Work machine

Abstract

To improve the safety and operability of operations performed by operators.SOLUTION: A work machine has a lower running body, an upper rotating body which is mounted on the lower running body and can rotate freely, a cab which is mounted on the upper rotating body, and an operating lever which is disposed in the cab and has an operating member for setting a target construction surface.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to work machines. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known a shovel that moves a predetermined working portion of a bucket along a preset target construction surface in accordance with the operation of an arm cylinder. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 095935 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional excavators, the operating member for changing the preset target construction surface is located away from the seat on which the operator sits. Therefore, when the operator wants to change the target construction surface, the operator must take his / her hands off the operating lever and change his / her position, which is cumbersome and may lead to unexpected erroneous operation.

[0005] The disclosed technology aims to improve the safety and operability of operations by an operator. [Means for solving the problem]

[0006] A work machine according to an embodiment of the present invention is a work machine having a lower running body, an upper rotating body mounted on the lower running body so as to be freely rotatable, a driver's cab mounted on the upper rotating body, and an operating lever disposed within the driver's cab and provided with an operating member for setting a target construction surface. Effect of the Invention

[0007] This improves the safety and ease of operation of the operator. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of a drive system of a shovel. [Diagram 3] FIG. 2 is a diagram illustrating the interior of a cabin. [Figure 4] 4A and 4B are diagrams illustrating an operating member provided on an operating lever. [Diagram 5] FIG. 13 is a diagram showing an example of a setting screen for a target construction surface. [Figure 6] 13 is a flowchart showing a process of a controller. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment will be described with reference to the drawings. In the attached drawings, the X-axis, Y-axis, and Z-axis are mutually orthogonal. Specifically, the X-axis extends along the front-rear axis of the shovel, the Y-axis extends along the left-right axis of the shovel, and the Z-axis extends along the swivel axis of the shovel. In this embodiment, the X-axis and Y-axis extend horizontally, and the Z-axis extends vertically.

[0010] FIG. 1 is a side view of a shovel.

[0011] In the shovel 100 of this embodiment, an operating member for setting a target construction surface is provided on an operating lever inside the cabin 10 described below, making it possible for the operator to set the target construction surface without taking his or her hands off the operating lever.

[0012] The excavator 100 is an example of a work machine, and has a lower traveling body 1, a slewing mechanism 2, and an upper rotating body 3. In the excavator 100, the upper rotating body 3 is rotatably mounted on the lower traveling body 1 via the slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0013] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0014] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest and increases as the boom 4 is raised.

[0015] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). For example, the arm angle is at its minimum when the arm 5 is fully closed, and increases as the arm 5 is opened.

[0016] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 is opened.

[0017] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor, etc.

[0018] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8.

[0019] A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are also collectively referred to as the "cylinder pressure sensors."

[0020] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure").

[0021] The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0022] The upper rotating body 3 is provided with a cabin 10 serving as a driver's cab, and is equipped with a power source such as an engine 11. In addition, a sensor for detecting the amount of CO2 emissions may be provided near the exhaust mechanism of the engine 11.

[0023] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, an aircraft tilt sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication device T1.

[0024] The upper rotating body 3 may be equipped with a power storage unit that supplies electric power, and a motor generator that generates electric power using the rotational driving force of the engine 11. The power storage unit is, for example, a capacitor or a lithium ion battery. The motor generator may function as an electric motor to drive a mechanical load, or may function as a generator to supply electric power to an electric load.

[0025] The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is configured with a computer including a CPU, RAM, ROM, etc. The various functions of the controller 30 are realized, for example, by the CPU executing a program stored in the ROM. The various functions may include, for example, at least one of a machine guidance function that guides (guides) the manual operation of the shovel 100 by the operator, and a machine control function that automatically assists the manual operation of the shovel 100 by the operator.

[0026] The machine control function of this embodiment is a function that automatically operates the boom 4 and the bucket 6 so that the target construction surface and the working portion of the bucket coincide with each other when the operator is manually operating the arm 5.

[0027] The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line.

[0028] The input device 42 is configured to enable an operator to input various information to the controller 30. The input device 42 includes at least one of a touch panel, a knob switch, a membrane switch, and the like, which are installed in the cabin 10.

[0029] The audio output device 43 is configured to output audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information by audio in response to an audio output command from the controller 30.

[0030] The storage device 47 is configured to store various information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the shovel 100, or may store information acquired via various devices before the operation of the shovel 100 is started.

[0031] Specifically, the storage device 47 may store information including image data captured by a plurality of imaging devices (cameras) arranged in the cabin 10 and the detection results of the operator's state by the controller 30.

[0032] Further, the storage device 47 may store data on a target construction surface acquired via, for example, the communication device T1, etc. The target construction surface may be set by the operator of the shovel 100, or may be set by a construction manager, etc.

[0033] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device that detects the orientation of the upper rotating body 3. The orientation detection device may be a direction sensor attached to the upper rotating body 3.

[0034] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle about the longitudinal axis and the lateral inclination angle about the lateral axis of the upper rotating body 3 with respect to a virtual horizontal plane. The longitudinal axis and the lateral axis of the upper rotating body 3 are perpendicular to each other at, for example, the shovel center point, which is a point on the rotation axis of the shovel 100.

[0035] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. The rotation angular velocity sensor S5 may be configured to detect or calculate the rotation angle of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

[0036] The imaging device S6 is an example of a spatial recognition device, and is configured to acquire an image of the periphery of the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, a right camera S6R that images the space to the right of the shovel 100, and a rear camera S6B that images the space behind the shovel 100.

[0037] Furthermore, the imaging device S6 of the present embodiment may include a plurality of imaging devices provided in the cabin 10. The arrangement of the plurality of imaging devices provided in the cabin 10 will be described in detail later.

[0038] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs a captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance image camera, or the like. The imaging device S6 may be replaced with other spatial recognition devices such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another spatial recognition device and a camera.

[0039] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side of the boom 4. The left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0040] The communication device T1 controls communication with an external device outside the shovel 100. In this embodiment, the communication device T1 controls communication with the external device via a satellite communication network, a mobile phone communication network, an Internet network, or the like. The external device may be, for example, a management device installed in an external facility, or a support device such as a smartphone carried by a worker in the vicinity of the shovel 100.

[0041] The shovel 100 may transmit image data captured by the imaging device S6 to an external device such as a management device via the communication device T1. With this configuration, a worker or manager outside the shovel 100 can visually check the state of the periphery of the shovel 100 and the state of the operator through a display device such as a monitor connected to the management device or support device.

[0042] Next, the configuration of the drive system of the shovel 100 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the configuration of the drive system of the shovel. In Fig. 2, the mechanical power system, high-pressure hydraulic lines, pilot lines, and electric control system are indicated by double lines, thick solid lines, dashed lines, and dotted lines, respectively.

[0043] The drive system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a proportional valve 31, a work mode selection dial 32, etc.

[0044] The engine 11 is a driving source of the excavator. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to input shafts of a main pump 14 and a pilot pump 15.

[0045] The main pump 14 supplies hydraulic oil via a high-pressure hydraulic line to the control valve 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0046] The regulator 13 controls the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0047] The pilot pump 15 supplies hydraulic oil via a pilot line to various hydraulic control devices including the operating device 26 and the proportional valve 31. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump.

[0048] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator. The control valve 17 includes control valves 171-176 and a bleed valve 177. The control valve 17 can selectively supply the hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171-176.

[0049] The control valves 171-176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 1A, a right traveling hydraulic motor 1B, and a swing hydraulic motor 2A.

[0050] The bleed valve 177 controls the flow rate of hydraulic oil (hereinafter referred to as the “bleed flow rate”) that flows to the hydraulic oil tank without passing through the hydraulic actuator, out of the hydraulic oil discharged by the main pump 14. The bleed valve 177 may be installed outside the control valve 17.

[0051] The operating device 26 is a device used by an operator to operate the hydraulic actuators. In this embodiment, the operating device 26 supplies the hydraulic oil discharged by the pilot pump 15 to pilot ports of the control valves corresponding to each of the hydraulic actuators via a pilot line. The pressure of the hydraulic oil supplied to each of the pilot ports (pilot pressure) is a pressure according to the operation direction and operation amount of a lever or pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators.

[0052] The operation device 26 of this embodiment includes an operation lever described later. The operation lever of this embodiment is provided with an operation member for, for example, setting a new target construction surface referred to in the above-mentioned machine control function, or changing the setting.

[0053] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0054] The operating pressure sensor 29 detects the operation content of the operator using the operating device 26. In this embodiment, the operating pressure sensor 29 detects the operation direction and operation amount of the lever or pedal of the operating device 26 corresponding to each hydraulic actuator in the form of pressure (operating pressure), and outputs the detected value to the controller 30. The operation content of the operating device 26 may be detected using a sensor other than the operating pressure sensor.

[0055] The controller 30 is a control unit that controls the entire shovel 100. The functions of the controller 30 in this embodiment will be described in detail later.

[0056] The proportional valve 31 operates in response to a control command output by the controller 30. In this embodiment, the proportional valve 31 is a solenoid valve that adjusts the secondary pressure introduced from the pilot pump 15 to a pilot port of a bleed valve 177 in the control valve 17 in response to a current command output by the controller 30. The proportional valve 31 operates such that, for example, the larger the current command, the larger the secondary pressure introduced to the pilot port of the bleed valve 177 becomes.

[0057] The work mode selection dial 32 is a dial for the operator to select a work mode, and allows switching between a plurality of different work modes. In addition, data indicating the setting state of the engine speed and the setting state of the acceleration / deceleration characteristics according to the work mode is constantly transmitted from the work mode selection dial 32 to the controller 30.

[0058] The work mode selection dial 32 allows the work mode to be switched among a plurality of stages including the SP mode, the H mode, the A mode, and the IDLE mode. In other words, the work mode selection dial 32 of the present embodiment allows the setting conditions of the shovel 100 to be switched.

[0059] The SP mode is an example of the first mode, and the H mode is an example of the second mode. Fig. 2 shows a state in which the SP mode is selected by the work mode selection dial 32.

[0060] The SP mode is a work mode selected when the amount of work is to be prioritized, and uses the highest engine speed and the highest acceleration / deceleration characteristics. The H mode is a work mode selected when both the amount of work and fuel economy are to be achieved, and uses the second highest engine speed and the second highest acceleration / deceleration characteristics.

[0061] The A mode is a work mode selected when it is desired to operate the excavator with low noise by slowing down the acceleration and deceleration characteristics of the hydraulic actuator corresponding to the lever operation, improving accurate operability and safety, and using the third highest engine speed and the third highest acceleration and deceleration characteristics. The IDLE mode is a work mode selected when it is desired to put the engine 11 into a low idling state, using the lowest engine speed and the lowest acceleration and deceleration characteristics.

[0062] Here, when the operation of each actuator is stopped while the engine is running in each work mode (high idling state), the controller 30 causes the engine 11 to maintain the rotation speed set for each work mode. If the high idling state continues for a predetermined time, the controller 30 may switch the engine rotation speed to a low idling state. The idling state includes a high idling state and a low idling state.

[0063] In the above description, the names of the stages of the work mode are SP mode, H mode, A mode, and IDLE mode, but the names of the stages are not limited to these. For example, the names of the SP mode, H mode, and A mode may be POWER mode, STD mode, ECO mode, and IDLE mode (low idling state), respectively. The work mode is not limited to this embodiment, and may be set to five or more stages.

[0064] The engine 11 is controlled to a constant engine speed at the work mode set by the work mode selection dial 32. In addition, the opening of the bleed valve 177 is controlled based on the bleed valve opening characteristics of the work mode set by the work mode selection dial 32.

[0065] In this embodiment, each of the above-mentioned work modes may be expressed as a setting condition of the excavator 100, and information indicating the setting condition may be expressed as setting condition information. The setting condition information is information in which a designated item is associated with a value of the item. The designated item is, for example, an item indicating the state of the engine speed corresponding to each work mode, or an item indicating the state of the acceleration / deceleration characteristics. Therefore, the setting condition information in this embodiment includes an item and a value of the item indicating the state of the engine speed corresponding to each work mode, and an item and a value of the item indicating the state of the acceleration / deceleration characteristics.

[0066] 2, the ECO mode is set as one of the modes selected by the work mode selection dial 32, but an ECO mode switch may be provided separately from the work mode selection dial 32. In this case, the engine speed may be adjusted according to each mode selected using the work mode selection dial 32, and when the ECO mode switch is turned ON, the acceleration / deceleration characteristics corresponding to each mode of the work mode selection dial 32 may be changed gradually.

[0067] The work mode may also be changed by voice input. In this case, the shovel is provided with a voice input device that inputs the voice uttered by the operator to the controller 30. The controller 30 is also provided with a voice recognition unit that recognizes the voice input by the voice input device.

[0068] In this manner, the work mode is selected by a mode selection section such as the work mode selection dial 32, the ECO mode switch, or a voice recognition section.

[0069] Next, a description will be given of the functions of the controller 30 of this embodiment. The controller 30 of this embodiment includes an autonomous control unit 301, a display control unit 302, and a setting unit 303.

[0070] The autonomous control unit 301 of this embodiment is configured to autonomously operate the shovel 100. In other words, the autonomous control unit 301 realizes a machine control function. In this embodiment, when a predetermined start condition is satisfied, a predetermined portion of the shovel 100 is moved along a target construction surface.

[0071] Furthermore, the autonomous control unit 301 changes or sets the target construction surface according to a setting instruction of the target construction surface from the setting unit 303. Specifically, when the target construction surface is set in advance, the autonomous control unit 301 accepts a change of the target construction surface according to a setting instruction from the setting unit 303. Furthermore, when the target construction surface is not set, the autonomous control unit 301 sets the target construction surface according to a setting instruction from the setting unit 303. In the excavator 100 of this embodiment, the target construction surface may or may not be set in advance for the autonomous control unit 301.

[0072] The predetermined start condition is that a switch for enabling the machine control function is pressed. In this embodiment, when the operating device 26 is operated with the switch for enabling the machine control function pressed, the shovel 100 is operated autonomously so that a predetermined portion of the shovel 100 moves along a target trajectory. The predetermined portion in this embodiment is, for example, a predetermined point on the back surface of the bucket 6.

[0073] The display control unit 302 of this embodiment controls the display on the display device 40. Specifically, the display control unit 302 causes the display device 40 to display a setting screen for a target construction surface in the machine control function realized by the autonomous control unit 301 in response to an operation by an operation member provided on the operation device 26.

[0074] The setting unit 303 sets the target surface set on the setting screen displayed by the display control unit 302 for the autonomous control unit 301 .

[0075] Next, the interior of the cabin 10 of this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram illustrating the interior of the cabin.

[0076] Fig. 3 shows the state seen from the driver's seat in the cabin 10 as viewed forward. As shown in Fig. 3, a driver's seat 90 is installed in the cabin 10, and has a left operation lever 26L, a right operation lever 26R, a travel lever 26B, pedals 26C, and the like. A left console 90L is installed on the left side of the driver's seat 90, and a right console 90R is installed on the right side of the driver's seat 90. The left operation lever 26L is attached to the upper front end of the left console 90L, and the right operation lever 26R is attached to a position on the right console 90R corresponding to the left operation lever 26L. A main monitor 40M, which is one of the display devices 40, is attached to the upper front end of the right console 90R.

[0077] In this embodiment, a rear monitor 40B is disposed in the upper portion of the field of view as if it were a rear-view mirror. The rear monitor 40B is attached to the upper portion of the right pillar 111R so as to be disposed along the front ceiling frame 113. The rear monitor 40B may be attached to the upper portion of the left pillar 111L so as to be disposed along the front ceiling frame 113. The front ceiling frame 113, the left pillar 111L, and the right pillar 111R are part of a frame body that constitutes the cabin 10.

[0078] Furthermore, a left operation lever 26L and a right operation lever 26R are provided on either side of the driver's seat 90 in the center of the cabin 10. Therefore, the operator can move the bucket 6 to a desired position and perform work by sitting in the driver's seat 90 and operating the left operation lever 26L with the left hand and the right operation lever 26R with the right hand.

[0079] The left operation lever 26L of this embodiment is provided with a switch NS and an operation member 70. The switch NS is an operation member for switching between enabling and disabling the machine control function. The operation member 70 is an operation member for setting a target construction surface.

[0080] In this embodiment, by providing the operation member 70 on the left operation lever 26L, the operator can set the target construction surface while gripping the left operation lever 26L. Therefore, in this embodiment, the operator does not need to change his / her body position, and can easily set the target construction surface while suppressing the occurrence of erroneous operation. Furthermore, in this embodiment, by providing the operation member 70 on the upper part of the left operation lever 26L, an example of the operation related to the machine control function can be concentrated on the left operation lever 26L arranged on the left side of the driver's seat, and operability for the operator can be improved.

[0081] In this embodiment, when the operator grips the left operation lever 26L, if the switch NS is pressed and a certain force is applied, the machine control function is enabled (ON), and if the force applied to the switch NS becomes smaller than the certain force, the machine control function is disabled (OFF). Details of the operation member 70 will be described later.

[0082] An image display section 41M and a switch panel 42M of a main monitor 40M are provided on the right front side of the operator's seat 90. The operator of the shovel can grasp the operating state of the shovel by looking at the image display section 41M.

[0083] In the example of Fig. 3, the image display unit 41M displays an overhead image. The overhead image is an example of a composite image generated based on images captured by the rear camera S6B and the left and right side cameras. Specifically, the overhead image is a viewpoint conversion image that shows the surroundings of the excavator as viewed from a virtual viewpoint directly above.

[0084] In this embodiment, a setting screen for a target construction surface is displayed on the image display section 41M in response to the operation of the operating member 70. The setting screen for the target construction surface will be described in detail later.

[0085] A selection dial 52 and an operation device 53 are provided on the left console 90L. When the operator wishes to change the range displayed on the left monitor that displays an image of the left rear of the excavator, he or she operates the selection dial 52 to select the left camera S6L. Then, the operator operates the operation device 53 to change the direction of the left camera S6L, thereby changing the range displayed on the left monitor. The same applies when changing the range displayed by the left rear mirror 10c.

[0086] Next, the operating member 70 will be described with reference to Fig. 4. Fig. 4 is a diagram illustrating the operating member provided on the operating lever.

[0087] In the shovel 100 of this embodiment, a decision button 70a, a dial key 70b, a cross key 70c, a mute button 71, and a horn button 72 are provided as operation members 70 on the upper part of the left operation lever 26L.

[0088] The decision button 70a is provided at the center of the cross key 70c arranged inside the dial key 70b, and is an operating member for adjusting the position (origin) of a predetermined part of the bucket 6 that serves as a reference when setting a target construction surface. In this embodiment, when the decision button 70a is pressed and held, an adjustment mode for determining the origin is entered. Then, when the decision button 70a is pressed after entering the origin adjustment mode, the position of the predetermined part of the bucket 6 at that time is set as the origin when setting a target construction surface.

[0089] The dial key 70b is an operating member for changing the angle of the slope of the target construction surface on the setting screen displayed on the image display unit 41M. In this embodiment, the operator rotates the dial key 70b to change the angle of the slope displayed on the setting screen.

[0090] The cross key 70c is disposed inside the dial key 70b, and is an operating member for moving the target construction surface in the vertical and horizontal directions on the setting screen displayed on the image display unit 41M. In this embodiment, the position of the target construction surface displayed on the setting screen is moved in the vertical or horizontal directions by the operator operating the cross key 70c.

[0091] The mute button 71 is an operation button for preventing sound from being output from the sound output device 43 etc. The horn button 72 is an operation member for causing the sound output device 43 to output a warning sound etc.

[0092] In this embodiment, by providing the operation member 70 on the upper part of the operation lever in this way, the operator can easily operate the operation member 70 with his / her thumb while gripping the operation lever. Also, in this embodiment, by separately providing an operation member for determining the origin, an operation member for moving the target construction surface up, down, left, and right, and an operation member for changing the angle of the slope of the target construction surface, the operator can perform the operation he / she intends with each individual operation member, and the occurrence of operation errors can be suppressed.

[0093] The arrangement of the decision button 70a, the dial keys 70b, the cross key 70c, the mute button 71, and the horn button 72 is not limited to the example shown in FIG. 4. The cross key 70c may be arranged outside the dial key 70b. The decision button 70a may be provided as an operation member separate from the cross key 70c. The decision button 70a, the dial keys 70b, the cross key 70c, the mute button 71, and the horn button 72 may be arranged on different operation levers on the left and right. In that case, the decision button 70a, the dial keys 70b, and the cross key 70c may be arranged on the upper part of the right operation lever 26R, and the mute button 71 and the horn button 72 may be arranged on the upper part of the right operation lever 26R.

[0094] Furthermore, the decision button 70a, dial key 70b, and cross key 70c as the operation members 70 may be provided in a location other than the upper part of the left operation lever 26L. The decision button 70a, dial key 70b, and cross key 70c may be provided in any location on the left operation lever 26L as long as the operator can operate them without releasing his / her hand from the left operation lever 26L.

[0095] Next, a setting screen for a target construction surface in this embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the setting screen for a target construction surface.

[0096] 5 may be displayed on the display device 40 by the display control unit 302 when, for example, the operator presses and holds the decision button 70a to set the origin adjustment mode. Specifically, the setting screen 50 may be displayed on the image display unit 41M.

[0097] On the setting screen 50, images 4g, 5g, and 6g of the boom 4, arm 5, and bucket 6, respectively, a display area 61, an image 62 indicating the origin, and an image 63 of a line indicating a target construction surface are displayed.

[0098] The slope angle and height deviation of the current target construction surface are displayed in the display area 61. The height deviation is, for example, the distance between a predetermined portion (the tip of the bucket 6) and the target construction surface.

[0099] Image 62 shows the position of the tip of the bucket 6. In the example of Fig. 5, image 62a is an image showing the position of the origin. In this embodiment, in the origin adjustment mode, when the operator performs an operation to bring the position of the tip of the bucket 6 closer to the target construction surface and then presses the cross key 70c, the current position of the tip of the bucket 6 is set as the origin.

[0100] 5, an image 63a shows a target construction surface that is set in correspondence with the origin shown in the image 62. In FIG.

[0101] The target construction surface indicated by the image 63a may be a target construction surface that has been set in advance in the autonomous control unit 301. In this embodiment, when the target construction surface is not set in the autonomous control unit 301, the display control unit 302 may display an initial image of the target construction surface as the image 63a at the time when the origin is determined.

[0102] The initial image of the target construction surface may be, for example, an image of a line inclined at a preset angle (initial value) with respect to the horizontal direction in the screen. Also, the initial image of the target construction surface may be set according to the captured image data by capturing an image of the terrain around the shovel 100 using the imaging device S6 as a space recognition device.

[0103] The images 63b and 63c are images showing the target construction surface when the image 63a is rotated by operating the dial key 70b, and the image 63d is an image showing the target construction surface when the image 62b is moved by operating the cross key 70c.

[0104] In this embodiment, the operator can change the angle and position of the slope of the target construction surface by operating the dial key 70b and the cross key 70c in this manner.

[0105] In this embodiment, for example, when an operation of pressing the decision button 70a is performed after completing the change in the angle of the slope of the target construction surface, the target construction surface may be set in the autonomous control unit 301.

[0106] The above-mentioned operation of the operating member 70 may be performed when the machine control function is enabled, or may be performed when the machine control function is disabled.

[0107] Next, the processing of the controller 30 of this embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the processing of the controller. Fig. 6 shows the processing for setting a target construction surface.

[0108] The controller 30 of this embodiment determines whether or not the origin adjustment mode has been set (step S601). Specifically, the controller 30 determines whether or not the enter button 70a has been pressed and held by the operator.

[0109] In step S601, if the origin adjustment mode is not selected, the controller 30 waits. In step S601, if the origin adjustment mode is selected, the controller 30 causes the display control unit 302 to display a setting screen for the target construction surface on the display device 40 (step S602).

[0110] Next, the controller 30 determines whether or not the origin has been set (step S603). In other words, the controller 30 determines whether or not the operator has operated the decision button 70a after moving the position of the tip of the bucket 6.

[0111] In step S603, if the origin has not been determined, the controller 30 waits.

[0112] In step S603, when the origin is determined, the controller 30 judges whether or not the target construction surface is set (step S604). Specifically, the controller 30 judges whether or not the angle, height, etc. of the slope of the target construction surface are set by operating the dial key 70b or the cross key 70c.

[0113] In step S604, if the target construction surface is not set, the controller 30 waits.

[0114] In step S604, when the target construction surface is set, the controller 30 sets the set target construction surface as a new target construction surface in the autonomous control unit 301 (step S605).

[0115] When a new target construction surface is set in this manner, the autonomous control unit 301 of this embodiment uses the machine control function to move the tip of the bucket 6 along the newly set target construction surface. Therefore, in this embodiment, for example, even if a target construction surface has not been set in advance, the autonomous control unit 301 can control the operation of the attachment based on the target construction surface set by the operator at the work site.

[0116] Thus, according to this embodiment, the operator of the shovel 100 can perform an operation to change a previously set target construction surface or an operation to set a new target construction surface while holding the operation lever.

[0117] Therefore, according to this embodiment, when performing an operation related to setting the target construction surface, the operator does not need to take his / her hands off the operation lever and change his / her body position, and can easily perform the operation related to setting the target construction surface. In addition, according to this embodiment, since the operator does not need to change his / her body position, the occurrence of unexpected erroneous operation by the operator can be suppressed, and the safety and operability of the operation by the operator can be improved.

[0118] The function of the controller 30 of the shovel 100 of this embodiment may be provided by a control unit provided in a remote control room for remotely operating the shovel 100. Also, the operating member 70 provided on the operating lever of the shovel 100 of this embodiment may be provided on the operating lever of an operating device provided in the remote control room.

[0119] In this way, even when the shovel 100 is remotely operated, the target construction surface can be easily set or changed from the remote operation room.

[0120] In addition, in this embodiment, the shovel 100 is taken as an example of a work machine, but the work machine is not limited to the shovel 100. The work machine in this embodiment may be a work machine having a backhoe or a wheel loader.

[0121] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise. [Explanation of symbols]

[0122] 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 30 Controller 70 Operating member 100 Shovel

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; A cab mounted on the upper rotating body; a control lever disposed in the operator's cab and provided with an operating member for setting a target construction surface.

2. 2. The work machine according to claim 1, wherein the operating levers are disposed on both the left and right sides of a driver's seat provided in the driver's cab, and the operating member is disposed above the operating lever disposed on the left side of the driver's seat.

3. The operating member is A decision button for deciding a reference position of a predetermined portion of the end attachment when performing an operation of moving the predetermined portion along the target construction surface; A cross key for moving the target construction surface up, down, left and right; 2. The work machine according to claim 1, further comprising a dial key for changing an angle of a slope on the target construction surface.

4. 4. The work machine according to claim 3, further comprising a control unit which realizes a machine control function for moving the end attachment so as to follow a target construction surface set by the operating member.

Images