 within the most recent predetermined time exceeds a threshold Th1, the controller 30 can also, while ending the current process, display a notification screen on the display device 50 indicating that the movement of the lower walking body 1 is being restricted (see reference). Figure 14 Thus, the operators and others can recognize that the movement of the lower walking body 1 is restricted due to their own misoperation of pedals 26C1 and 26C2.

[0295] The processing of steps S210, S212, S214, and S216 is the same as that of steps S106, S108, S110, and S112, so the explanation is omitted.

[0296] [Notification screen showing movement restrictions on the lower body in normal walking mode] Reference Figure 14 The notification screen (screen 41) showing the movement restrictions of the lower walking body 1 in the normal walking mode displayed on the display device 50 will be explained.

[0297] In this example, the first example of the screen displayed on the aforementioned display device 50 ( Figure 6 )~Case 4 ( Figure 9 The same or corresponding structures are labeled with the same reference numerals in the figures. The description focuses on the parts that are different from those in Examples 1 to 4 above, and sometimes the description of the parts that are the same or corresponding to those in Examples 1 to 4 above is omitted.

[0298] In addition, compared with this example ( Figure 14 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 150 and the monitoring display device of the remote monitoring support device.

[0299] Figure 14 This is the seventh example of a diagram showing the screen of display device 50. Specifically, Figure 14 This is an example (screen 41) of a notification screen showing the movement restrictions of the lower walking body 1 displayed on the display device 50 in normal walking mode.

[0300] like Figure 14 As shown, in this example, screen 41 differs from the screens in examples 1 to 4 above in that it includes the pop-up image 41v. Additionally, in this example, screen 41 may also differ from example 3 above in other aspects. Figure 8 )same.

[0301] The pop-up image 41v indicates a situation where the lower walking body 1 is experiencing motion restrictions. For example, in the above... Figure 13 In step S208, when it is determined that the rate of increase of the operation amount of pedal 26C2 within the most recent predetermined time is above the threshold Th1, under the control of controller 30, an image 41v is popped up and overlaid on screen 41 (for example, the above). Figure 8 Other display content in display areas 41D and 41E of screen 41).

[0302] The pop-up image 41v includes character information 41v1, 41v2, image information 41v3, and a display end icon 41v4.

[0303] Character information 41v1 indicates a situation where the lower walking body 1 is experiencing motion restrictions during normal walking mode. In this example, character information 41v1 includes the description "Preventing walking misoperation and locking in operation".

[0304] Character information 41v2 describes the currently selected movement mode of the lower walking body 1, i.e., the normal walking mode. Specifically, for example, character information 41v2 contains explanatory text describing the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1 in the normal walking mode. In this example, character information 41v2 displays: "The current walking mode is Normal. The left and right tracks can be operated independently using the left and right pedals."

[0305] Image information 41v3 is image information illustrating the movement mode of the currently selected lower walking body 1, i.e., the normal walking mode. Specifically, for example, image information 41v3 displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the movement of the lower walking body 1 in the normal walking mode.

[0306] The display end icon 41v4 is an icon that can be operated via the input device 52. Specifically, the display end icon 41v4 is an icon used to end the display of the pop-up image 41v. Thus, after the operator has confirmed the content of the pop-up image 41v, they can end the display of the pop-up image 41v by operating the display end icon 41v4 via the input device 52.

[0307] Furthermore, while the movement restriction of the lower walking body 1 continues (specifically, in the case of...) Figure 13 If the determination condition of step S208 is met continuously, as long as the end icon 41v4 is not operated, the pop-up image 41v can be displayed continuously, or it can be displayed for a predetermined time (e.g., a few seconds) after the movement restriction of the lower walking body 1 begins, and then the end is displayed.

[0308] Thus, in this example, the controller 30 can notify the operator or others of the implementation of the motion restriction of the lower walking body 1 in the normal walking mode through the display device 50 while implementing the motion restriction of the lower walking body 1 in the normal walking mode.

[0309] [The third example of control processing related to the walking motion of the lower gaiter] refer to Figure 15 The third example of control processing related to the walking motion of the lower walking body 1 will be described.

[0310] Figure 15 This is a flowchart illustrating a third example of control procedures related to the walking motion of the lower walking body 1.

[0311] For example, during the operation of excavator 100, this process is repeated every predetermined processing cycle.

[0312] like Figure 15 As shown, in step S402, the motion mode switching unit 301 determines whether the current motion mode of the lower walking body 1 is a single-pedal mode. If the current motion mode of the lower walking body 1 is not a single-pedal mode, the motion mode switching unit 301 proceeds to step S404; if it is a single-pedal mode, it proceeds to step S408.

[0313] Steps S404, S406 and Figure 12 The processes in steps S104 and S106 are the same, so the explanation is omitted.

[0314] If step S406 is completed, the controller 30 will end the current process.

[0315] On the other hand, step S408 and Figure 12 The process of step S108 is the same, so the explanation is omitted.

[0316] When step S408 is completed, the controller 30 proceeds to step S410.

[0317] In step S410, the walking command output unit 3021 determines whether pedals 26C1 and 26C2 are operated. If pedals 26C1 and 26C2 are operated, the walking command output unit 3021 proceeds to step S412; otherwise, it proceeds to step S414.

[0318] In step S412, the walking command output unit 3021 determines whether the rate of increase of the operation amount of pedals 26C1 and 26C2 within the most recent predetermined time is greater than or equal to a predetermined threshold Th2. The most recent predetermined time is, for example, the time between the last processing cycle and the current processing cycle. The threshold Th2 is, for example, equivalent to the lower limit of the rate of increase corresponding to the state in which pedals 26C1 and 26C2 are pressed down relatively heavily (e.g., pressed to the bottom).

[0319] Specifically, for example, the walking command output unit 3021 determines whether the rate of increase of the operation amount of both pedals 26C1 and 26C2 within the most recent predetermined time is greater than or equal to a threshold Th2. Alternatively, the walking command output unit 3021 may also determine whether the rate of increase of the operation amount of at least one of pedals 26C1 and 26C2 within the most recent predetermined time is greater than or equal to the threshold Th2. If the determination condition is not met, the walking command output unit 3021 proceeds to step S414; if the determination condition is met, no walking command is output, and the current process ends.

[0320] For example, although the current operating mode of the lower walking body 1 is a single-pedal mode, the operator may mistakenly believe it is the normal walking mode and rapidly depress pedals 26C1 and 26C2 while operating both pedals. In this case, for example, in the single-pedal mode where the operating direction of the lower walking body 1 is adjusted by operating the auxiliary pedal of pedals 26C1 and 26C2, the walking direction of the lower walking body 1 of the excavator 100 changes significantly due to the operation of the auxiliary pedal, and as a result, it may turn around in place contrary to the operator's intention.

[0321] In contrast, according to steps S410 and S412, in single-pedal mode, even if pedals 26C1 and 26C2 are depressed sharply, the lower walking body 1 will not move. Therefore, it is possible to suppress unexpected movements of the excavator 100 caused by the operator's misunderstanding of the lower walking body 1's movement pattern. Thus, it is possible to balance the improved operator operability resulting from the single-pedal mode with the safety of the excavator 100.

[0322] Furthermore, in step S412, the walking command output unit 3021 may also, if the rate of increase of the operation amount of pedals 26C1 and 26C2 within the most recent predetermined time exceeds a threshold Th2, modify the processing by generating a walking command to prevent the left and right tracks 1C from moving, and then proceeding to step S414. Additionally, in step S412, if the rate of increase of the operation amount of pedals 26C1 and 26C2 within the most recent predetermined time exceeds a threshold Th2, the controller 30 may also, while ending the current process, display a notification screen on the display device 50 indicating that the movement of the lower walking body 1 is being restricted (see reference). Figure 16 Thus, the operator and others can recognize that the movement of the lower walking body 1 is restricted due to the misoperation of their own pedals 26C1 and 26C2.

[0323] Steps S414, S416 and Figure 12 The processes in steps S110 and S112 are the same, so the explanation is omitted.

[0324] If step S416 is completed, the controller 30 will end the current process.

[0325] [Notification screen showing movement restrictions of the lower walking body in single-pedal mode] Reference Figure 16 The notification screen (screen 41) showing the movement restriction of the lower walking body 1 in the single-pedal mode displayed on the display device 50 will be explained.

[0326] In this example, the first example of the screen displayed on the aforementioned display device 50 ( Figure 6 )~Case 4 ( Figure 9 The same or corresponding structures are labeled with the same reference numerals in the figures. The description focuses on the parts that are different from those in Examples 1 to 4 above, and sometimes the description of the parts that are the same or corresponding to those in Examples 1 to 4 above is omitted.

[0327] In addition, compared with this example ( Figure 16 The same content as screen 41 can be displayed on the remote operation display device of the remote operation support device 150 and the monitoring display device of the remote monitoring support device.

[0328] Figure 16 This is the eighth example of a diagram showing the screen of display device 50. Specifically, Figure 16 This is an example (screen 41) of a notification screen showing the movement restriction of the lower walking body 1 in the single-pedal mode displayed on the display device 50.

[0329] like Figure 16As shown, in this example, screen 41 differs from the screens in examples 1 to 4 above in that it includes the pop-up image 41w. Additionally, in this example, screen 41 may differ from example 4 above in other aspects. Figure 9 )same.

[0330] The pop-up image 41w indicates a situation where the lower walking body 1 is experiencing motion restrictions. For example, in the above... Figure 15 In step S412, when it is determined that the rate of increase of the operation amount of pedal 26C2 within the most recent predetermined time is above the threshold Th2, under the control of controller 30, an image 41w is popped up and overlaid on screen 41 (for example, the above). Figure 9 Other display content in display areas 41D and 41E of screen 41).

[0331] The pop-up image 41w includes character information 41w1, 41w2, image information 41w3, and a display end icon 41w4.

[0332] Character information 41w1 indicates that the lower walking body 1 is in motion restriction mode during single-pedal operation. In this example, character information 41w1 includes the description "Preventing walking misoperation and locking in operation".

[0333] Character information 41w2 describes the currently selected movement mode of the lower walking body 1, namely, the single-pedal mode. Specifically, for example, character information 41w2 contains explanatory text describing the relationship between the operation of pedals 26C1 and 26C2 in single-pedal mode and the movement of the lower walking body 1. In this example, character information 41w2 displays: "The current walking mode is SPM. Proceed straight by operating the right pedal, and turn by operating the left pedal."

[0334] Image information 41w3 is image information illustrating the currently selected movement mode of the lower walking body 1, namely the single-pedal mode. Specifically, for example, image information 41w3 displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 in the single-pedal mode and the movement of the lower walking body 1.

[0335] The display end icon 41w4 is an icon that can be operated via the input device 52. Specifically, the display end icon 41w4 is an icon used to end the display of the pop-up image 41w. Thus, after the operator has confirmed the content of the pop-up image 41w, they can end the display of the pop-up image 41w by operating the display end icon 41w4 via the input device 52.

[0336] Furthermore, while the movement restriction of the lower walking body 1 continues (specifically, Figure 15If the determination condition of step S412 is met continuously, as long as the end icon 41w4 is not operated, the pop-up image 41w can be displayed continuously, or it can be displayed for a predetermined time (e.g., several seconds) after the start of the motion restriction of the lower walking body 1, and then the display ends.

[0337] Thus, in this example, the controller 30 can notify the operator or others of the implementation of the motion restriction of the lower walking body 1 in single-pedal mode through the display device 50 while implementing the motion restriction of the lower walking body 1 in single-pedal mode.

[0338] [Other examples of treatments related to the walking movements of the lower limbs] Other examples of processing related to the walking motion of the lower walking body 1 will be described.

[0339] The first to third examples of the treatment related to the walking motion of the lower walking body 1 can also be appropriately deformed or modified.

[0340] For example, the second case related to the walking motion of the lower walking body 1 mentioned above ( Figure 12 ) and Example 3 ( Figure 13 ) can also be combined. Specifically, for example, in the above Figure 13 A connection can also be added between step S214 and step S216. Figure 15 The same process applies to steps S410 and S412.

[0341] [Handling the switching of movement modes for the lower-body walking form] refer to Figure 17 The switching process of the movement mode of the lower walking body 1 is explained.

[0342] Figure 17 This is a flowchart illustrating an example of the switching process of the movement mode of the lower walking body 1.

[0343] For example, during the operation of excavator 100, this process is repeatedly executed at predetermined processing cycles.

[0344] like Figure 17 As shown, in step S302, the operation mode switching unit 301 determines whether it has received an input (switching input) for switching operation modes through the input device 52A. If the operation mode switching unit 301 receives a switching input, it proceeds to step S304; otherwise, it ends the current process.

[0345] In step S304, the operation mode switching unit 301 acquires the latest operation signals from the operation sensors 26C1s and 26C2s corresponding to the left and right pedals 26C1 and 26C2.

[0346] If step S304 is completed, the controller 30 proceeds to step S306.

[0347] In step S306, the operation mode switching unit 301 determines whether the lower walking body 1 is in operation. For example, if the current operation mode of the lower walking body 1 is normal walking mode, the operation mode switching unit 301 determines whether the lower walking body 1 is in operation based on the operation signals of both operation sensors 26C1s and 26C2s. Furthermore, for example, if the current operation mode of the lower walking body 1 is single-pedal mode, the operation mode switching unit 301 determines whether the lower walking body 1 is in operation only based on the operation signal of operation sensor 26C2s. The operation mode switching unit 301 proceeds to step S306 if the lower walking body 1 is not in operation, and ends the current process without switching the operation mode of the lower walking body 1 if the lower walking body 1 is in operation.

[0348] Therefore, the controller 30 can maintain the operating mode of the lower walking body 1 without changing it while it is being operated. Thus, the controller 30 can, for example, improve the operability of the lower walking body 1 by adding a single-pedal mode while ensuring the safety of the excavator 100 during movement.

[0349] In addition, in step S306, the motion mode switching unit 301 may determine, for example, whether the lower walking body 1 is walking.

[0350] In step S306, the motion mode switching unit 301 switches the motion mode of the lower walking body 1 according to the input content received by the input device 52.

[0351] If step S306 is completed, the controller 30 will end the current process.

[0352] [A second example of a functional structure related to walking movements of the lower limbs] Reference Figure 18 The second example of a functional structure related to the walking motion of the lower walking body 1 will be described.

[0353] The following is a comparison with the first case mentioned above ( Figure 4 The same or corresponding structures are labeled with the same reference numerals in the figures. The description focuses on the parts that are different from those in the first example above, and sometimes the description of the parts that are the same or corresponding to those in the first example above is omitted.

[0354] Figure 18 This is a second example of a diagram showing the functional structure related to the walking motion of the lower walking body 1.

[0355] like Figure 18 As shown, the difference between the excavator 100 involved in this example and the example above is that, as a functional unit related to the walking action of the lower walking body 1, it also includes a storage unit 304, a user confirmation unit 305, a notification unit 306, and a setting unit 307.

[0356] The storage unit 304 stores information and data related to various settings of the excavator 100, including the operation mode of the lower walking body 1.

[0357] For example, in the storage unit 304, users who are pre-registered as operators of the excavator 100 and their inherent setting information are stored in a way that establishes a connection through recorded data or the like. The inherent setting information corresponding to the user includes, for example, the operation mode of the lower walking body 1 that the user uses as the initial setting state among the multiple operation modes of the lower walking body 1.

[0358] The operating mode of the lower walking body 1, initially used by the target user, is, for example, the operating mode of the lower walking body 1 when the target user operates the excavator 100 and the excavator 100 is no longer in use. The end of the excavator 100's use includes, for example, when the excavator 100 stops. Furthermore, the end of the excavator 100's use includes, for example, when, without stopping the excavator 100, a predetermined time (e.g., several minutes) has elapsed after the gantry 23's operating state changes from an operable state to an inoperable state. This is because if the gantry 23 remains in an inoperable state for a relatively long time, the operator of the cab 10 may disembark and be replaced by another operator.

[0359] Furthermore, stopping the excavator 100 refers to the transition of the excavator 100 from a state where it can move its driven components to a state where it cannot move them. The state where the excavator 100 can move its driven components includes a state where, although the prime mover, which is the driven component of the excavator 100, is stopped, the controller 30, which performs control related to the excavator 100, is running. This is because the prime mover can be started by the control of the controller 30. Stopping the excavator 100 can be achieved, for example, by disengaging a key switch operable while the physical key (button) is inserted into the lock cylinder, or by disengaging a button-type key switch (also called a "start button") located in the driver's cab 10, which is operable in connection with wireless communication authentication with a predetermined terminal (e.g., a physical authentication key, a portable terminal with an authentication application installed).

[0360] The user determination unit 305 determines the user to use the excavator 100 as the operator by matching the timing of the start of the operator's operation.

[0361] The timing for initiating the operation of the excavator 100 includes, for example, the start-up of the excavator 100. Furthermore, the timing for initiating the operation of the excavator 100 includes, for example, the following: if the excavator 100 has not stopped, and after a predetermined time (e.g., several minutes) has elapsed between the operable and inoperable states of the gantry 23, the operable state of the gantry 23 is restored to the operable state of the excavator 100. This is because if the operable state of the gantry 23 remains in an inoperable state for a relatively long time before being restored to an operable state, the operator of the cab 10 may be replaced by another user.

[0362] Furthermore, starting the excavator 100 refers to the transition of the excavator 100 from a state where the driven components cannot be moved to a state where the driven components can be moved. Starting the excavator 100 can be achieved, for example, by opening a key switch that can be operated by inserting a physical key (button) into a lock cylinder, or by opening a button-type key switch (start button) provided in the driver's cab 10 that can be operated based on wireless communication authentication with a predetermined terminal (e.g., a physical authentication key, a portable terminal with an authentication application installed).

[0363] For example, the user determination unit 305 causes the display device 50 to display a screen for user determination (hereinafter referred to as the "user authentication screen"), and operates the screen through the input device 52, thereby selecting the user corresponding to the operator from a plurality of pre-registered users.

[0364] In addition, the user determination unit 305 may also determine the user corresponding to the current operator from among a number of pre-registered users by applying known image recognition technology based on images captured by a camera device installed inside the cockpit 10 that includes the driver's seat 70 in the shooting range.

[0365] In addition, the user identification unit 305 can also identify the user corresponding to the current operator from among the pre-registered users by applying biometric authentication technology (such as fingerprint authentication, iris authentication, etc.).

[0366] The notification unit 306, based on the user determination unit 305's determination of the user using the excavator 100 as the operator, notifies the operator of various setting information corresponding to the operator and associated with a pre-registered target user. Specifically, for example, based on the user determination unit 305's determination of the user using the excavator 100 as the operator, the notification unit 306 causes the display device 50 to display a screen (hereinafter referred to as a "setting confirmation screen") for confirming the various setting information corresponding to the operator and associated with a pre-registered user (see reference). Figure 19 ).

[0367] Thus, the operator can confirm the various settings information of the initial state, and if changes are needed, for example, by operating the setting screen displayed on the display device 50 through the input device 52 to make settings changes.

[0368] The setting unit 307 sets various settings related to the excavator 100 in the controller 30. The setting unit 307 includes an operation mode switching unit 301 for switching the operation mode of the lower walking body 1.

[0369] [Confirmation screen for setting the initial state when the operator begins operation] Reference Figure 19 An example of a setting confirmation screen displayed on the display device 50 is given, which is determined by the user determination unit 305 as the operator to use the excavator 100.

[0370] Figure 19 This is the ninth example of a diagram showing the screen of display device 50. Specifically, Figure 19 This is an example of a setting confirmation screen displayed on the display device 50 (screen 48).

[0371] For example, such as Figure 19 As shown, the setting confirmation screen (screen 48) is accessed via a standard screen (e.g., Figures 6-9 The pop-up image 48a is superimposed on the screen 41). In this example, screen 48 and the pop-up image 48a are displayed on the screen that serves as the standard screen. Figure 6 The pop-up image 48a is displayed overlappingly in the vertical direction of the display areas 41B~41D in screen 41.

[0372] The pop-up image 48a contains explanatory information 48a1, user information 48a2, and setting information 48a3~48a6.

[0373] Information 48a1 describes the settings confirmation screen.

[0374] For example, the explanatory information 48a1 includes explanatory text urging confirmation of setting information 48a3 to 48a6 (“Checksettings”). Additionally, the explanatory information 48a1 may include explanatory text indicating the steps after confirming the setting information, such as explanatory text urging the pressing of the start button after confirmation of the setting information (“then press the startbutton.”).

[0375] User information 48a2 is an image representing the user identified by the user determination unit 305 from a plurality of pre-registered users as the operator of the excavator 100.

[0376] For example, user information 48a2 includes the name of the user identified as the user of excavator 100, usually in abbreviated form (account name).

[0377] Furthermore, the image corresponding to user information 48a2 can also be operated via input device 52. For example, if the image corresponding to user information 48a2 is operated via input device 52, controller 30 (specifically setting unit 307) will switch the display content of display device 50 from screen 48 to a screen for changing the operator of the excavator 100 from multiple users and accepting user authentication (e.g., user authentication screen). Thus, the operator can change the user of the excavator 100 to the user corresponding to themselves by operating screen 48. At this time, if user authentication is completed, the display content of display device 50 will return to screen 48 under the control of controller 30 (specifically setting unit 307). Moreover, the content of setting information 48a3 to 48a6 will be changed to the content corresponding to the changed user.

[0378] The setting information 48a3 includes information indicating the current setting state of the driven component or hydraulic actuator HA of the operable object, representing the longitudinal and lateral operations assigned to the joystick device 26A and the longitudinal and lateral operations of the joystick device 26B, respectively. Additionally, the setting information 48a3 includes information indicating the setting state of the actuation direction of the driven component or hydraulic actuator HA of the operable object corresponding to the respective longitudinal or lateral operating directions defined by the two directions.

[0379] For example, setting information 48a3 includes a name (in this example, "Lever") indicating setting information related to joystick devices 26A and 26B, a name (in this example, "Pattern A") indicating the current setting state, and image information indicating the current setting state. In this example, the image information indicating the current setting state displays cross-shaped arrows on the left indicating the longitudinal and lateral operations of joystick device 26A, and on the right indicating the longitudinal and lateral operations of joystick device 26B. Furthermore, the image information indicating the current setting state uses images of the driven components of the operable object, simulating the longitudinal and lateral operations of joystick device 26A and joystick device 26B, to represent the current setting state of the driven components of the operable object for the longitudinal and lateral operations of joystick device 26A and joystick device 26B, respectively. Additionally, the image information indicating the current setting state shows the current setting state of the driven components of the operable object or the direction of motion of the hydraulic actuator HA, corresponding to the longitudinal or lateral operation directions defined by the two directions.

[0380] Setting information 48a4 indicates the current setting status of the movement mode of the lower walking body 1.

[0381] For example, the setting information 48a4 includes the name of the setting information related to the movement mode of the lower walking body 1 ("Travel" in this example), the name, common name, abbreviation, etc. of the current movement mode of the lower walking body 1 ("Single Pedal Mode" in this example), and image and character information indicating the relationship between the operation of pedals 26C1 and 26C2 and the movement content of the lower walking body 1.

[0382] Setting information 48a5 indicates the setting status of the type of workpiece tool (end-attached accessory) currently installed at the front end of the boom 5 of the accessory device AT.

[0383] The setting information 48a5 includes the name of the setting information related to the work tool (in this example, "Work Tool") and information such as the name, abbreviation, common name, and model of the work tool currently installed at the front end of the boom 5.

[0384] Setting information 48a6 is information indicating the setting status of the language used in various screens displayed on the display device 50.

[0385] For example, the setting information 48a6 includes the name of the setting (in this example, "Language") which indicates that it is related to the language used in various screens of the display device 50, and the type of the currently set language (in this example, "English").

[0386] By displaying screen 48 on display device 50, the operator can confirm the current setting status of various settings, i.e., the initial setting status.

[0387] In addition, the operator can also change various settings from their initial settings on screen 48.

[0388] For example, by selecting the display area of ​​the setting information 48a4 in the pop-up image 48a of screen 48 (e.g., a touch operation on a touch panel), the display content of the display device 50 changes from screen 48 to the aforementioned... Figure 10 The setup screen (screen 46) allows the operator to change the movement mode of the lower walking body 1 from the initial setting state.

[0389] In addition, the settings corresponding to settings 48a3, 48a5, and 48a6 can also be changed from the initial settings in the same way.

[0390] [An example of processing related to user identification] Reference Figure 20 An example of the processing related to a user who, as an operator, determines to use the excavator 100 will be described.

[0391] Figure 20 This is a flowchart that schematically illustrates an example of the processing related to a user determining the use of excavator 100 as an operator.

[0392] This flowchart is implemented, for example, when the timer for the operator to start operating the excavator 100 arrives.

[0393] like Figure 20 As shown, in step S502, the user determination unit 305 causes the display device 50 to display a predetermined user authentication screen.

[0394] When step S502 is completed, the controller 30 proceeds to step S504.

[0395] In step S504, the user determination unit 305 performs a process to determine the user who uses the excavator 100 as the operator based on the operation input received from the user authentication screen by the operator via the input device 52.

[0396] For example, the user authentication screen displays the username and password of the user who previously used the excavator 100 as an operator under the control of the controller 30. If the current operator is the same user as the previous operator, the operator enters a valid password into the password input field via the input device 52. Thus, the user determination unit 305 can determine the user using the excavator 100 as the operator. On the other hand, if the current operator is different from the previous operator, the operator uses the input device 52 to manipulate the operation object (icon) on the user authentication screen for changing the user (username) displayed on the authentication screen. As a result, the display device 50, under the control of the controller 30, displays a list and other screens for selecting other users (usernames). Therefore, the current operator can change the username displayed on the user authentication screen to their own username, and then enter a valid password into the password input field via the input device 52. Thus, the user determination unit 305 can determine the user using the excavator 100 as the operator. In addition, during the user authentication screen, the user can also be identified by means other than password authentication (e.g., biometric authentication) under the control of the controller 30 (setting unit 307).

[0397] When step S504 is completed, the controller 30 proceeds to step S506.

[0398] In step S506, the notification unit 306 causes the display device 50 to display a setting confirmation screen (e.g., Figure 19 (Image 48)

[0399] When step S506 is completed, the controller 30 proceeds to step S508.

[0400] In step S508, the setting unit 307 performs processing to determine the setting status of various setting items based on the operation input in the setting confirmation screen received from the operator via the input device 52 and the setting screen that switches from the setting confirmation screen to the setting screen for setting various setting items.

[0401] When step S508 is completed, the controller 30 proceeds to step S510.

[0402] In step S510, the controller 30 causes the display device 50 to display a standard screen (e.g., Figures 6-9 (Scene 41)

[0403] If step S510 is completed, the controller 30 will end the current process.

[0404] [Another example of processing related to user identification] Another example of the processing related to the user who determines to use the excavator 100 as the operator will be described.

[0405] Alternatively, the above example ( Figure 20 Appropriate deformation and alteration may be applied.

[0406] For example, it can also be omitted. Figure 20 Steps S502 and S504. This is because, for example, in Figure 19 In the setting confirmation screen (screen 48), the operator can change the user information 48a2 by inputting the user information 48a2 through the input device 52.

[0407] Alternatively, it can be omitted in specific cases where the hypothetical operator's operation begins at a particular timing. Figure 20 Steps S502 and S504. For example, if the gantry 23 remains in an inoperable state for a relatively long time after the excavator 100 is in an inoperable state, and then returns to an operable state, steps S502 and S504 are omitted. Figure 20 The processing steps S502 and S504 are as follows. This is because the operator may not have changed. Therefore, it eliminates the inconvenience for the operator caused by the need for repeated user authentication.

[0408] [Another example of an excavator's structure] refer to Figure 21 Another example of the structure of the excavator 100 will be described.

[0409] The following is an example of the structure of the excavator 100 described above ( Figure 2 The same or corresponding structures are marked with the same symbols, and the description focuses on the part that is different from the structure of the excavator 100 described above. Sometimes the description of the part that is the same or corresponding to the structure of the excavator 100 described above is omitted.

[0410] Figure 21 This is another example of the structure of the excavator 100.

[0411] like Figure 21 As shown, the excavator 100 involved in this example is the same as the one in the above example ( Figure 2 The difference is that, as part of the structure of the user interface system, it includes a sound output device 54 and a lighting device 56.

[0412] The sound output device 54 is capable of outputting sound towards the periphery of the excavator 100. The sound output device 54 may be installed, for example, outside the cab 10 in the upper rotating body 3. Alternatively, the sound output device 54 may be installed inside the cab 10 as long as it is capable of outputting sound towards the periphery of the excavator 100.

[0413] For example, the sound output device 54 includes a walking alarm for outputting a predetermined sound to the vicinity of the excavator 100 when the lower walking body 1 of the excavator 100 is moving. Furthermore, the sound output device 54 may include a loudspeaker for outputting sound to the vicinity of the excavator 100.

[0414] The lighting device (also referred to as the "lighting device") 56 is capable of illuminating the area around the excavator 100.

[0415] For example, the lighting device 56 is located outside the cab 10 within the upper rotating body 3. Specifically, the lighting device 56 may include a work light illuminating the front of the upper rotating body 3. Furthermore, the lighting device 56 may also include lights illuminating the left, right, and rear sides of the upper rotating body 3. Additionally, the lighting device 56 may also be located inside the cab 10, provided it can illuminate the perimeter of the excavator 100.

[0416] [The third example of a functional structure related to walking movements of the lower limbs] Reference Figure 22 The third example of a functional structure related to the walking motion of the lower walking body 1 will be described.

[0417] The following is a comparison with the first case mentioned above ( Figure 4 ), Example 2 ( Figure 18 The same or corresponding structures are labeled with the same reference numerals in the figures. The description focuses on the parts that are different from those in the first and second examples above, and sometimes the description of the parts that are the same or corresponding to those in the first and second examples above is omitted.

[0418] Figure 22 This is a diagram representing the third example of a functional structure related to the walking motion of the lower walking body 1.

[0419] like Figure 22 As shown, the difference between the excavator 100 involved in this example and the example above is that, as a functional unit related to the walking action of the lower walking body 1, it also includes an automatic cruise control unit 308 and a notification unit 309.

[0420] When the lower walking body 1 is set to the single-pedal mode, the automatic cruise control unit 308 performs control related to the automatic cruise function (CC: Cruise Control).

[0421] The automatic cruise function refers to the function of moving the lower walking body 1 independently of the operation of pedals 26C1 and 26C2 when the operating mode of the lower walking body 1 is set to single-pedal mode. For example, the automatic cruise function moves the lower walking body 1 based on the operation state of pedal 26C2 (i.e., the main pedal) at a predetermined past time, independent of the current operation state of pedals 26C1 and 26C2. Alternatively, the automatic cruise function can also move the lower walking body 1 by reproducing the walking state of the lower walking body 1 at a predetermined past time, independent of the current operation state of pedals 26C1 and 26C2. The walking state of the lower walking body 1 includes, for example, its walking speed and walking direction. Alternatively, the automatic cruise function can also move the lower walking body 1 based on a preset operating state, independent of the current operation state of pedals 26C1 and 26C2. Alternatively, the automatic cruise function can also move the lower walking body 1 according to a preset walking state, independent of the current operation state of pedals 26C1 and 26C2.

[0422] For example, when the predetermined conditions for activating the cruise control function (i.e., activation) (hereinafter referred to as the "CC activation condition") are met, the cruise control unit 308 maintains the lower vehicle 1 in a straight-line driving state while the pedal 26C2 (i.e., the main pedal) is in operation. Thus, the operator can use the cruise control function to make the lower vehicle 1 travel straight in a desired state without operating the pedals 26C1 and 26C2. Furthermore, the cruise control unit 308 can also maintain the lower vehicle 1 in a driving state based on the operation state of the pedal 26C2 when the CC activation condition is met and the state of the adjustment input (e.g., the operation state of the pedal 26C1 as the secondary pedal). Additionally, the cruise control unit 308 can also maintain the lower vehicle 1 in a driving state while the lower vehicle 1 is in the CC activation condition. Thus, the operator can use the cruise control function to make the lower vehicle 1 travel straight or turn in a desired state without operating the pedals 26C1 and 26C2.

[0423] The CC activation condition can be, for example, by receiving a predetermined input for activating the auto-cruise function through the input device 52. This predetermined input can be received via a mechanical input device such as a dedicated switch serving as the input device 52. Alternatively, the predetermined input can be received via a rotary switch provided on the joystick devices 26A and 26B, which serves as the input device 52. Furthermore, the predetermined input can also be an operation input via a touch panel displayed on the setting screen of the display device 50. Additionally, the predetermined input can be a specific phrase of voice input, a specific gesture, a hand symbol, etc. Furthermore, the CC activation condition can also be that the operating state of the pedals 26C1 and 26C2 remains within a relatively small predetermined range of variation (i.e., the operating state can be considered almost constant) for a predetermined time or longer. Moreover, multiple CC activation conditions exist. When the operating mode of the lower walking body 1 is set to single-pedal mode, if at least one of the multiple CC activation conditions is met, the auto-cruise control unit 308 can activate the auto-cruise function.

[0424] Furthermore, when the automatic cruise control unit 308 is in the automatic cruise function working state, if the predetermined condition for deactivating the automatic cruise function (i.e., turning it off) (hereinafter, "CC off condition") is met, the automatic cruise function will be deactivated.

[0425] The CC deactivation condition is, for example, when pedals 26C1 and 26C2 are operated while the cruise control function is active. Specifically, for example, the cruise control unit 308 deactivates the cruise control function when pedals 26C1 and 26C2 deviate significantly from the operation state corresponding to the cruise control function (e.g., the difference between the actual operation amount and the operation amount corresponding to the cruise control function is above or exceeds a threshold). Alternatively, the cruise control unit 308 may deactivate the cruise control function regardless of the operation performed on pedals 26C1 and 26C2. The CC deactivation condition may also be that a request to deactivate the cruise control function is input via the input device 52 while the cruise control function is active. Furthermore, if multiple CC deactivation conditions exist, the cruise control unit 308 may deactivate the cruise control function if at least one of the multiple CC deactivation conditions is met while the cruise control function is active.

[0426] Additionally, the automatic cruise control unit 308 can also notify the operator of the automatic cruise function's operation via a display device 50, etc. (see reference). Figure 24 Thus, for example, the controller 30 can prevent the operator from forgetting that the cruise control function is working and operating the pedals 26C1 and 26C2, thereby deactivating the cruise control function.

[0427] The notification unit 309 communicates with the excavator 100 around the machine via notifications related to the movement pattern of the lower traveling body 1 (also referred to as "notifications"). The notification unit 309 may use a sound output device 54, for example, to provide auditory notifications related to the movement pattern of the lower traveling body 1. Alternatively, the notification unit 309 may use a lighting device 56, either in place of the sound output device 54 or based thereon, to provide visual notifications related to the movement pattern of the lower traveling body 1.

[0428] The notification related to the movement mode of the lower walking body 1 includes, for example, information indicating the currently set (i.e., currently used) movement mode of the lower walking body 1.

[0429] For example, operators around the excavator 100 can confirm the operator's operation status on pedals 26C1 and 26C2 through the window on the front surface of the cab 10. Therefore, operators can predict the direction of travel of the excavator 100 while performing their work based on the operator's operation status on pedals 26C1 and 26C2. However, even if the operation status of pedals 26C1 and 26C2 is the same, the travel pattern of the lower walking body 1 may differ depending on whether the lower walking body 1 is in normal walking mode or in single-pedal mode.

[0430] In contrast, in this example, the controller 30 can notify the operators around the excavator 100 of the current operating mode of the lower walking body 1. Therefore, the operators around the excavator 100 can, while considering the current operating mode of the lower walking body 1, appropriately predict the direction of travel of the excavator 100 based on the operating status of the pedals 26C1 and 26C2.

[0431] For example, the notification unit 309 notifies the surrounding area of ​​the excavator 100 of the current operating mode of the lower traveling body 1 by making the sound output from the sound output device 54 different for each operating mode of the lower traveling body 1. Specifically, for example, the notification unit 309 makes the volume, sound pressure, pitch, interval, timbre, presence or absence of sound output, and output form of the sound output from the sound output device 54 different for each operating mode of the lower traveling body 1. In addition, for example, if the sound output device 54 is a loudspeaker, the notification unit 390 makes the content of the sound output from the sound output device 54 (loudspeaker) different for each operating mode of the lower traveling body 1.

[0432] Furthermore, for example, the notification unit 309 notifies the surrounding area of ​​the excavator 100 of the current operating mode of the lower traveling body 1 by differentiating the illumination pattern of the light from the lighting device 56 for each operating mode of the lower traveling body 1. Specifically, for example, the notification unit 309 differentiates the illuminance, color, presence or absence of illumination, and on / off output of the light illuminating the lower traveling body 1 from the lighting device 56 for each operating mode of the lower traveling body 1.

[0433] Additionally, notifications related to the operating mode of the lower walking vehicle 1 may include, for example, notifications regarding whether the automatic cruise function is used when the operating mode of the lower walking vehicle 1 is a single-pedal mode.

[0434] For example, in the automatic cruise control function, pedals 26C1 and 26C2 are more likely not to be operated. Therefore, operators and others around the excavator 100 who do not recognize that the automatic cruise control function is working may not be able to properly predict the direction of travel of the excavator 100.

[0435] In contrast, in this example, the controller 30 can notify operators and others around the excavator 100 whether the automatic cruise function of the excavator 100 is working via at least one of the sound output device 54 and the lighting device 56. Therefore, operators and others around the excavator 100 can appropriately predict the direction of travel of the excavator 100 based on the operating status of the pedals 26C1 and 26C2 while considering whether the automatic cruise function is working.

[0436] For example, the notification unit 309 adjusts the sound output from the sound output device 54 according to whether the auto-cruise function is active in the single-pedal mode. Specifically, for example, the notification unit 309 adjusts the volume, sound pressure, pitch, interval, timbre, and output form of the sound output from the sound output device 54 for each operating mode of the lower walking body 1. Furthermore, for example, if the sound output device 54 is a loudspeaker, the notification unit 390 adjusts the content of the sound output from the sound output device 54 (loudspeaker) for each operating mode of the lower walking body 1. In this case, an explanation of the auto-cruise function itself can also be output from the sound output device 54 (loudspeaker). Thus, for example, even if operators around the excavator 100 are unaware of the auto-cruise function itself, they can appropriately predict the direction of travel of the excavator 100 based on the operating status of pedals 26C1 and 26C2, by recognizing the content of the auto-cruise function.

[0437] Furthermore, for example, the notification unit 309 adjusts the illumination pattern of the light from the lighting device 56 depending on whether the automatic cruise function is activated in the one-pedal mode. Specifically, for example, the notification unit 309 adjusts the illuminance, color, and on / off output of the light illuminating the lighting device 56 according to whether the automatic cruise function is activated in the one-pedal mode.

[0438] Furthermore, if the operator or others inside the cab 10 can recognize the sound of the sound output device 54 or the light of the lighting device 56, the notification unit 309 can notify the operator inside the cab 10 about the operation mode of the lower walking body 1 while simultaneously notifying the operator about the operation mode of the lower walking body 1 in relation to the operation mode of the lower walking body 1, through at least one of the sound output device 54 and the lighting device 56.

[0439] [Processing related to the cruise control function] Reference Figure 23 This section explains the processing related to the automatic cruise function.

[0440] Figure 23 This is a flowchart that schematically illustrates an example of the processing associated with the auto-cruise function.

[0441] Specifically, Figure 23 include Figure 23 A, 23B. Figure 23 A is a flowchart schematically illustrating an example of a process performed every predetermined processing cycle when the operating mode of the lower walking body 1 is set to single-pedal mode and the automatic cruise function is turned off. Figure 23B is a flowchart schematically illustrating an example of the processing performed when the lower walking body 1 is set to single-pedal mode and the automatic cruise function is activated.

[0442] For example, Figure 23 The flowcharts for A and 23B are in Figure 12 Step S102 of the flowchart or Figure 13 The sub-flowchart executed when the condition for step S202 in the flowchart is met (i.e., the "yes" condition). In this case, the sub-flowchart is omitted. Figure 12 The processing of steps S108, S110, and S112 in the flowchart is performed when the condition for step S102 is met. Similarly, in this case, the steps are omitted. Figure 13 The processing of steps S212, S214, and S216 when the condition for step S202 in the flowchart is met.

[0443] <When automatic cruise control is turned off> like Figure 23 As shown in Figure A, in step S602, the automatic cruise control unit 308 determines whether the CC activation condition is met. If the CC activation condition is not met, the automatic cruise control unit 308 proceeds to step S604; if the CC activation condition is met, it proceeds to step S608.

[0444] Steps S604, S606 and Figure 12 The processes in steps S108 and S110 are the same, so the explanation is omitted.

[0445] When step S606 is completed, the controller 30 proceeds to step S612.

[0446] On the other hand, in step S608, the auto cruise control unit 308 maintains the latest operation signal (e.g., stored in a predetermined storage area of ​​the memory device 30B) acquired from the operation sensor 26C2s corresponding to the right pedal 26C2 (i.e., the main pedal) of the left and right pedals 26C1 and 26C2. In addition, the auto cruise control unit 308 can also acquire detection values ​​indicating the latest walking state of the lower walking body 1.

[0447] When step S608 is completed, the controller 30 proceeds to step S610.

[0448] In step S610, the automatic cruise control unit 308 generates travel commands for the left and right tracks 1C to travel respectively, based on the operating signals or detection values ​​held in step S608.

[0449] When the processing of step S610 ends, the controller 30 proceeds to step S612.

[0450] Step S612 and Figure 12 The process of step S112 is the same, so the explanation is omitted.

[0451] If step S612 is completed, the controller 30 will end the current process.

[0452] <Automatic cruise control function is enabled> like Figure 23 As shown in B, in step S702, the automatic cruise control unit 308 determines whether the CC off condition is met. If the CC off condition is not met, the automatic cruise control unit 308 proceeds to step S704; if the CC off condition is met, it proceeds to step S706.

[0453] In step S704, the automatic cruise control unit 308, based on the... Figure 23 Step S608 of A processes the operating signal or detection value that is being held, and generates a travel command for the left and right tracks 1C to travel respectively.

[0454] When step S704 is completed, the controller 30 proceeds to step S710.

[0455] On the other hand, steps S706 and S708 and Figure 12 Steps S108 and S110 are the same, so the explanation is omitted.

[0456] When step S708 is completed, the controller 30 proceeds to step S710.

[0457] Step S710 and Figure 12 The process of step S112 is the same, so the explanation is omitted.

[0458] [Notification screen related to the cruise control function] Reference Figure 24 The following describes the notification screen related to the automatic cruise function displayed on the display device 50. Specifically, a specific example of a notification screen displaying the meaning that the automatic cruise function is in operation on the display device 50 will be described.

[0459] Figure 24 This is the tenth example of a display screen on display device 50. Specifically, Figure 24 This is a specific example (screen 41) of a notification screen that indicates that the automatic cruise function displayed on the display device 50 is in operation.

[0460] like Figure 24 As shown, in this example, screen 41 differs from the screens in examples 1 through 4 above in that it includes the pop-up image 41x. Additionally, in this example, screen 41 may differ from example 4 above in other aspects. Figure 9 )same.

[0461] The pop-up image 41x indicates that the cruise control function is active. For example, in Figure 23 In step S602 of A, if it is determined that the CC opening condition is met, then under the control of the controller 30, the image 41x and the screen 41 (for example, the above) are displayed. Figure 9 The other display content of the display areas 41D and 41E of the screen 41) overlaps.

[0462] The pop-up image 41x includes character information 41x1, 41x2, image information 41x3, and a display end icon 41x4.

[0463] Character information 41x1 indicates that the cruise control function is active. In this example, character information 41x1 contains the text "Cruise control function is active".

[0464] Character information 41x2 contains information explaining how to deactivate the cruise control function, i.e., how to return to the normal one-pedal mode. In this example, character information 41x2 contains the text "Deactivate cruise control by pedal operation. Return to the following operation."

[0465] Additionally, character information 41x2 includes character information explaining how to operate pedals 26C1 and 26C2 after the auto-cruise function is deactivated, i.e., after reverting to the normal one-pedal mode. Specifically, for example, character information 41x2 includes explanatory text describing the relationship between the operation of pedals 26C1 and 26C2 in normal one-pedal mode and the movement of the lower walking body 1. In this example, character information 41x2 includes the explanatory text: "Use the right pedal to go straight, and use the left pedal to turn."

[0466] Image information 41x3 is image information illustrating the operation of pedals 26C1 and 26C2 after the automatic cruise function is deactivated, i.e., after reverting to the normal one-pedal mode. Specifically, for example, image information 41x3 displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 in one-pedal mode and the movement of the lower walking body 1.

[0467] The display end icon 41x4 is an icon that can be operated via the input device 52. Specifically, the display end icon 41x4 is an icon used to end the display of the pop-up image 41x. Thus, by operating the display end icon 41x4 via the input device 52, the operator can end the display of the pop-up image 41x.

[0468] Furthermore, even if the display of the pop-up image 41x ends due to the operation of the end icon 41x4, as long as the auto cruise function is in operation, other images occupying a relatively small area (e.g., an icon image additionally displayed in the display area 41A) that indicate that the auto cruise function is in operation can continue to be displayed on the display device 50.

[0469] Thus, in this example, the controller 30 can be matched with the operation of the automatic cruise function, and notify the operator of the automatic cruise function being in operation via the display device 50.

[0470] [Another example of a functional structure related to walking movements of the lower limbs] Another example of a functional structure related to the walking motion of the lower walking body 1 will be described.

[0471] Alternatively, the first example of the functional structure related to the walking motion of the lower walking body 1 can also be considered. Figure 4 ), Example 2 ( Figure 18 ), Example 3 ( Figure 22 Appropriate modifications or alterations may be applied. For convenience, the examples of modifications or alterations applied to the above examples 1 to 3 will be referred to as "modified examples".

[0472] For example, in the third example of the functional structure related to the walking motion of the lower walking body 1 mentioned above ( Figure 22 In this configuration, either the automatic cruise control unit 308 or the notification unit 309 may be omitted.

[0473] Furthermore, the second and third examples, or variations thereof, of the functional structures related to the walking motion of the lower walking body 1 described above can also be combined. Specifically, for example, the second example (…) of the functional structures related to the walking motion of the lower walking body 1… Figure 18 At least one of the automatic cruise control unit 308 and notification unit 309 of the third example described above is added to the controller 30.

[0474] [Remote Operation Support System] refer to Figure 25 The structure of the remote operation support system SYS involved in this embodiment will be described.

[0475] Figure 25 This is a diagram showing the structure of an example of the remote operation support system SYS.

[0476] like Figure 25 As shown, the remote operation support system SYS includes an excavator 100, a remote control room (RC), and a management center (RMC).

[0477] In addition, in this example, the excavator 100 has the same features as described above. Figure 1, Figure 2 The same structure. Therefore, in Figure 25 The detailed structural diagrams related to the excavator 100 are omitted in the text.

[0478] The excavator 100, the remote control room (RC), and the management center (RMC) are connected to each other via a communication line (NW) for data transmission and reception. Furthermore, the excavator 100, RC, and RMC can also be connected to each other directly without using the communication line (NW) for data transmission and reception. For example, the excavator 100 can send information related to the work site to the remote control room (RC). Thus, the remote operator (RO) located in the remote control room (RC) can monitor the work site status based on the information from the excavator 100.

[0479] As described above, the excavator 100 is equipped with a camera device 45 and a distance sensor capable of three-dimensionally identifying the position and shape of objects present at the work site. Therefore, the excavator 100 can send the results obtained from the three-dimensional measurement of the work site to the remote control room RC.

[0480] The remote operation support system SYS may include one or more excavators 100. In the case of multiple excavators 100, the remote operator RO of a specific excavator 100 can obtain information related to the work site obtained by that specific excavator 100, as well as information related to the work site obtained by one or more other excavators 100.

[0481] A remote operation support device 150 is installed in the remote operation room RC. Furthermore, a driver's seat DS is installed in the remote operation room RC, where a remote operator RO sits to remotely operate the excavator 100.

[0482] The remote operation support device 150 includes a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, a display device D1E, and input devices D2EA and D2EB.

[0483] The communication device T2 is configured to communicate with the communication device 60 installed on the excavator 100 and the communication device located in the management center RMC.

[0484] The remote controller 40 is a control device that performs control processing related to the remote operation of the excavator 100. The remote controller 40, for example, is similar to the controller 30 of the excavator 100, and is centered around a computer including a processor, a memory device, an auxiliary storage device, and an interface device. In this case, the various functions of the remote controller 40 are implemented by loading programs installed in the auxiliary storage device into the memory device and executing them through the processor.

[0485] The operation sensor 43 is provided to detect the operation of the operating device 42. The operation sensor 43 may be, for example, a tilt sensor that detects the tilt angle of the operating lever or an angle sensor that detects the swing angle of the operating lever around its swing axis. The operation sensor 43 may also be composed of other sensors such as a pressure sensor, current sensor, voltage sensor, or distance sensor. The operation sensor 43 outputs information related to the detected operation of the operating device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and sends the generated operation signal to the excavator 100. Alternatively, the operation sensor 43 may be configured to generate an operation signal. In this case, the operation sensor 43 can output the operation signal to the communication device T2 without going through the remote controller 40. With this configuration, the remote operator RO can remotely operate the excavator 100 from the remote control room RC.

[0486] The operating device 42 includes joystick devices 42A and 42B and a pedal device 42C. Furthermore, the operating sensors 43 include operating sensors 43A to 43C, which correspond to the joystick devices 42A, 42B, and 42C, respectively.

[0487] In addition to being used for remote operation of the excavator 100, the joysticks 42A and 42B also have the same functions as the joysticks 26A and 26B inside the cab 10. The configuration of the joysticks 42A and 42B relative to the driver's seat DS is, for example, the same as the configuration of the joysticks 26A and 26B inside the cab 10 relative to the driver's seat 70.

[0488] In addition to being used for remote operation, the pedal device 42C has the same functions as the pedal device 26C inside the cockpit 10. The pedal device 26C is configured relative to the driver's seat DS, for example, the same as the pedal device 26C inside the cockpit 10 is configured relative to the driver's seat 70, and includes a pair of left and right pedals.

[0489] Display device D1E displays various information to the remote operator RO in the driver's seat DS. Display device D1E can be, for example, a liquid crystal display (LCD), an organic EL display, etc. Furthermore, display device D1E can be a display that enables naked-eye stereoscopic vision, a projector, or VR (Virtual Reality) glasses, etc. Specifically, display device D1E displays the same image as the image displayed by display device 50 inside the driver's cab 10 towards the operator. For example, display device D1E displays a surrounding image based on information sent from excavator 100, enabling the remote operator RO in the remote control room RC to visually identify the surroundings of excavator 100. Specifically, display device D1E displays, for example, images captured by camera device 45 mounted on excavator 100. Furthermore, display device D1E displays information related to the movement pattern of the lower walking body 1.

[0490] Input devices D2EA and D2EB accept input from the remote operator RO. Signals (input signals) indicating the input content accepted by input devices D2EA and D2EB are input to the remote controller 40.

[0491] Input devices D2EA and D2EB have the same functions as input devices 52A and 52B inside the cockpit 10, respectively.

[0492] In this example, the above structure enables remote operation of the lower walking body 1, which corresponds to the operation of the pedal device 42C by the remote operator RO inside the remote control room.

[0493] Furthermore, in this example, through the above structure, the remote operation of the lower walking body 1, in the same way as the operation of the lower walking body 1 by the operator inside the cockpit 10 on the pedal device 26C, can realize multiple operation modes of the lower walking body 1 corresponding to the operation of the pedal device 26C by the remote operator RO.

[0494] Specifically, for example, based on input from input device D2EA, the operator can selectively switch between a normal walking mode and a single-pedal mode, which serve as the operating mode of the lower walking body 1. In normal walking mode, the walking hydraulic motors 1ML and 1MR are remotely operated by operating the left and right pedals in pedal device 42C, respectively. On the other hand, in single-pedal mode, the walking hydraulic motors 1ML and 1MR are remotely operated by operating either the left or right master pedal in pedal device 42C, respectively. Thus, in single-pedal mode, the remote operator RO can remotely operate and move the lower walking body 1 by operating only the master pedals of the left and right pedals in pedal device 42C. Furthermore, in single-pedal mode, adjustments can be made based on adjustment input from input device D2EB to make at least one of the rotational speeds and rotational directions of the walking hydraulic motors 1ML and 1MR different. Thus, in single-pedal mode, the remote operator RO can change the walking direction of the lower walking body 1 using input device D2EB, while moving the lower walking body 1 by operating either the left or right master pedal in pedal device 42C.

[0495] Furthermore, when the excavator 100 is operated remotely, the functional units of the controller 30 in the first to third examples or their variations of the functional structures related to the walking action of the lower walking body 1, specifically the functions of the operation mode switching unit 301, the walking command output unit 302, the notification unit 303, the storage unit 304, the user confirmation unit 305, the notification unit 306, the setting unit 307, the automatic cruise control unit 308, and the notification unit 309, can be transferred to the remote controller 40.

[0496] A management center (RMC) is a facility equipped with various devices for managing the excavator 100 at the work site or for remote operation of the excavator 100 by a remote operator (RO) located in a remote control room (RC). In this example, the management center (RMC) is located at both the work site and the remote control room (RC), which are far from the excavator 100.

[0497] The management device 200 is, for example, a server device. The server device can be a local server, a cloud server, or an edge server. Furthermore, the management device 200 can also be a terminal device. The terminal device can be a fixed terminal device (e.g., a desktop PC) or a portable terminal device, i.e., a mobile terminal (e.g., a laptop PC, a tablet PC, a smartphone, etc.).

[0498] The manager located in the management center (RMC) can, for example, use a sound-collecting device (e.g., a microphone) installed on the excavator 100 and a sound output device (e.g., a speaker) installed in the management center (RMC) to listen to sounds emanating from the work site. Therefore, the manager located in the management center (RMC) can, for example, confirm the content of conversations between the operator inside the cab 10 of the excavator 100 and the sounds around the excavator 100. Furthermore, the manager located in the management center (RMC) can, for example, use a sound-collecting device (e.g., a microphone) installed in the remote control room (RC) and the sound output device of the management center (RMC) to listen to sounds emanating from the remote control room (RC). Therefore, the manager located in the management center (RMC) can, for example, confirm the content of conversations between the remote operator (RO) in the remote control room (RC). Furthermore, the manager located in the management center (RMC) can, for example, use a sound-collecting device (e.g., a microphone) installed in the management center (RMC) and a sound output device (e.g., a speaker) installed on the excavator 100 to transmit their own voice to the operator inside the cab 10 of the excavator 100 or to the workers around the excavator 100. Furthermore, the administrator located in the management center (RMC) can, for example, use a sound collection device installed in the management center (RMC) and a sound output device (e.g., a speaker) installed in the remote control room (RC) to transmit their voice to the remote operator (RO) located in the remote control room (RC).

[0499] [effect] Next, the functions of the excavator and remote operation support system involved in this embodiment will be explained.

[0500] In a first embodiment of this invention, an excavator is provided, comprising a lower traveling body, an upper slewing body, a cab, a first actuator, a second actuator, a driver's seat, and a pedal device. The excavator is, for example, the excavator 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper slewing body is, for example, the upper slewing body 3 described above. The driver's seat is, for example, the driver's seat 70 described above. The pedal device is, for example, the pedal device 26C described above. Specifically, the lower traveling body includes a pair of left and right tracks, a first track and a second track. The first track and the second track are, for example, the left track 1C and the right track 1C described above. The upper slewing body is rotatably mounted on the lower traveling body. The driver's seat is located on the upper slewing body. The first actuator drives the first track. The second actuator drives the second track. A driver's seat is located in the cab, providing a place for the operator to sit. The pedal device includes a first pedal and a second pedal, allowing the operator seated in the driver's seat to operate the device with their feet. The first pedal and the second pedal are, for example, the aforementioned pedals 26C1 and 26C2. The excavator can selectively switch the operating mode of the lower walking body, including a first operating mode and a second operating mode. The first operating mode is, for example, the aforementioned normal walking mode. The second operating mode is, for example, the aforementioned single-pedal mode. In the first operating mode, the excavator drives the first actuator based on the operation of the first pedal, and drives the second actuator based on the operation of the second pedal. In the second operating mode, the excavator drives both the first and second actuators based on the operation of either the first or the second pedal.

[0501] Therefore, the operator in the cab, with the lower walking mechanism in its second operating mode, can move the lower walking mechanism by operating only one of the left or right pedals. Thus, the excavator achieves improved ease of operation through a simple structure.

[0502] Furthermore, in the second aspect of this embodiment, based on the first aspect described above, when the second operation mode is in operation, the operator can be notified so that they can understand the difference from the first operation mode.

[0503] Therefore, the excavator enables the operator to determine whether the current movement mode of the lower traveling body is the first movement mode or the second movement mode.

[0504] Furthermore, in the third embodiment of this invention, based on the first or second embodiment described above, the excavator may include a first input unit that accepts input from the operator. This first input unit is, for example, the input device 52B described above. Also, when the lower traveling body is in motion in the second operating mode, the excavator can drive both the first and second actuators based on the operation of either the first or second pedal, and adjust the input to the first input unit so that at least one of the operating speed and operating direction of the first and second actuators is different.

[0505] Therefore, the excavator adjusts itself based on input from the first input unit to differentiate at least one of the operating speed and direction of the first and second actuators, thereby changing the traveling direction of the lower walking body 1. Thus, the operator in the cab can simultaneously adjust the traveling direction of the lower walking body 1 using the first input unit while moving the lower walking body by operating only one of the first and second pedals.

[0506] Furthermore, in the fourth embodiment of this invention, based on any one of the first to third embodiments described above, the excavator may include a second input unit that accepts input for switching the operating mode of the lower walking body. This second input unit is, for example, the input device 52A described above. Moreover, even when the pedal device is being operated or the lower walking body is in motion, if an input to switch the operating mode of the lower walking body is received through the second input unit, the operating mode of the lower walking body may not need to be switched.

[0507] Therefore, the excavator can prevent the switching of the lower walking mechanism's operating mode while the lower walking mechanism is moving or may be moving. Thus, by preparing multiple lower walking mechanism operating modes, the excavator can improve the operator's ease of operation while ensuring the excavator's safety.

[0508] Furthermore, in the fifth embodiment of this invention, based on any one of the first to fourth embodiments described above, the output characteristics of the first actuator and the second actuator corresponding to the operation amount of the pedal device can be different when the lower walking body operates in the first operation mode and when the lower walking body operates in the second operation mode.

[0509] Therefore, by appropriately adjusting the output characteristics of the first and second actuators corresponding to the second operating mode relative to the pedal device, the excavator can improve the operability of the operator's walking operation in the second operating mode.

[0510] Furthermore, in the sixth embodiment of this invention, based on the fifth embodiment described above, when the excavator can operate the lower walking body in the second operating mode, compared to when the lower walking body operates in the first operating mode, the increase in the output of the first actuator and the second actuator relative to the increase in the amount of operation of the pedal device is gradual.

[0511] Therefore, the excavator can improve the operability of the operator's walking operation in the second action mode.

[0512] Furthermore, in the seventh embodiment of this invention, based on the fifth or sixth embodiment described above, when the excavator operates in the second operating mode, the maximum output of the first actuator and the second actuator relative to the operation amount of the pedal device is smaller compared to when the lower walking body operates in the first operating mode.

[0513] Therefore, the excavator can improve the operability of the operator's walking operation in the second action mode.

[0514] Furthermore, in the eighth embodiment of this invention, based on any one of the first to seventh embodiments described above, the excavator, while the lower traveling body is operating in the first operating mode, will not move the lower traveling body if only one of the first pedal and the second pedal is operated and the rate of increase in the operation amount is greater than or equal to a predetermined first threshold. The first threshold is, for example, the threshold Th1.

[0515] Therefore, for example, even if the operator mistakenly believes it is in the second action mode when the lower walking body is in the first action mode, and forcefully depresses either the first or second pedal, it can prevent the lower walking body from pivoting against the operator's intention. Thus, by preparing multiple lower walking body action modes, excavators can improve the operator's ease of operation while ensuring the excavator's safety.

[0516] Furthermore, in the ninth embodiment of this invention, based on any one of the first to eighth embodiments described above, the excavator may prevent the lower walking body from moving when, while the lower walking body is operating in the second operation mode, both the first pedal and the second pedal are operated and the rate of increase in the operation amount exceeds a predetermined second threshold. The second threshold is, for example, the aforementioned threshold Th2.

[0517] Therefore, for example, even if the lower walking mechanism is in the second walking mechanism mode, but the operator mistakenly believes it is in the first mode and forcefully depresses the first and second pedals, it can prevent the lower walking mechanism from moving contrary to the operator's intention. Thus, by preparing multiple lower walking mechanism modes, excavators can improve the operator's ease of operation while ensuring the excavator's safety.

[0518] Furthermore, in the tenth embodiment of this invention, based on any of the first to ninth embodiments described above, the excavator may include a third input unit for receiving input from the operator. The third input unit is, for example, the input device 52 described above. Moreover, the excavator may also, when the lower traveling body is operating in the second operating mode, if it receives input from the operator through the third input unit, operate a function that maintains the state of driving both the first and second actuators according to the operating state of either the first or second pedal when the input is received through the third input unit. This function is, for example, the automatic cruise function described above.

[0519] Therefore, excavators can maintain a relatively constant movement of their lower walking mechanism without relying on operator pedal operation. This improves operator convenience.

[0520] Furthermore, in the 11th embodiment of this invention, based on any one of the 1st to 10th embodiments described above, the status of the function being in operation can be communicated to the vicinity of the excavator.

[0521] Therefore, the excavator can notify those around it that its function of maintaining a relatively constant walking motion of the undercarriage without relying on the operator's pedal operation is in operation. Thus, for example, the excavator can prevent those around it from visually recognizing that the operator in the cab is not using pedals or levers, and mistakenly predicting that the excavator has stopped.

[0522] Furthermore, in the 12th embodiment of this invention, based on any of the 1st to 11th embodiments described above, the selection status of the operation mode of the lower walking body is notified to the vicinity of the excavator.

[0523] Therefore, the excavator can inform those around it about the setting status of the movement mode of its lower walking mechanism. Thus, the excavator can, for example, prevent those around it from mistakenly predicting the excavator's direction of travel and acting accordingly based on the operator's pedal inputs from the cab.

[0524] Furthermore, in the 13th embodiment of this invention, based on any one of the 1st to 12th embodiments described above, the excavator can be matched with the timing of the start of the excavator's operation, the current operator can be determined from a plurality of pre-registered users, and the operation mode of the lower walking body can be switched to the operation mode that is pre-associated with the user determined to be the current operator.

[0525] Therefore, excavators can improve the convenience for operators.

[0526] Furthermore, in the 14th embodiment of this invention, based on any one of the 1st to 13th embodiments described above, the excavator may include a second input unit and a display unit. The second input unit is, for example, the input device 52A described above. The display unit is, for example, the display device 50 described above. Specifically, the second input unit can accept input for switching the operation mode of the lower walking body. Moreover, the display unit may display a screen for the operator to approve the switching of the lower walking body's operation mode when the second input unit receives input for switching the operation mode of the lower walking body. The screen is, for example, the one described above. Figure 11 Scene 44.

[0527] Therefore, excavators can prevent situations where operators mistakenly set the movement mode of the lower walking parts.

[0528] Furthermore, in the 15th embodiment of this invention, a remote operation support system can be provided to support the remote operation of an excavator, the excavator having: a lower traveling body including a pair of first and second tracks; an upper slewing body rotatably mounted on the lower traveling body; a driver's cab disposed on the upper slewing body; a first actuator driving the first track; and a second actuator driving the second track. The remote operation support system is, for example, the aforementioned remote operation support system SYS. The excavator is, for example, the aforementioned excavator 100. The lower traveling body is, for example, the aforementioned lower traveling body 1. The first and second tracks are, for example, the aforementioned left track 1C and right track 1C. The upper slewing body is, for example, the aforementioned upper slewing body 3. The driver's cab is, for example, the aforementioned driver's cab 10. The first and second actuators are, for example, the aforementioned travel hydraulic motor 1ML and travel hydraulic motor 1MR. Specifically, the remote operation support system includes a driver's seat and a pedal device. The driver's seat is, for example, the driver's seat DS described above. The pedal device is, for example, the pedal device 42C described above. More specifically, the driver's seat is located outside the excavator and allows the operator to sit. The outside of the excavator is, for example, the remote control cab RC described above. Furthermore, the pedal device includes a first pedal and a second pedal, allowing the operator seated in the driver's seat to operate the equipment using their feet. The first pedal and the second pedal are the left and right pedals in the pedal device 42C. Furthermore, the remote operation support system can selectively switch the operation mode of the lower walking body, including a first operation mode and a second operation mode. The first operation mode is, for example, the normal walking mode described above. The second operation mode is, for example, the single-pedal mode described above. Furthermore, in the first operation mode, the remote operation support system drives the first actuator according to the operation of the first pedal and drives the second actuator according to the operation of the second pedal. Furthermore, in the second operation mode, the remote operation support system drives both the first actuator and the second actuator according to the operation of either the first pedal or the second pedal.

[0529] Therefore, a remote operator outside the excavator can move the lower walking mechanism by operating only one of the left or right pedals while the lower walking mechanism is in its second operating mode. Thus, the excavator achieves improved ease of operation through a simple structure.

[0530] Furthermore, the remote operation support system, based on the aforementioned method 15, can also achieve the same method as methods 2 to 14 regarding the excavator.

[0531] Thus, the same effect as methods 2 to 14 above is achieved.

[0532] 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.

Claims

1. An excavator, comprising: The lower running gear includes a pair of first and second tracks on the left and right sides; The upper rotating body is mounted on the lower walking body and rotates freely. The cockpit is located on the upper rotating body; The first actuator drives the first track; The second actuator drives the second track; A driver's seat, located in the cockpit, is provided for the operator to sit in; and The pedal device includes a first pedal and a second pedal, which can be operated by the operator seated in the driver's seat using their feet. The lower walking body can selectively switch between two motion modes, including a first motion mode and a second motion mode. In the first operating mode, the first actuator is driven according to the operation of the first pedal, and the second actuator is driven according to the operation of the second pedal. In the second operating mode, the first actuator and the second actuator are driven according to the operation of either the first pedal or the second pedal.

2. The excavator according to claim 1, wherein, When the second action mode is in operation, the operator is notified in a way that is different from the first action mode.

3. The excavator according to claim 1 or 2, comprising: The first input section accepts input from the operator. When the lower walking body is in motion in the second operation mode, the first actuator and the second actuator are driven according to the operation of either the first pedal or the second pedal, and are adjusted according to the input to the first input unit so that at least one of the operating speed and operating direction of the first actuator and the second actuator is different.

4. The excavator according to claim 1 or 2, comprising: The second input unit accepts input for switching the movement mode of the lower walking body. Even if the second input unit receives an input to switch the operation mode of the lower walking body while the pedal device is in operation or the lower walking body is in motion, the operation mode of the lower walking body will not be switched.

5. The excavator according to claim 1 or 2, wherein, The output characteristics of the first actuator and the second actuator relative to the pedal device are different when the lower walking body moves in the first operating mode and when the lower walking body moves in the second operating mode.

6. The excavator according to claim 5, wherein, When the lower walking body moves in the second operating mode, compared with when the lower walking body moves in the first operating mode, the increase in the output of the first actuator and the second actuator relative to the increase in the amount of operation of the pedal device is more gradual.

7. The excavator according to claim 5, wherein, When the lower walking body moves in the second operating mode, the maximum output of the first actuator and the second actuator relative to the operation amount of the pedal device is smaller compared to when the lower walking body moves in the first operating mode.

8. The excavator according to claim 1 or 2, wherein, In the first operating mode, when the lower walking body is in operation, if only one of the first pedal and the second pedal is operated, and the rate of increase of the operation amount is greater than or equal to a predetermined first threshold, the lower walking body will not be made to move.

9. The excavator according to claim 1 or 2, wherein, In the second action mode, when the lower walking body is in motion, if both the first pedal and the second pedal are operated and the rate of increase in the operation amount is greater than or equal to a predetermined second threshold, the lower walking body will not be moved.

10. The excavator according to claim 1 or 2, comprising: The third input section accepts input from the operator. In the second operating mode, when the lower walking body is in motion, when an input from the operator is received through the third input unit, the function of driving the first actuator and the second actuator is maintained according to the operating state of either the first pedal or the second pedal when the input is received through the third input unit, or the walking state of the lower walking body when the input is received through the third input unit.

11. The excavator according to claim 10, wherein, The function is being used to notify the area around the excavator.

12. The excavator according to claim 1 or 2, wherein, The selected motion mode of the lower walking body is communicated to the vicinity of the excavator.

13. The excavator according to claim 1 or 2, wherein, Matching the timing of the start of the excavator's operation, the current operator is determined from a pool of pre-registered users, and the movement mode of the lower walking body is switched to the movement mode pre-associated with the user determined as the current operator.

14. The excavator according to claim 1 or 2, comprising: The second input unit accepts input for switching the movement mode of the lower walking body; and When the display unit receives an input to switch the operation mode of the lower walking body through the second input unit, it displays a screen for the operator to agree to switch the operation mode of the lower walking body.

15. A remote operation support system for supporting remote operation of an excavator, the excavator comprising: a lower traveling body including a pair of first and second tracks; an upper slewing body rotatably mounted on the lower traveling body; a driver's cab disposed on the upper slewing body; a first actuator for driving the first track; and a second actuator for driving the second track. The remote operation support system has the following features: A driver's seat, located outside the excavator, is provided for the operator to sit in; and The pedal device includes a first pedal and a second pedal, which can be operated by the operator seated in the driver's seat using their feet. The lower walking body can selectively switch between two motion modes, including a first motion mode and a second motion mode. In the first operating mode, the first actuator is driven according to the operation of the first pedal, and the second actuator is driven according to the operation of the second pedal. In the second operating mode, the first actuator and the second actuator are driven according to the operation of either the first pedal or the second pedal.

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