Shovel, and operation control system of shovel

Abstract

To improve stability of operation of an attachment while a shovel travels.SOLUTION: A shovel includes a lower traveling body, an upper turning body which is turnable to the lower traveling body, an attachment, a first hydraulic pump, a second hydraulic pump, a first travel hydraulic motor which is driven by hydraulic oil discharged from the first hydraulic pump, a second travel hydraulic motor which is driven by hydraulic oil discharged from the second hydraulic pump, a travel rectilinear valve capable of switching a supply path to supply the hydraulic oil discharged from the first hydraulic pump to the second travel hydraulic motor, and a control device enabling control to operate the attachment according to design information indicating the shape of a construction object, wherein the control device suppresses control to switch the supply path to supply the hydraulic oil discharged from the first hydraulic pump to the second travel hydraulic motor, in the travel rectilinear valve, while control to operate the attachment according to the design information is performed.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a shovel and an operation control system for a shovel. [Background technology]

[0002] 2. Description of the Related Art A conventional shovel is known that can operate an attachment so that the tip of a bucket is aligned with a target construction surface (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 101006 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while the shovel is traveling, the hydraulic path is changed by switching the traveling straight valve, so there is a possibility that the operation of the attachment will not be stable when operating the attachment to follow the target construction surface.

[0005] One aspect of the present invention provides a technology for improving the stability of an attachment's movement even while the shovel is traveling when the attachment's movement is controlled so as to follow a target construction surface. [Means for solving the problem]

[0006] According to one embodiment of the present invention, there is provided an excavator comprising a lower traveling body, an upper rotating body capable of rotating relative to the lower traveling body, an attachment, a first hydraulic pump, a second hydraulic pump, a first traveling hydraulic motor driven by hydraulic oil discharged from the first hydraulic pump, a second traveling hydraulic motor driven by hydraulic oil discharged from the second hydraulic pump, a straight traveling valve capable of switching a supply path so as to supply the hydraulic oil discharged from the first hydraulic pump to the second traveling hydraulic motor, and a control device capable of controlling the attachment to operate in accordance with design information representing a shape of a work target, wherein the control device suppresses control of the straight traveling valve to switch the supply path so as to supply the hydraulic oil discharged from the first hydraulic pump to the second traveling hydraulic motor while control is being performed to operate the attachment in accordance with the design information. Effect of the Invention

[0007] According to one aspect of the present invention, by suppressing switching of the supply path by the straight travel valve, the stability of the operation of the attachment is improved even while the shovel is traveling. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a shovel according to a first embodiment. [Diagram 2] 1 is a diagram showing a configuration example of a hydraulic system mounted on a shovel according to a first embodiment. FIG. [Diagram 3] FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of a left traveling hydraulic motor and a right traveling hydraulic motor according to the first embodiment. [Figure 4] FIG. 1 is a diagram illustrating a configuration example of a controller of a shovel according to a first embodiment. [Diagram 5] 4 is a flowchart showing a control procedure performed by a controller according to the first embodiment. [Figure 6] FIG. 4 is a diagram showing a first control performed by the controller according to the first embodiment when an operation signal for moving the shovel straight backward is received. [Figure 7]FIG. 4 is a diagram showing control performed by the controller according to the first embodiment when an operation signal for moving the shovel straight backward and an operation signal for closing the arm are received. [Figure 8] FIG. 13 is a diagram showing control performed by the controller according to the first embodiment when it receives an operation signal for moving the shovel straight backward, an operation signal for closing the arm, and an operation signal for rotating the upper rotating body. [Figure 9] FIG. 11 is a schematic diagram illustrating an example of a remote control system according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The embodiment described below is an example, not a limitation of the invention, and all features and combinations described in the embodiment are not necessarily essential to the invention. In addition, the same or corresponding components in each drawing are denoted by the same or corresponding reference numerals, and the description may be omitted.

[0010] In the following, in the embodiment of the present invention, an example will be described in which a shovel is used as an example of a work machine, but the present invention is not limited to a shovel. The present invention may be applied to a construction machine, a standard machine, an application machine, a forestry machine, or a conveying machine based on a hydraulic shovel.

[0011] (First embodiment) An overview of a shovel 100 according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a side view of the shovel 100 as a work machine according to this embodiment.

[0012] The excavator 100 in this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 that constitute an attachment (work machine), and a cabin 10.

[0013] The lower traveling body 1 allows the excavator 100 to travel by hydraulically driving a pair of left and right crawlers by traveling hydraulic motors 2ML, 2MR (see FIG. 2 described later). That is, the pair of traveling hydraulic motors 2ML, 2MR drive the lower traveling body 1 (crawlers) as a driven part.

[0014] The upper rotating body 3 is driven by a swing hydraulic motor 2A (see FIG. 2 described later) to swing relative to the lower traveling body 1. In other words, the swing hydraulic motor 2A is a swing drive part that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3.

[0015] The upper rotating body 3 may be electrically driven by an electric motor (hereinafter, "electric motor for rotation") instead of the hydraulic motor for rotation 2A. In other words, the electric motor for rotation is a rotation drive part that drives the upper rotating body 3 as a non-driven part, similar to the hydraulic motor for rotation 2A, and can change the orientation of the upper rotating body 3.

[0016] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 serving as an end attachment is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 constitute an attachment AT, which is an example of an attachment. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which serve as hydraulic actuators, respectively.

[0017] The bucket 6 is an example of an end attachment (work tool) provided at the tip of the arm 5, and specifically, is an excavation bucket, but may be a skeleton bucket or a gravel removal bucket. The bucket 6 may also be equipped with a bucket tilt mechanism.

[0018] The upper rotating body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. An operation device 26, a controller 30, and the like are provided inside the cabin 10. In addition, an imaging device S6 and the like are attached to the upper rotating body 3.

[0019] The imaging device S6 captures images of the periphery of the shovel 100. The imaging device S6 includes a camera S6F that captures an image in front of the shovel 100, a camera S6L that captures an image to the left of the shovel 100, a camera S6R that captures an image to the right of the shovel 100, and a camera S6B that captures an image behind the shovel 100.

[0020] Camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. Camera S6F may also be attached to the outside of the cabin 10, such as to the roof of the cabin 10 or the side of the boom 4. Camera S6L is attached to the left end of the upper surface of the upper rotating body 3, camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0021] The imaging device S6 (cameras S6F, S6B, S6L, and S6R) is, for example, a monocular wide-angle camera having a very wide angle of view. The imaging device S6 may also be a stereo camera or a distance imaging camera. Images captured by the imaging device S6 are input to the controller 30.

[0022] The imaging device S6 as a spatial recognition device may function as an object detection device. In this case, the imaging device S6 may detect an object present around the shovel 100. The object to be detected may include, for example, a person, an animal, a vehicle, a construction machine, a building, a hole, and the like. The imaging device S6 may also calculate the distance from the imaging device S6 or the shovel 100 to the recognized object. The imaging device S6 as an object detection device may include, for example, a stereo camera, a distance image sensor, and the like. The spatial recognition device is, for example, a monocular camera having an imaging element such as a CCD or a CMOS, and outputs the captured image to the display device 60. The spatial recognition device may also be configured to calculate the distance from the spatial recognition device or the shovel 100 to the recognized object. In addition to the imaging device S6, other object detection devices such as, for example, an ultrasonic sensor, a millimeter wave radar, a LIDAR, and an infrared sensor may also be provided as the spatial recognition device. When a millimeter wave radar, ultrasonic sensor, laser radar, or the like is used as a spatial recognition device, a number of signals (laser light, etc.) may be transmitted to an object, and the reflected signals may be received to detect the distance and direction of the object from the reflected signals.

[0023] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0024] The input device 62 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs by the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 62 includes a touch panel or the like mounted on the display of the display device 60 that displays various information images. A signal corresponding to the content of an operation performed on the input device 62 is input to the controller 30.

[0025] The display device 60 is provided at a location where it can be easily viewed by an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device 60 may be connected to the controller 30 via an in-vehicle communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a one-to-one dedicated line.

[0026] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as a terminal, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0027] The controller (control device) 30 is a control device for controlling the shovel 100. For example, the controller 30 is mainly composed of a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage device, various input / output interfaces, etc. The controller 30 realizes various functions by reading out a program from the non-volatile storage device, loading it into a volatile storage device, and having the CPU execute the program. The various functions include, for example, a machine guidance function that guides the operator in manually operating the shovel 100. The controller 30 may include a contact avoidance function that automatically or autonomously operates or stops the shovel 100 to avoid contact between the shovel 100 and an object present within a monitoring range around the shovel 100.

[0028] For example, the controller 30 sets a target rotation speed based on an operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

[0029] The boom angle sensor S1 is attached to the boom 4 and detects the elevation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating body 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2 and the bucket angle sensor S3 below. A detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0030] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the “arm angle”), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with respect to a line connecting the fulcrums at both ends of the boom 4 in a side view. A detection signal corresponding to the arm angle by the arm angle sensor S2 is input to the controller 30.

[0031] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the “bucket angle”), for example, the angle formed by a line connecting the fulcrum of the bucket 6 and its tip (tip) with respect to a line connecting the fulcrums of both ends of the arm 5 in a side view. A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.

[0032] The machine body tilt sensor S4 (an example of an attitude detection unit) detects the tilt state of the machine body (upper rotating body 3 or lower running body 1) with respect to a horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angles around two axes in the forward / backward and left / right directions (hereinafter, "fore / aft tilt angle" and "left / right tilt angle") of the shovel 100 (i.e., upper rotating body 3). The machine body tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU, etc. A detection signal corresponding to the tilt angle (fore / aft tilt angle and left / right tilt angle) by the machine body tilt sensor S4 is input to the controller 30.

[0033] The rotation angle sensor S5 outputs detection information related to the rotation state of the upper rotating body 3. The rotation angle sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation angle sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. A detection signal corresponding to the rotation angle and the rotation angular velocity of the upper rotating body 3 detected by the rotation angle sensor S5 is input to the controller 30.

[0034] The positioning device PS measures the position and orientation of the upper rotating body 3. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. Furthermore, among the functions of the positioning device PS, the function of detecting the orientation of the upper rotating body 3 may be substituted by a direction sensor attached to the upper rotating body 3.

[0035] [Excavator hydraulic system] Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to Fig. 2. Fig. 2 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100. In Fig. 2, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electric control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0036] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a straight travel valve 170, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operation sensor 29, and a controller 30.

[0037] In FIG. 2, the hydraulic system is configured to circulate hydraulic oil from a main pump 14 driven by an engine 11 through a center bypass line 40 or a parallel line 42 to a hydraulic oil tank.

[0038] The engine 11 is a drive source of the excavator 100. 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 the main pump 14 and the pilot pump 15.

[0039] The main pump 14 is mounted on the rear of the upper rotating body 3, for example, like the engine 11, and supplies hydraulic oil to the control valve unit 17 through a high-pressure hydraulic line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston, thereby controlling the discharge flow rate (discharge pressure).

[0040] The main pump (an example of a hydraulic pump) 14 is configured to supply hydraulic oil via a hydraulic oil line to a control valve unit 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0041] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to a hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates hydraulic oil to a hydraulic oil tank via a right center bypass line 40R or a right parallel line 42R.

[0042] The discharge pressure sensor 28 is configured to detect the discharge pressure (pump pressure) of the main pump 14. The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L, and outputs the detected value to the controller 30. The same is true for the discharge pressure sensor 28R.

[0043] The regulator 13 is configured to be able to control the discharge amount (pump flow rate) 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.

[0044] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L, for example, to reduce the discharge amount. The same is true for the right regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14, which is expressed by the product of the discharge pressure and the discharge amount, from exceeding the output power (output horsepower) of the engine 11.

[0045] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply hydraulic oil to hydraulic control devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0046] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves (directional control valves) 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of 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 a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0047] The left center bypass line 40L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0048] The straight travel valve 170 is a spool valve serving as a straight travel valve. The straight travel valve 170 switches the flow of hydraulic oil so that hydraulic oil is supplied from the main pump 14 to each of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR in order to improve the straightness of the lower traveling body 1.

[0049] Specifically, the straight travel valve 170 has a first valve position that enables the hydraulic oil discharged by the left main pump (an example of a first hydraulic pump) 14L to be supplied to the swing hydraulic motor 2A, the boom cylinder 7, and the arm cylinder 8 (an example of a first hydraulic actuator) and the hydraulic oil discharged by the right main pump (an example of a second hydraulic pump) 14R to be supplied to the right traveling hydraulic motor (an example of a second traveling hydraulic motor) 2MR, the bucket cylinder 9, and the arm cylinder 8, and a second valve position that enables the hydraulic oil discharged by the left main pump (an example of a first hydraulic pump) 14L to be supplied to the right traveling hydraulic motor (an example of a second traveling hydraulic motor) 2MR and the hydraulic oil discharged by the right main pump (an example of a second hydraulic pump) 14R to be supplied to the swing hydraulic motor 2A, the boom cylinder 7, and the arm cylinder 8 (an example of a first hydraulic actuator).

[0050] For example, when the traveling hydraulic motor 2M and any other hydraulic actuator are operated simultaneously, the traveling straight valve 170 is switched to the second valve position so that the left main pump 14L can supply hydraulic oil to both the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR. When none of the other hydraulic actuators are operated, the traveling straight valve 170 is switched to the first valve position so that the left main pump 14L can supply hydraulic oil to the left traveling hydraulic motor 2ML and the right main pump 14R can supply hydraulic oil to the right traveling hydraulic motor 2MR.

[0051] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0052] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank. When the straight travel valve 170 is switched so that the left main pump 14L can supply hydraulic oil to both the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR, the control valve 172 supplies the hydraulic oil discharged by the left main pump 14L to the right traveling hydraulic motor 2MR.

[0053] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank. When the straight travel valve 170 is switched so that the left main pump 14L can supply hydraulic oil to both the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR, the control valve 173 supplies the hydraulic oil discharged by the right main pump 14R to the swing hydraulic motor 2A.

[0054] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0055] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. When the straight travel valve 170 is switched so that the left main pump 14L can supply hydraulic oil to both the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR, the control valve 175L supplies the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7.

[0056] The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0057] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump (an example of a first hydraulic pump) 14L to the arm cylinder (an example of a first hydraulic actuator) 8 and to discharge the hydraulic oil in the arm cylinder 8 to a hydraulic oil tank. When the straight travel valve 170 is switched so that the left main pump 14L can supply hydraulic oil to both the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR, the control valve 176L supplies the hydraulic oil discharged by the right main pump (an example of a second hydraulic pump) 14R to the arm cylinder 8 (an example of a first hydraulic actuator).

[0058] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0059] The left parallel pipe 42L is a hydraulic oil line that runs parallel to the left center bypass pipe 40L. When the flow of hydraulic oil through the left center bypass pipe 40L is restricted or blocked by any of the control valves 171, 173, and 175L, the left parallel pipe 42L can supply hydraulic oil to a downstream control valve. In addition, the left parallel pipe 42L switches the discharge source of hydraulic oil from the left main pump 14L and the right main pump 14R by the straight travel valve 170.

[0060] The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. The right parallel conduit 42R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

[0061] In addition, 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. 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 collectively referred to as "cylinder pressure sensors." In addition, a left turning pressure sensor S10L and a right turning pressure sensor S10R are attached to the turning hydraulic motor 2A. In addition, a first left traveling pressure sensor S11L and a second left traveling pressure sensor S11R (hereinafter also referred to as left traveling pressure sensor S11) are attached to the left traveling hydraulic motor 2ML. Further, a first right traveling pressure sensor S12L and a second right traveling pressure sensor S12R (hereinafter also referred to as the right traveling pressure sensor S12) are attached to the right traveling hydraulic motor 2MR.

[0062] 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"). 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"). The left swing pressure sensor S10L detects the pressure of the hydraulic oil in the left port of the swing hydraulic motor 2A. The right swing pressure sensor S10R detects the pressure of the hydraulic oil in the right port of the swing hydraulic motor 2A.

[0063] In addition, the first left travel pressure sensor (an example of a first pressure sensor) S11L detects the pressure of the hydraulic oil at the left port of the left travel hydraulic motor 2ML. The second left travel pressure sensor (an example of a first pressure sensor) S11R detects the pressure of the hydraulic oil at the right port of the left travel hydraulic motor 2ML. The first right travel pressure sensor (an example of a second pressure sensor) S12L detects the pressure of the hydraulic oil at the left port of the right travel hydraulic motor 2MR. The second right travel pressure sensor (an example of a second pressure sensor) S12R detects the pressure of the hydraulic oil at the right port of the right travel hydraulic motor 2MR. The values ​​detected by each sensor are transmitted to the controller 30. With this configuration, the pressure of the hydraulic oil of the left travel hydraulic motor 2ML and the right travel hydraulic motor 2MR can be detected regardless of the flow direction of the hydraulic oil for each of the left travel hydraulic motor 2ML and the right travel hydraulic motor 2MR.

[0064] The operating device 26 is an example of an electric operating device that an operator uses to operate an actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0065] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0066] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0067] The left operating lever 26L is used for the rotation operation and the operation of the arm 5. When the left operating lever 26L is operated in the forward / backward direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure according to the amount of lever operation into the pilot port of the control valve 176. When the left operating lever 26L is operated in the left / right direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure according to the amount of lever operation into the pilot port of the control valve 173.

[0068] The proportional valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured so that the flow path area of ​​the pipe can be changed. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30.

[0069] The operation sensor 29 is configured to detect the operation content of the operator using the operating device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each actuator, and outputs the detected value to the controller 30. In this embodiment, the controller 30 controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. Then, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic oil (pilot pressure) supplied to each pilot port is, in principle, a pressure according to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. In this way, the operating device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0070] The operation sensor 29LA detects the content of the operation of the left operation lever 26L in the forward / rearward direction by the operator, and outputs the detected value to the controller 30.

[0071] The operation sensor 29LB detects the content of the operation of the left operation lever 26L in the left or right direction by the operator, and outputs the detected value to the controller 30.

[0072] When the left operating lever 26L is operated in the arm closing direction, the controller 30 controls the proportional valve 31 according to a signal from the operation sensor 29LA to introduce hydraulic oil into the right pilot port of the control valve 176L and to introduce hydraulic oil into the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, the controller 30 controls the proportional valve 31 according to a signal from the operation sensor 29LA to introduce hydraulic oil into the left pilot port of the control valve 176L and to introduce hydraulic oil into the right pilot port of the control valve 176R.

[0073] In addition, when the left operating lever 26L is operated in the left turning direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29LB to introduce hydraulic oil into the left pilot port of the control valve 173, and when the left operating lever 26L is operated in the right turning direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29LB to introduce hydraulic oil into the right pilot port of the control valve 173.

[0074] In addition, a switch NS is provided on the left operation lever 26L. In this embodiment, the switch NS is a push button switch provided on the tip of the left operation lever 26L. The operator can operate the left operation lever 26L while pressing the switch NS. The switch NS may be provided on the right operation lever 26R or may be provided at another position in the cabin 10.

[0075] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When the right operating lever 26R is operated in the left / right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174.

[0076] The operation sensor 29RA detects the content of the operation of the right operating lever 26R in the forward / rearward direction by the operator, and outputs the detected value to the controller 30.

[0077] The operation sensor 29RB detects the content of the operation of the right operating lever 26R in the left or right direction by the operator, and outputs the detected value to the controller 30.

[0078] Specifically, when the right operating lever 26R is operated in the boom-down direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29RA to introduce hydraulic oil into the left pilot port of the control valve 175L and to introduce hydraulic oil into the right pilot port of the control valve 175R. Also, when the right operating lever 26R is operated in the boom-up direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29RA to introduce hydraulic oil into the right pilot port of the control valve 175L and to introduce hydraulic oil into the left pilot port of the control valve 175R.

[0079] In addition, when the right operating lever 26R is operated in the bucket closing direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29RB to introduce hydraulic oil into the right pilot port of the control valve 174, and when the right operating lever 26R is operated in the bucket opening direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29RB to introduce hydraulic oil into the left pilot port of the control valve 174.

[0080] The travel lever 26D is used to operate the crawlers. Specifically, the left travel lever 26DL is used to operate the left crawler. It may be configured to be linked to the left travel pedal.

[0081] The operation sensor 29DL detects the operation of the left travel lever 26DL in the forward / rearward direction by the operator, and outputs the detected value to the controller 30.

[0082] When the left travel lever 26DL is operated in the forward / rearward direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29DL to use the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 171.

[0083] The right travel lever 26DR is used to operate the right crawler and may be configured to be interlocked with the right travel pedal.

[0084] The operation sensor 29DR detects the operation of the right travel lever 26DR in the forward or backward direction by the operator, and outputs the detected value to the controller 30.

[0085] When the right travel lever 26DR is operated in the forward / rearward direction, the controller 30 controls the proportional valve 31 in accordance with a signal from the operation sensor 29DR to use the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 172.

[0086] The controller 30 is configured to control the opening and closing of the proportional valve 31 according to a signal input from the operation sensor 29, and to supply the hydraulic oil discharged by the pilot pump 15 to the pilot ports of the corresponding control valves 171-176 in the control valve unit 17 via a pilot line. When the operator operates the operation device 26, the pressure of the hydraulic oil (pilot pressure) supplied to each pilot port is a pressure according to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In other words, the proportional valve 31 adjusts the pilot pressure supplied to the pilot ports of the control valves 171-176 based on the signal received from the operation sensor 29 in order to switch the supply path by the control valves 171-176.

[0087] The controller 30 can apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

[0088] The controller 30 also receives the output of the operation sensor 29, and outputs a control command to the regulator 13 as necessary, thereby changing the discharge volume of the main pump 14. The controller 30 also receives the output of a control pressure sensor 19 provided upstream of the throttle (negative control throttle) 18, and outputs a control command to the regulator 13 as necessary, thereby changing the discharge volume of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0089] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26 even when an operation is being performed on that specific operating device 26.

[0090] In addition, for example, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the shovel 100 by the operator through the operation device 26. In addition, the controller 30 performs control related to a machine control function that automatically assists the manual operation of the shovel 100 by the operator through the operation device 26.

[0091] Furthermore, for example, when the controller 30 is configured to perform autonomous control over the shovel 100, it sets one or more of a target rotation angle for the upper rotating body 3, target angles for each of the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, and a target rotation speed for the engine 11 based on the operations performed by the autonomous control, and controls the operation of various components of the shovel 100.

[0092] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0093] The left center bypass pipe 40L is provided with a left throttle 18L between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 reduces the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump 14R is also controlled in a similar manner.

[0094] Specifically, as shown in FIG. 2, in the case of a standby state in which none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe 40L and reaches the left throttle 18L. Then, the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the allowable minimum discharge amount, suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated through the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of the hydraulic oil discharged by the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L to circulate sufficient hydraulic oil to the hydraulic actuator to be operated, ensuring the drive of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0095] With the above-described configuration, the hydraulic system of Fig. 2 can suppress unnecessary energy consumption in the main pump 14 in a standby state. The unnecessary energy consumption includes pumping loss caused in the center bypass pipe 40 by the hydraulic oil discharged from the main pump 14. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 2 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0096] That is, the controller 30 controls the regulator 13 so that the discharge amount is the smaller of a first discharge amount calculated so that the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge amount, does not exceed the output power (output horsepower) of the engine 11, and a second discharge amount calculated based on the control pressure detected by the control pressure sensor 19.

[0097] Next, a configuration for the controller 30 to operate the actuators using the machine control function will be described with reference to Fig. 3. Fig. 3 is a diagram of a part of the hydraulic system. Specifically, Fig. 3 is a diagram of the hydraulic system portion related to the operation of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR.

[0098] 3, the hydraulic system includes a proportional valve 31. The proportional valve 31 is an electromagnetic proportional valve, and operates in response to a control command (current command) output by a controller 30. The proportional valve 31 includes proportional valves 31EL and 31ER.

[0099] The hydraulic system further includes a proportional valve 33. The proportional valve 33 is an electromagnetic proportional valve, and operates in response to a control command (current command) output by the controller 30.

[0100] The proportional valve 33 is an electromagnetic pressure reducing valve that adjusts the straight travel pilot pressure acting on the pilot port of the straight travel valve 170 in response to a current command output by the controller 30. The proportional valve 33 adjusts the straight travel pilot pressure by using hydraulic oil discharged by the pilot pump 15, which is a fixed displacement pump.

[0101] As shown in Fig. 3, the right travel lever 26DR is used to operate the right crawler. Specifically, the right travel lever 26DR uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to the operation in the forward / rearward direction to the pilot port of the control valve 172. More specifically, when the right travel lever 26DR is operated in the rearward direction, the right travel lever 26DR applies pilot pressure corresponding to the operation amount to the left pilot port of the control valve 172. Also, when the right travel lever 26DR is operated in the forward direction, the right travel lever 26DR applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 172.

[0102] The operation sensor 29DR detects the operation of the right travel lever 26DR in the forward or backward direction by the operator, and outputs the detected value to the controller 30.

[0103] The left travel lever 26DL is used to operate the left crawler. Specifically, the left travel lever 26DL uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to the operation in the forward / rearward direction to the pilot port of the control valve 171. More specifically, when the left travel lever 26DL is operated in the rearward direction, it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 171. When the left travel lever 26DL is operated in the forward direction, it applies pilot pressure corresponding to the operation amount to the left pilot port of the control valve 171.

[0104] The operation sensor 29DL detects the operation of the left travel lever 26DL in the forward / rearward direction by the operator, and outputs the detected value to the controller 30.

[0105] The proportional valve 31EL operates in response to a control command (current command) output by the controller 30. The proportional valve 31EL adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31EL. The proportional valve 31EL can adjust the pilot pressure so that the control valve 172 can be stopped at any valve position. The proportional valve 31ER operates in response to a control command (current command) output by the controller 30. The proportional valve 31EL adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31ER. The proportional valve 31ER can adjust the pilot pressure so that the control valve 172 can be stopped at any valve position.

[0106] A pilot pressure sensor 32 (not shown) that detects a pilot pressure is provided in a pilot line that connects the proportional valve 31EL and one port of the control valve 172 (the left port of the control valve 172). A pilot pressure sensor (not shown) that detects a pilot pressure is provided in a pilot line that connects the proportional valve 31ER and the other port of the control valve 172 (the right port of the control valve 172). Values ​​detected by each pilot pressure sensor are transmitted to the controller 30.

[0107] FIG. 3 shows the connection relationship between the control valve 172 and the proportional valve 31 (proportional valve 31ER, proportional valve 31EL), but the connection relationship between the control valve 171 and the proportional valve (not shown) is similar, so the description will be omitted.

[0108] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve 172 via the proportional valve 31EL or the proportional valve 31ER in response to the driving operation by the operator, and can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve 171 via a proportional valve (not shown).

[0109] The proportional valve 33 operates in response to a control command (current command) output by the controller 30. The proportional valve 33 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the straight traveling valve 170 via the proportional valve 33. The proportional valve 33 operates in response to a control command (current command) output by the controller 30.

[0110] For example, when the controller 30 receives an operation signal to travel from one or more of the operation sensors 29DL and 29DR, and simultaneously receives an operation signal to operate another hydraulic actuator, the controller 30 transmits a control signal to the proportional valve 33. As a result, the proportional valve 33 is switched to the second valve position so that hydraulic oil from the main pump 14L is supplied to the right traveling hydraulic motor 2MR. In this way, when an attachment or the like is to be operated while traveling in the excavator 100, the proportional valve 33 is switched to the second valve position. When other operations are performed in the excavator 100, the proportional valve 33 is set to the first valve position.

[0111] [Controller function configuration] Next, an overview of the machine guidance function and the machine control function of the shovel 100 will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of the configuration of the controller 30 of the shovel 100. Specifically, Fig. 4 shows an example of the configuration relating to the machine guidance function and the machine control function of the shovel 100.

[0112] As shown in FIG. 4, the controller 30 includes a CPU 301 and a storage medium 302 .

[0113] The storage medium 302 is a non-volatile readable / writable storage medium (e.g., SSD). The storage medium 302 stores target construction surface information (an example of design information) 321 indicating a target construction surface that represents the shape of a construction target of the shovel 100.

[0114] The target construction surface information 321 is stored in the storage medium 302 of the controller 30, for example, based on a setting input by an operator through an information input device (not shown) or by downloading from an external device (for example, a specified management server). The target construction surface information 321 is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin at the center of gravity of the earth, the X axis in the direction of the intersection of the Greenwich meridian and the equator, the Y axis in the direction of 90 degrees east longitude, and the Z axis in the direction of the North Pole. For example, the operator may determine an arbitrary point on the construction site as a reference point and set the target construction surface based on the relative positional relationship with the reference point through the information input device.

[0115] The CPU 301 includes a machine control function unit 311 and a straight travel valve control unit 312 .

[0116] The machine control function unit 311 is equipped with a traveling control unit 313 and is configured to execute control to operate the attachment AT in accordance with the target construction surface information 321 when controlling the operation of the shovel 100 based on the operation received by the operating device 26.

[0117] More specifically, the machine control function unit 311 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the swing angle sensor S5, the operation sensor 29, the positioning device PS, etc. For example, based on the acquired information, the machine control function unit 311 calculates the distance between the bucket 6 and the target construction surface, supports manual operation, and executes control to operate the attachment AT.

[0118] In this embodiment, the machine control function unit 311 determines whether or not the switch SW is pressed down based on a signal from the operation sensor 29. The switch SW is, for example, a machine control switch (hereinafter, "MC (Machine Control) switch"), and may be disposed as a knob switch at the tip of an operation lever of the operation device 26 (for example, a lever device corresponding to the operation of the arm 5), or may be separately provided in the vicinity of the operation lever of the operation device 26. Whether or not the switch SW is pressed down is detected by the operation sensor 29.

[0119] Then, when it is determined that the switch SW is pressed, the machine control function unit 311 executes control to assist the operator in manually operating the shovel 100 in accordance with the target construction surface information 321. On the other hand, when it is determined that the switch SW is not pressed, the machine control function unit 311 does not execute control to assist the operator in manually operating the shovel 100.

[0120] As a control for assisting manual operation of the shovel 100, when the operator operates the left operating lever 26L to move the arm 5 while operating (pushing) the switch SW, the machine control function unit 311 automatically operates the boom 4, the arm 5, and the bucket 6 in response to the operator's operation of the left operating lever 26L so that the target construction surface coincides with the controlled object. More specifically, the controller 30 controls the proportional valve 31 to automatically operate the boom 4, the arm 5, and the bucket 6. This allows the operator to cause the shovel 100 to perform excavation work, leveling work, or the like along the target construction surface simply by operating the left operating lever 26L in the forward / rearward direction.

[0121] The control object in the working portion of the bucket 6 (hereinafter simply referred to as the "control object of the bucket 6"), when the working portion is the tip of the bucket 6, may be set to a point on a curved surface or plane constituting the tip of a specific one of the multiple tines of the bucket 6. Also, when the working portion is the back surface of the bucket 6, the control object of the bucket 6 may include, for example, the curved surface or plane or curved surface constituting the back surface of the bucket 6, a line segment defined on the plane or curved surface, a point defined on the plane or curved surface, etc.

[0122] The machine control function unit 311 in this embodiment generates and transmits command values ​​for controlling each of a work element (hereinafter referred to as a master element) that operates in response to the operation content of the operating device 26, and a work element (hereinafter referred to as a slave element) that operates in accordance with (synchronization with) the operation of the master element so that the controlled object of the bucket 6 moves along the target construction surface.

[0123] In this embodiment, a case will be described in which the master element is an arm (an example of a first attachment) 5, and the slave elements are a boom (an example of a second attachment) 4 and a bucket (an example of a second attachment) 6.

[0124] That is, when the machine control function unit 311 receives an operation to open or close the arm 5 by the left operation lever 26L, it controls the arm 5 to operate in accordance with the operation, and also controls the boom 4 and / or the bucket 6 to operate in accordance with the operation of the arm 5. As a result, the boom 4, arm 5, and bucket 6 operate so that the target construction surface and the control object coincide with each other.

[0125] The above-described operation makes it possible to differentiate the main pump 14 that supplies hydraulic oil to the master element from the main pump 14 that supplies hydraulic oil to the slave element, which makes it easy to adjust the discharge rate of the main pump 14 according to the operation of each of the master element and the slave element.

[0126] However, when the straight travel valve 170 is switched so that the left main pump 14L can supply hydraulic oil to both the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR, the right main pump 14R supplies hydraulic oil to the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. This makes it difficult to adjust the discharge rate of the main pump 14 in accordance with the operation of each of the master element and the slave element.

[0127] Therefore, the controller 30 according to this embodiment suppresses control for switching the supply path (control for switching to the second valve position) for the straight traveling valve 170 so that the hydraulic oil discharged from the left main pump 14L is supplied to the right traveling hydraulic motor 2MR while the switch SW is pressed, in other words, while control is being performed to operate the attachment AT according to the target construction surface information 321. This makes it possible to adjust the discharge amount of the main pump 14 according to the operation of each of the master element and the slave element.

[0128] The straight traveling valve control unit 312 outputs a control signal to the straight traveling valve 170 and the proportional valve 33 based on a signal from the operation sensor 29 .

[0129] When the switch SW is not pressed, in other words, when control is not being performed to operate the attachment AT according to the target construction surface information 321, the straight traveling valve control unit 312 performs control to switch the supply path (control to switch to the second valve position) so that the hydraulic oil discharged from the left main pump 14L is supplied to the right traveling hydraulic motor 2MR for the proportional valve 33. In this embodiment, by switching the straight traveling valve 170 to the second valve position, it becomes easy to control the straight traveling of the excavator 100 while operating the attachment AT according to the operation received by the operating device 26.

[0130] On the other hand, while the switch SW is pressed, in other words, while control is being performed to operate the attachment AT in accordance with the target construction surface information 321, the straight traveling valve control unit 312 maintains the first valve position of the straight traveling valve 170 and suppresses control to switch the supply path (switch to the second valve position), regardless of whether a combined operation combining a traveling operation and an operation to operate the attachment AT, etc. is being performed.

[0131] The travel control unit 313 in the machine control function unit 311 controls the travel of the excavator 100 while control is being performed to operate the attachment AT in accordance with the target construction surface information 321. For example, when the travel control unit 313 receives an operation signal from the operation sensor 29 to move the excavator 100 straight forward or backward, the travel control unit 313 controls the proportional valve 31 so that the output of the left traveling hydraulic motor 2ML and the output of the right traveling hydraulic motor 2MR become substantially the same. In this way, even if the main pumps 14 that supply hydraulic oil to the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR are different, the travel control unit 313 performs this control, thereby enabling straight travel in accordance with the operation of the operator.

[0132] Specifically, while control is being performed to operate the attachment AT in accordance with the target construction surface information 321, when the traveling control unit 313 receives an operation signal from the operation sensor 29 to move the shovel 100 straight forward or backward, the traveling control unit 313 outputs a control command to the proportional valve 31 so that the output of the left traveling hydraulic motor 2ML (in other words, the detection result of the left traveling pressure sensors S11L, S11R) and the output of the right traveling hydraulic motor 2MR (in other words, the detection result of the left traveling pressure sensors S11L, S11R) are approximately equal to each other based on the detection results of the left traveling pressure sensors S11L, S11R and the detection results of the right traveling pressure sensors S12L, S12R.

[0133] For example, when the left travel lever 26DL and the right travel lever 26DR each receive an operation signal to travel at 50% output, but the detection results of the left travel pressure sensors S11L and S11R are different from the detection results of the right travel pressure sensors S12L and S12R, the travel control unit 313 controls the opening area of ​​the control valves 171 and 172 corresponding to the travel hydraulic motor 2M with the larger output to be smaller. Specifically, the travel control unit 313 outputs a control command to the proportional valve 31 that can adjust the flow rate of the control valves 171 and 172 corresponding to the travel hydraulic motor 2M with the larger output. Since the pilot pressure output from the proportional valve 31 is adjusted by the control command, the control valve 171 or the control valve 172 is adjusted to have a smaller opening area. As a result, the outputs of the left travel hydraulic motor 2ML and the right travel hydraulic motor 2MR are adjusted to be approximately the same. The controller 30 according to this embodiment can achieve improved operability by enabling both the operation of the attachment AT according to the target construction surface information 321 and straight-ahead driving.

[0134] Next, a control procedure performed by the controller 30 according to this embodiment will be described. Fig. 5 is a flowchart showing the control procedure performed by the controller 30 according to this embodiment. In the procedure shown in Fig. 5, the straight travel valve 170 is maintained in the first valve position.

[0135] First, the straight travel valve control unit 312 determines whether or not a travel operation is being performed with the travel lever 26D based on a signal received from the operation sensor 29 (S1501). If it is determined that a travel operation is not being performed (S1501: NO), the process proceeds to S1506.

[0136] When it is determined that a traveling operation is being performed (S1501: YES), the traveling straight valve control unit 312 determines whether or not a combined operation including the operation of the attachment AT, etc. is being performed based on a signal received from the operation sensor 29 (S1502). When it is determined that a combined operation is not being performed (S1502: NO), the process proceeds to S1506.

[0137] If it is determined that a combined operation is being performed (S1502: YES), the straight travel valve control unit 312 outputs a control command to the proportional valve 33 to switch the straight travel valve 170 to the second valve position so that the hydraulic oil output from the left main pump 14L is supplied to the two travel hydraulic motors 2MR, 2ML (S1503).

[0138] The straight travel valve control unit 312 determines whether or not the combined operation has ended based on the signal received from the operation sensor 29 (S1504). If it determines that the combined operation has not ended (S1504: NO), the straight travel valve control unit 312 performs the determination of S1504 again.

[0139] On the other hand, if it is determined that the combined operation has ended (S1504: YES), a control command is output to the proportional valve 33 to switch the straight travel valve 170 to the first valve position so that the hydraulic oil output from the left main pump 14L is supplied to the left travel hydraulic motor 2ML and the hydraulic oil output from the right main pump 14R is supplied to the right travel hydraulic motor 2MR (S1505).

[0140] Then, the machine control function unit 311 determines whether an operation for operating the attachment AT in accordance with the target construction surface information 321, in other words, whether the switch SW has been pressed (S1506). If it is determined that the switch SW has not been pressed (S1506: NO), the process proceeds to S1514.

[0141] When it is determined that the switch SW has been pressed (S1506: YES), the machine control function unit 311 starts control for operating the attachment AT in accordance with the target construction surface information 321 (S1507).

[0142] The traveling control unit 313 determines whether or not an operation to move the shovel 100 straight forward or backward has been received based on the signal received from the operation sensor 29 (S1508). When it is determined that an operation signal to move the shovel 100 straight forward or backward has not been received (S1508: NO), the process proceeds to S1512.

[0143] When the driving control unit 313 determines that an operation to move straight forward or backward has been received (S1508: YES), it determines whether or not a difference occurs between the detection result of the left driving pressure sensor S11L, S11R and the detection result of the right driving pressure sensor S12L, S12R (S1509). A margin may be set for the difference to be determined, and the margin is determined according to the embodiment. When it determines that no difference occurs (S1509: NO), it proceeds to the processing of S1511.

[0144] If it is determined that there is a difference in the detection results (S1509: YES), the travel control unit 313 outputs a control command to adjust the pilot pressure output from the proportional valve 31 in order to adjust the output of the travel hydraulic motor 2M (S1510).

[0145] Thereafter, the traveling control unit 313 determines whether or not the operation of moving the shovel 100 straight forward or backward has been completed based on the signal received from the operation sensor 29 (S1511). If it is determined that the operation has not been completed (S1511: NO), the traveling control unit 313 performs the process again from S1509.

[0146] When it is determined that the operation of moving the shovel 100 straight forward or backward has ended (S1511: YES), the process proceeds to S1512.

[0147] The machine control function unit 311 determines whether the operation for operating the attachment AT in accordance with the target construction surface information 321 has ended, in other words, whether the ON operation of the switch SW has been released (S1512). If it is determined that the ON operation of the switch SW has not been released (S1512: NO), the process is repeated from S1508.

[0148] On the other hand, when it is determined that the ON operation of the switch SW has been released (S1512: YES), the machine control function unit 311 ends the control for operating the attachment AT in accordance with the target construction surface information 321 (S1513).

[0149] Thereafter, the controller 30 determines whether or not the operation of the shovel 100 has ended (S1514). If it is determined that the operation has not ended (S1514: NO), the process is repeated from S1501.

[0150] On the other hand, when it is determined that the operation on the shovel 100 has ended (S1514: YES), the controller 30 ends the process.

[0151] By performing the above-described control, the controller 30 of this embodiment can control the shovel 100 to move straight in response to operation by the operator, regardless of the operation status of the switch SW and the operating status of the attachment AT.

[0152] <First operation mode> Next, we will explain the first operating mode when the controller 30 receives an operation signal to cause the shovel 100 to travel while the switch SW is pressed, in other words, while control is being performed to operate the attachment AT in accordance with the target construction surface information 321.

[0153] FIG. 6 is a diagram showing the control performed when the controller 30 receives an operation signal to move the shovel 100 straight backward while control is being performed to operate the attachment AT in accordance with the target construction surface information 321.

[0154] 6, the shovel 100 is moved straight backward from the first position PS11 to the second position PS12. Specifically, the controller 30 receives an operation signal to move the shovel 100 straight backward while controlling the operation of the attachment AT in accordance with the target construction surface information 321. The operator is not performing an opening / closing operation on the arm 5, but is only operating the travel lever 26D.

[0155] The machine control function unit 311 continues to perform control to operate one or more of the boom 4 and the bucket 6 so that the tip 6A of the bucket 6 is aligned with the target construction surface indicated by the target construction surface information 621. In this embodiment, the target construction surface indicated by the target construction surface information 321 includes the ground surface PL1.

[0156] Therefore, while the shovel 100 is being caused to move straight backwards, the machine control function unit 311 controls the operation of one or more of the boom 4 and the bucket 6 so that the toe 6A of the bucket 6 is aligned with the target construction surface (ground surface PL1) at the current position of the shovel 100, depending on the current position of the shovel 100.

[0157] During this control, the travel control unit 313 outputs a control command to the proportional valve 31 so as to eliminate any difference between the detection results of the left travel pressure sensors S11L, S11R and the detection results of the right travel pressure sensors S12L, S12R. This allows the excavator 100 to move straight backward.

[0158] In the first operating mode, the shovel 100 can level the ground surface PL1 by shoveling soil SA1 present on the ground surface PL1 into the bucket 6 while being controlled to move straight backward. This can therefore achieve improved work efficiency.

[0159] 6, a case has been described in which the shovel 100 is controlled to move straight backward. However, this embodiment is not limited to a case in which the shovel 100 is controlled to move straight backward, and the shovel 100 may be controlled to move straight forward.

[0160] <Second operation mode> Next, we will explain the second operating mode when the controller 30 receives an operation signal to cause the shovel 100 to travel while the switch SW is pressed, in other words, while control is being performed to operate the attachment AT in accordance with the target construction surface information 321.

[0161] Figure 7 is a diagram showing the control performed when the controller 30 receives an operation signal to move the shovel 100 straight backward and an operation signal to close the arm 5 while control is being performed to operate the attachment AT in accordance with the target construction surface information 321.

[0162] In the example shown in Fig. 7, the shovel 100 is moved straight backward from the first position PS21 to the second position PS22. Specifically, it is assumed that the controller 30 has received an operation signal for moving the shovel 100 straight backward while control for operating the attachment AT is being performed. Furthermore, it is assumed that the controller 30 has received an operation for closing the arm 5. Therefore, the angle θ1 between the arm 5 and the boom 4 at the first position PS21 changes to an angle θ2 between the arm 5 and the boom 4 at the second position PS22.

[0163] The machine control function unit 311 causes the shovel 100 to move straight backward while performing an operation to close the arm 5.

[0164] While performing the operation of closing the arm 5, the machine control function unit 311 continues to control the operation of one or more of the boom 4 and the bucket 6 so that the tip 6A of the bucket 6 is aligned with the target construction surface indicated by the target construction surface information 621. In this embodiment, the target construction surface indicated by the target construction surface information 321 includes the ground surface PL1.

[0165] Therefore, while the shovel 100 is being caused to move straight backwards, the machine control function unit 311 controls the operation of one or more of the boom 4 and the bucket 6 so that the tip 6A of the bucket 6 is aligned with the target construction surface (ground surface PL1) at the current position, depending on the current position of the shovel 100 and the closing operation of the arm 5.

[0166] The travel control unit 313 performs the same control as in the first operation mode described above, thereby allowing the shovel 100 to travel straight backward.

[0167] Therefore, by controlling the shovel 100 to move straight backward and closing the arm 5, the soil SA1 present on the ground surface PL1 can be shoveled into the bucket 6, thereby leveling the ground surface PL1. This makes it possible to improve the work efficiency.

[0168] <Third operation mode> Next, we will explain a third operating mode in which the controller 30 receives an operation signal to cause the shovel 100 to travel while the switch SW is pressed, in other words, while control is being performed to operate the attachment AT in accordance with the target construction surface information 321.

[0169] Figure 8 is a diagram showing the control performed when the controller 30 receives an operation signal for moving the shovel 100 straight backward, an operation signal for closing the arm 5, and an operation signal for rotating the upper rotating body 3 while control is being performed to operate the attachment AT in accordance with the target construction surface information 321.

[0170] In the example shown in Fig. 8, the shovel 100 is moved straight backward from the first position PS31 to the second position PS32. The controller 30 receives an operation signal to move the shovel 100 straight backward while control is being performed to operate the attachment AT. Furthermore, the controller 30 receives an operation to close the arm 5. Therefore, the angle θ1 between the arm 5 and the boom 4 at the first position PS31 changes to an angle θ2 between the arm 5 and the boom 4 at the second position PS32. Note that the angles θ1 and θ2 are the same as those in Fig. 7 and will not be described.

[0171] Therefore, the machine control function unit 311 causes the shovel 100 to move straight backward while performing an operation to close the arm 5.

[0172] While performing the operation of closing the arm 5, the machine control function unit 311 continues to control the operation of one or more of the boom 4 and the bucket 6 so that the tip 6A of the bucket 6 is aligned with the target construction surface indicated by the target construction surface information 621. In this embodiment, the target construction surface indicated by the target construction surface information 321 includes the ground surface PL1.

[0173] Therefore, while the shovel 100 is being caused to move straight backwards, the machine control function unit 311 controls the operation of one or more of the boom 4 and the bucket 6 so that the tip 6A of the bucket 6 is aligned with the target construction surface (ground surface PL1) at the current position, depending on the current position of the shovel 100 and the closing operation of the arm 5.

[0174] The travel control unit 313 performs control similar to that described above, allowing the shovel 100 to travel straight backward.

[0175] Then, after the excavator 100 moves to the second position PS32, the controller 30 receives an operation signal to rotate the upper rotating body 3 to the right. The controller 30 performs an operation to rotate the upper rotating body 3 to the right 1701 while performing a closing operation of the arm 5. Even during this operation, the tip 6A of the bucket 6 is controlled to follow the target construction surface (ground surface PL1) of the current position.

[0176] The shovel 100 performs a closing operation of the arm 5 while controlling it to move straight backward, thereby shoveling the soil SA1 present on the ground surface PL1 into the bucket 6, leveling the ground surface PL1, and then by rotating the upper rotating body 3, dumping the soil accumulated in the bucket 6 behind the shovel 100. Since the bucket 6 is empty, the shovel 100 can immediately start the next operation. Therefore, it is possible to improve the work efficiency.

[0177] Second embodiment In the above-described embodiment, a case where an operation is performed on the operating device 26 has been described. However, the above-described embodiment is not limited to a case where an operation is performed on the operating device 26. For example, when the shovel 100 can be remotely operated, the same processing as in the above-described embodiment may be performed. Therefore, in the second embodiment, a case where the shovel is remotely operated will be described.

[0178] Therefore, an overview of the remote control system SYS according to the second embodiment will be described with reference to Fig. 9. Fig. 9 is a schematic diagram showing an example of the remote control system SYS according to the second embodiment.

[0179] 9, the remote operation system SYS according to the second embodiment includes a shovel 100 and a remote operation room RC. The shovel 100 according to this embodiment has a similar configuration to the above-described embodiments.

[0180] The excavator 100 and the remote control room RC are connected via a communication line NT so as to be able to send and receive data.

[0181] The shovel 100 is capable of wireless communication by using the communication device T1. The shovel 100 is then capable of transmitting and receiving data to and from a device (for example, a remote control room RC) connected to the communication line NT.

[0182] The shovel 100 can then transmit information about the work site to the remote control room RC. This allows the remote control room RC to check the work site in accordance with the information from the shovel 100. Note that in this embodiment, the device that measures the work site is not limited to the shovel 100, and may be another type of device, such as a drone that flies over the work site, a fixed camera, or an imaging device that can be carried by a user.

[0183] For example, an imaging device S6 is provided in the shovel 100. The shovel 100 transmits a captured image indicating the result of capturing an image of the work site by the imaging device S6 to the remote control room RC.

[0184] The remote operation system SYS may include one or more shovels 100. This allows the remote operation system SYS to provide information about the work site to the remote operation room RC through the multiple shovels 100.

[0185] <Example of remote control room configuration> The remote control room RC is equipped with a communication device T2, a remote controller R30, an operation device R26, an operation sensor R29, and a display device D1. Also, the remote control room RC is provided with an operation seat DS where an operator OP who remotely operates the excavator 100 sits.

[0186] The communication device T2 is configured to control communication with the communication device T1 attached to the excavator 100.

[0187] The remote controller (an example of a remote control unit) R30 is a calculation device that executes various calculations. In this embodiment, the remote controller R30 is configured with a microcomputer including a CPU and a memory. The various functions of the remote controller R30 are realized by the CPU executing a program stored in the memory.

[0188] The display device D1 displays a screen based on information transmitted from the shovel 100 so that the operator OP in the remote control room RC can visually confirm the surroundings of the shovel 100. The display device D1 enables the operator to confirm the status of the work site including the surroundings of the shovel 100 even though he is in the remote control room RC.

[0189] The operation device R26 is provided with an operation sensor R29 for detecting the operation content of the operation device R26. The operation sensor R29 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor R29 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor R29 outputs information on the detected operation content of the operation device R26 to the remote controller R30. The remote controller R30 generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100. The operation sensor R29 may be configured to generate an operation signal. In this case, the operation sensor R29 may output the operation signal to the communication device T2 without passing through the remote controller R30. This allows remote operation of the excavator 100 to be realized from the remote operation room RC.

[0190] Then, the communication device T1 of the shovel 100 receives an operation signal from the communication device T2 of the remote controller R30. Then, the controller 30 of the shovel 100 performs drive control of the shovel 100 based on the received control signal.

[0191] As in the above-described embodiment, while control is being performed to operate the attachment AT in accordance with the target construction surface information 321, the controller 30 of the shovel 100 switches the supply path in the traveling straight valve 170 so that the hydraulic oil discharged from the left main pump 14L (an example of a first hydraulic pump) is supplied to the traveling hydraulic motor 2MR, in other words, suppresses control to switch to the second valve position. The subsequent control is the same as in the above-described embodiment.

[0192] <effect> In the above-described embodiment, while control is being performed to operate according to the target construction surface information 321, the supply path is switched in the traveling straight valve 170 so that the hydraulic oil discharged from the left main pump 14L (an example of a first hydraulic pump) is supplied to the traveling hydraulic motor 2MR, in other words, the control of switching to the second valve position is suppressed, so that the main pump 14 can be assigned to each of the master element (e.g., the arm 5) and the slave element (e.g., one or more of the boom 4 and the bucket 6) of the attachment AT, and therefore, even when the excavator 100 is traveling, it becomes easy to control the boom 4, the arm 5, and the bucket 6 to operate so that the target construction surface and the control object coincide. In other words, when the attachment AT is operated according to the target construction surface, it is possible to realize improvement in the stability of the operation of the attachment while the excavator 100 is traveling.

[0193] Furthermore, in the above-described embodiment, while control is being performed to operate according to the target construction surface information 321, instead of suppressing switching of the straight traveling valve 170 to the second valve position, while an operation to move straight is being performed, the traveling control unit 313 outputs a control command to the proportional valve 31 so that the shovel 100 travels straight. This makes it possible to improve the stability of the straight traveling of the shovel 100.

[0194] Although the embodiment of the shovel and the shovel operation control system according to the present invention has been described above, the present invention is not limited to the above embodiment. Various changes, modifications, substitutions, additions, deletions, and combinations are possible within the scope of the claims. Naturally, these also fall within the technical scope of the present invention. [Explanation of symbols]

[0195] 100 Shovel 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm Cylinder 9 Bucket Cylinder 17 Control valve unit 170 Travel straight valve S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S5 Rotation Angle Sensor S6 imaging device S7R, S7B, S8R, S8B, S9R, S9B Cylinder pressure sensor S11 Left driving pressure sensor S12 Right road pressure sensor PS Positioning Device T1 Communications Equipment 26 Operating device 29 Operation Sensor 30 Controller 31 Proportional valve 33 Proportional valve 301 CPU 311 Machine control function section 312 Travel straight valve control unit 313 Driving control unit 302 Storage medium 321 Target construction information SYS Remote Control System RC Remote Control Room T2 Communication Equipment R30 Remote Controller D1 display device

Claims

1. A lower running body; An upper rotating body that can rotate relative to the lower traveling body; Attachment and A first hydraulic pump; A second hydraulic pump; a first traveling hydraulic motor driven by hydraulic oil discharged from the first hydraulic pump; a second traveling hydraulic motor driven by hydraulic oil discharged from the second hydraulic pump; a straight travel valve that switches a supply path so as to supply the hydraulic oil discharged from the first hydraulic pump to the second traveling hydraulic motor; A control device capable of controlling the operation of the attachment according to design information representing the shape of a construction target, The control device suppresses control for switching a supply path in the straight travel valve so as to supply the hydraulic oil discharged from the first hydraulic pump to the second traveling hydraulic motor while control is being performed to operate according to the design information. Shovel.

2. When an operation to travel the shovel and an operation to operate the attachment are received while control to perform an operation according to the design information is not being performed, the control device controls the traveling straight valve to switch a supply path so that the hydraulic oil discharged from the first hydraulic pump is supplied to the second traveling hydraulic motor. The shovel according to claim 1.

3. the control device, when an operation to move the shovel straight is received while control is being performed to perform an operation in accordance with the design information, controls the output of the first traveling hydraulic motor and the output of the second traveling hydraulic motor to be substantially the same. The shovel according to claim 1 or 2.

4. a first pressure sensor that detects a pressure of hydraulic oil flowing to the first traveling hydraulic motor; A second pressure sensor that detects the pressure of hydraulic oil flowing to the second traveling hydraulic motor, When an operation to move the shovel straight is received while control is being performed to perform an operation in accordance with the design information, the control device controls the output of the first traveling hydraulic motor and the output of the second traveling hydraulic motor to be substantially the same based on the pressure detection results of the first pressure sensor and the second pressure sensor. The shovel according to claim 3.

5. while control is being performed to operate in accordance with the design information, when the control device receives a first operation to move the shovel straight and a second operation to operate the attachment, the control device controls the output of the first traveling hydraulic motor and the output of the second traveling hydraulic motor to be substantially the same, and controls the attachment to operate along a design surface indicated in the design information. The shovel according to claim 3.

6. The attachment includes a first attachment and a second attachment, a first hydraulic actuator that drives the first attachment with hydraulic oil discharged from the first hydraulic pump; a second hydraulic actuator that drives the second attachment with hydraulic oil discharged from the second hydraulic pump, The straight travel valve has a first valve position which enables the hydraulic oil discharged by the first hydraulic pump to be supplied to the first hydraulic actuator and the hydraulic oil discharged by the second hydraulic pump to be supplied to the second travel hydraulic motor, and a second valve position which enables the hydraulic oil discharged by the first hydraulic pump to be supplied to the second travel hydraulic motor and the hydraulic oil discharged by the second hydraulic pump to be supplied to the first hydraulic actuator. The shovel according to claim 1.

7. An operation device that transmits an operation signal; a shovel including a lower traveling body, an upper rotating body and an attachment rotatable relative to the lower traveling body, a first hydraulic pump, a second hydraulic pump, a first traveling hydraulic motor driven by hydraulic oil discharged from the first hydraulic pump, a second traveling hydraulic motor driven by hydraulic oil discharged from the second hydraulic pump, a straight traveling valve that can switch a supply path so that the hydraulic oil discharged from the first hydraulic pump is supplied to the second traveling hydraulic motor, and a control device that can control the attachment to operate in accordance with design information representing a shape of a construction target when controlling an operation based on the operation signal received from the operation device, The control device suppresses control for switching a supply path in the straight travel valve so as to supply the hydraulic oil discharged from the first hydraulic pump to the second traveling hydraulic motor while control is being performed to operate according to the design information. Excavator operation control system.

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