Work machine

Abstract

To improve operational responsiveness to an operator's operation.SOLUTION: A work machine has: an attachment which is provided on an upper rotating body; an actuator which drives the attachment; and a control device in which reference operation information indicating a transition of a lever operation amount corresponding to a predetermined action and a control parameter for supplying, to the actuator, hydraulic oil at a flow rate corresponding to the reference operation information are preset. The control device adjusts the control parameter so as to bring the flow rate of the hydraulic oil supplied to the actuator closer to a flow rate corresponding to operation history information depending on a comparison result between the reference operation information and the operation history information indicating a transition of a lever operation amount when an operator operates an operating device to perform the predetermined action.SELECTED DRAWING: Figure 1A

Description

[Technical field]

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

[0002] Conventionally, there has been known a shovel having a machine control function that automatically operates at least one of the boom, arm, and bucket so that a target construction surface and the working portion of the bucket coincide with each other when an operator is manually performing operations such as digging or leveling the ground. [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] In the machine control function, there are recommended operations for a given action, and control is performed on the assumption that the recommended operations will be performed. However, operators may have individual habits and preferences when performing operations, and if there is a discrepancy between the recommended operations and the operations performed by the operator, construction accuracy may decrease.

[0005] The present disclosure aims to improve the responsiveness of an operation to an operation by an operator. [Means for solving the problem]

[0006] A work machine according to an embodiment of the present invention has an attachment provided on an upper rotating body, an actuator for driving the attachment, and a control device in which reference operation information indicating a transition in a lever operation amount corresponding to a specified operation and a control parameter for supplying hydraulic oil to the actuator at a flow rate corresponding to the reference operation information are set in advance, and the control device adjusts the control parameter in accordance with a comparison result between the reference operation information and operation history information indicating a transition in the lever operation amount when an operator operates an operating device to perform the specified operation, so as to bring the flow rate of hydraulic oil supplied to the actuator closer to the flow rate corresponding to the operation history information. Effect of the Invention

[0007] This makes it possible to improve the responsiveness of the operation to the operation of the operator. [Brief description of the drawings]

[0008] [Figure 1A] FIG. 1 is a side view of a shovel according to an embodiment of the present invention. [Figure 1B] FIG. 2 is a top view of a shovel according to an embodiment of the present invention. [Diagram 2] 1B is a schematic diagram showing a configuration example of a hydraulic system mounted on the excavator of FIG. 1A. [Figure 3A] FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of an arm cylinder. [Figure 3B] FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of a swing hydraulic motor. [Figure 3C] FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of a boom cylinder. [Figure 3D] FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of a bucket cylinder. [Figure 4] FIG. 2 is a functional block diagram of a controller. [Diagram 5] 2 is a block diagram showing a configuration example of an autonomous control unit; FIG. [Figure 6]13 is a flowchart illustrating a process of a controller. [Figure 7] FIG. 11 is a first diagram illustrating parameter adjustment. [Figure 8] FIG. 11 is a second diagram illustrating the adjustment of parameters. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to Figures 1A and 1B. Figure 1A is a side view of the shovel 100, and Figure 1B is a top view of the shovel 100.

[0010] In this embodiment, the lower traveling structure 1 of the excavator 100 includes a crawler 1C. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling structure 1. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.

[0011] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2 is driven by a rotating hydraulic motor 2A mounted on the upper rotating body 3. However, the rotating hydraulic motor 2A may be a rotating motor-generator serving as an electric actuator.

[0012] A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, arm 5, and bucket 6 constitute an excavation attachment AT, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0013] The boom 4 is rotatably supported by the upper rotating body 3. A boom angle sensor S1 is attached to the boom 4. The boom angle sensor S1 can detect a boom angle β1 which is a rotation angle of the boom 4. The boom angle β1 is, for example, an angle of ascent from a state in which the boom 4 is lowered to its lowest. Therefore, the boom angle β1 is maximum when the boom 4 is raised to its highest point.

[0014] The arm 5 is supported rotatably relative to the boom 4. An arm angle sensor S2 is attached to the arm 5. The arm angle sensor S2 can detect an arm angle β2 that is a rotation angle of the arm 5. The arm angle β2 is, for example, an opening angle from the fully closed state of the arm 5. Therefore, the arm angle β2 is maximum when the arm 5 is fully opened.

[0015] The bucket 6 is supported by a bucket link mechanism 6a so as to be rotatable with respect to the arm 5. A bucket angle sensor S3 is attached to the bucket 6. The bucket angle sensor S3 can detect a bucket angle β3 which is a rotation angle of the bucket 6. The bucket angle β3 is an opening angle from the fully closed state of the bucket 6. Therefore, the bucket angle β3 is maximum when the bucket 6 is fully opened.

[0016] 1A and 1B, each of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 is configured with a combination of an acceleration sensor and a gyro sensor. However, at least one of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be configured with only an acceleration sensor. In addition, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, or may be a rotary encoder, a potentiometer, an inertial measurement unit, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.

[0017] 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. The upper rotating body 3 is also equipped with an object detection device 70, an imaging device 80, a machine body tilt sensor S4, a rotation angular velocity sensor S5, etc. An operation device 26, a controller 30, a display device D1, a sound output device D2, etc. are provided inside the cabin 10. For convenience, in this specification, the side of the upper rotating body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

[0018] The object detection device 70 is an example of a surrounding monitoring device, and is configured to detect an object present around the excavator 100. The object is, for example, a person, an animal, a vehicle, a construction machine, a building, a wall, a fence, or a hole. The object detection device 70 is, for example, a camera, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor. In this embodiment, the object detection device 70 includes a front sensor 70F attached to the front end of the upper surface of the cabin 10, a rear sensor 70B attached to the rear end of the upper surface of the upper rotating body 3, a left sensor 70L attached to the left end of the upper surface of the upper rotating body 3, and a right sensor 70R attached to the right end of the upper surface of the upper rotating body 3.

[0019] The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100. The object detection device 70 may be configured to distinguish between humans and non-human objects. The object detection device 70 may be configured to calculate a distance from the object detection device 70 or the shovel 100 to a recognized object.

[0020] The imaging device 80 is another example of a surroundings monitoring device, and captures images of the surroundings of the excavator 100. In this embodiment, the imaging device 80 includes a rear camera 80B attached to the rear end of the upper surface of the upper rotating body 3, a left camera 80L attached to the left end of the upper surface of the upper rotating body 3, and a right camera 80R attached to the right end of the upper surface of the upper rotating body 3. The imaging device 80 may also include a front camera.

[0021] The rear camera 80B is disposed adjacent to the rear sensor 70B, the left camera 80L is disposed adjacent to the left sensor 70L, and the right camera 80R is disposed adjacent to the right sensor 70R. If the imaging device 80 includes a front camera, the front camera may be disposed adjacent to the front sensor 70F.

[0022] The image captured by the imaging device 80 is displayed on the display device D1. The imaging device 80 may be configured to display a viewpoint conversion image such as an overhead image on the display device D1. The overhead image is generated by, for example, synthesizing images output by the rear camera 80B, the left camera 80L, and the right camera 80R.

[0023] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle (roll angle) about the fore-aft axis and the tilt angle (pitch angle) about the lateral axis of the upper rotating body 3 with respect to the horizontal plane. The fore-aft axis and the lateral axis of the upper rotating body 3 are, for example, perpendicular to each other and pass through the shovel center point, which is a point on the rotation axis of the shovel 100. The machine body tilt sensor S4 may be configured as a combination of an acceleration sensor and a gyro sensor.

[0024] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver or a rotary encoder, etc. The rotation angular velocity sensor S5 may detect a rotation speed. The rotation speed may be calculated from the rotation angular velocity.

[0025] Hereinafter, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the turning angular velocity sensor S5 will each be referred to as an attitude detection device.

[0026] The display device D1 is configured to display various information. The sound output device D2 is configured to output sound. The operation device 26 is a device used by an operator to operate the actuator.

[0027] The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is configured with a computer including a CPU, a volatile storage device, a nonvolatile storage device, and the like. The controller 30 reads out and executes a program corresponding to each function from the nonvolatile storage device. Each function includes, for example, a machine guidance function that guides (guides) the manual operation of the shovel 100 by the operator, and a machine control function that automatically assists the manual operation of the shovel 100 by the operator.

[0028] The machine control function of this embodiment is a function that automatically operates the boom 4 and the bucket 6 so that the target construction surface and the working portion of the bucket coincide with each other when the operator is manually operating the arm 5.

[0029] In the excavator 100 of this embodiment, information indicating the content of a recommended operation and control parameters corresponding to the content of the recommended operation are set in advance in the controller 30 in accordance with a predetermined operation performed using the machine control function. The predetermined operation is, for example, an excavation operation. The excavation operation is an operation in which the bucket 6 is inserted into soil and then the bucket 6 is closed while closing the arm 5 (pulling it toward the user).

[0030] The information indicating the content of the recommended operation is information indicating a change in the amount of lever operation recommended as the operation of the predetermined action.

[0031] The control parameters corresponding to the contents of the recommended operation are parameters for generating command values ​​for operating the boom 4, arm 5, and bucket 6, corresponding to the transition of the amount of operation of the recommended lever operation. In other words, the control parameters set in advance in the controller 30 are control parameters for supplying hydraulic oil to the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 at a flow rate corresponding to the amount of operation of the set lever operation.

[0032] In the following description, information indicating a recommended operation that is set in the controller 30 is referred to as reference operation information. The reference operation information in this embodiment may be, for example, information that imitates a transition in the amount of lever operation obtained while an operator skilled in the operation is performing the operation.

[0033] When the machine control function is enabled (on) and the operator starts operating the arm 5, the controller 30 of this embodiment records operation history information indicating the contents of the operator's operations for one cycle.

[0034] The operation history information in this embodiment is information that indicates a transition in the amount of operation of the lever by the operator. One cycle is a period during which one excavation operation is performed.

[0035] Next, when the machine control function is disabled (OFF), the controller 30 compares the recorded operation history information for one cycle with the reference operation information, and adjusts the control parameters according to the comparison result.

[0036] At this time, the controller 30 adjusts the control parameters so that the flow rates of the hydraulic oil supplied to the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 approach a flow rate corresponding to the amount of lever operation by the operator. In the following description, the adjusted control parameters are referred to as adjusted parameters.

[0037] Furthermore, when the parameters are adjusted, the controller 30 sets the reference control information to reference operation information according to the adjusted parameters. More specifically, the controller 30 updates the reference operation information to information indicating a transition of the recommended operation amount of the lever operation when the boom 4, the arm 5, and the bucket 6 are operated using the adjusted parameters.

[0038] When the machine control function is enabled again and the next cycle begins, the controller 30 controls the operation of the boom 4, arm 5, and bucket 6 using the adjusted parameters, and records the operation history information for this one cycle.

[0039] Then, when the machine control function is disabled again, the controller 30 compares the updated reference operation information with the operation history information in the immediately preceding cycle, and further updates the adjusted parameters according to the comparison result, and further updates the reference operation information to reference operation information based on the updated adjusted parameters.

[0040] In this embodiment, the control parameters are adjusted in this manner for each cycle. Therefore, in this embodiment, even if the operation performed by the operator deviates from the recommended operation, the control in the machine control function is gradually adjusted to control that matches the operation of the operator. Therefore, according to this embodiment, the operation preferences, habits, etc. of each operator can be reflected in the operation of the excavator 100 when the machine control function is enabled, and operability for each operator can be improved.

[0041] In the present embodiment, the adjusted parameters may be stored for each operator. In other words, the controller 30 may store the adjusted parameters as individual parameter information associated with identification information for identifying the operator.

[0042] In this manner, when the machine control function is enabled, the controller 30 can acquire adjusted parameters corresponding to the identification information of the operator who operates the shovel 100, and use the acquired adjusted parameters to control the operations of the boom 4, the arm 5, and the bucket 6. Therefore, in this embodiment, the operating habits of each operator can be reflected in a predetermined operation using the machine control function.

[0043] Next, another 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 another 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.

[0044] The hydraulic system in FIG. 2 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, and the like.

[0045] In FIG. 2, the hydraulic system circulates 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.

[0046] 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 a main pump 14 and a pilot pump 15.

[0047] The main pump 14 supplies hydraulic oil through a hydraulic oil line to the control valve 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0048] The regulator 13 controls the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0049] The pilot pump 15 is configured to supply hydraulic oil to hydraulic control devices including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to the operating device 26 and the like after reducing the pressure of the hydraulic oil by a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve 17.

[0050] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve 17 includes 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 17 can selectively supply the 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 the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of the 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.

[0051] The operating device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is a pressure according to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. However, the operating device 26 may be an electrically controlled type instead of the pilot pressure type as described above. In this case, the control valve in the control valve 17 may be an electromagnetic solenoid type spool valve.

[0052] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0053] The operating pressure sensor 29 detects the operation of the operating device 26 by the operator. In this embodiment, the operating pressure sensor 29 detects the operation direction and operation amount of the lever or pedal of the operating device 26 corresponding to each actuator in the form of pressure (operating pressure), and outputs the detected value to the controller 30. The operation of the operating device 26 may be detected using a sensor other than the operating pressure sensor.

[0054] 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.

[0055] 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 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 17.

[0056] 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.

[0057] 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 a hydraulic oil tank.

[0058] 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.

[0059] 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.

[0060] 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. 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.

[0061] 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 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0062] 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.

[0063] The left parallel conduit 42L is a hydraulic oil line that runs parallel to the left center bypass conduit 40L. When the flow of hydraulic oil through the left center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, 175L, the left parallel conduit 42L can supply hydraulic oil to a more downstream control valve. The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. 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, 175R, the right parallel conduit 42R can supply hydraulic oil to a more downstream control valve.

[0064] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in response 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 volume. The same is true for the right regulator 13R. This is to prevent the absorption horsepower of the main pump 14, which is expressed as the product of the discharge pressure and the discharge volume, from exceeding the output horsepower of the engine 11.

[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 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.

[0067] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic oil to the right pilot port of the control valve 176L and introduces hydraulic oil to the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic oil to the left pilot port of the control valve 176L and introduces hydraulic oil to the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces hydraulic oil to the left pilot port of the control valve 173, and when operated in the right turning direction, it introduces hydraulic oil to the right pilot port of the control valve 173.

[0068] 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.

[0069] Specifically, the right operating lever 26R introduces hydraulic oil to the left pilot port of the control valve 175R when operated in the boom lowering direction. Furthermore, the right operating lever 26R introduces hydraulic oil to the right pilot port of the control valve 175L and also introduces hydraulic oil to the left pilot port of the control valve 175R when operated in the boom raising direction. Furthermore, the right operating lever 26R introduces hydraulic oil to the right pilot port of the control valve 174 when operated in the bucket closing direction, and introduces hydraulic oil to the left pilot port of the control valve 174 when operated in the bucket opening direction.

[0070] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to be interlocked with the left travel pedal. When the left travel lever 26DL 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 lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to be interlocked with the right travel pedal. When the right travel lever 26DR 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 lever operation amount into the pilot port of the control valve 172.

[0071] 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 applies to the discharge pressure sensor 28R.

[0072] The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects the content of the operation of the left operation lever 26L by the operator in the forward / rearward direction in the form of pressure, and outputs the detected value to the controller 30. The content of the operation includes, for example, the lever operation direction, the lever operation amount (lever operation angle), etc.

[0073] Similarly, the operating pressure sensor 29LB detects the operation of the left operating lever 26L in the left-right direction by the operator in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29RA detects the operation of the right operating lever 26R in the forward-backward direction by the operator in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29RB detects the operation of the right operating lever 26R in the left-right direction by the operator in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29DL detects the operation of the left traveling lever 26DL in the forward-backward direction by the operator in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29DR detects the operation of the right traveling lever 26DR in the forward-backward direction by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0074] The controller 30 receives the output of the operating pressure 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 the control pressure sensor 19 provided upstream of the orifice 18, and outputs a control command to the regulator 13 as necessary, thereby changing the discharge volume of the main pump 14. The orifice 18 includes a left orifice 18L and a right orifice 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] Next, a configuration for the controller 30 to automatically operate the actuators by the machine control function will be described with reference to Figs. 3A to 3D. Figs. 3A to 3D are views of a portion of the hydraulic system. Specifically, Fig. 3A is a view of the hydraulic system portion related to the operation of the arm cylinder 8, and Fig. 3B is a view of the hydraulic system portion related to the operation of the swing hydraulic motor 2A. Fig. 3C is a view of the hydraulic system portion related to the operation of the boom cylinder 7, and Fig. 3D is a view of the hydraulic system portion related to the operation of the bucket cylinder 9.

[0079] 3A to 3D, the hydraulic system includes a proportional valve 31 and a shuttle valve 32. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR, and the shuttle valve 32 includes shuttle valves 32AL to 32DL and 32AR to 32DR.

[0080] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is disposed in a pipe connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change the flow passage area of ​​the pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32, regardless of the operation of the operating device 26 by the operator.

[0081] The shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can apply the higher of the pilot pressure generated by the operating device 26 or the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0082] 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.

[0083] For example, as shown in FIG. 3A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the forward / rearward direction to the pilot port of the control valve 176. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Also, when the left operating lever 26L is operated in the arm opening direction (forward direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0084] The left operation lever 26L is provided with a switch NS. In this embodiment, the switch NS is a push button switch. 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 at another position in the cabin 10.

[0085] The operating pressure sensor 29LA detects the operation of the left operating lever 26L in the forward / rearward direction by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0086] The proportional valve 31AL operates in response to a current command output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL. The proportional valve 31AR operates in response to a current command output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR. The proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0087] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation by the operator. That is, the arm 5 can be automatically closed. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR, regardless of the arm opening operation by the operator. That is, the arm 5 can be automatically opened.

[0088] 3B, the left operating lever 26L is also used to operate the turning mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 173. More specifically, when the left operating lever 26L is operated in the left turning direction (left direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. Also, when the left operating lever 26L is operated in the right turning direction (right direction), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0089] The operating pressure sensor 29LB detects the operation of the left operating lever 26L in the left or right direction by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0090] The proportional valve 31BL operates in response to a current command output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31BL and shuttle valve 32BL. The proportional valve 31BR operates in response to a current command output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31BR and shuttle valve 32BR. The proportional valves 31BL and 31BR are capable of adjusting the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0091] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31BL and the shuttle valve 32BL, regardless of the left turning operation by the operator. That is, the swing mechanism 2 can be automatically rotated left. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31BR and the shuttle valve 32BR, regardless of the right turning operation by the operator. That is, the swing mechanism 2 can be automatically rotated right.

[0092] Also, as shown in FIG. 3C, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the forward / rearward direction to the pilot port of the control valve 175. More specifically, when the right operating lever 26R is operated in the boom-up direction (rearward direction), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the right operating lever 26R is operated in the boom-down direction (forward direction), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0093] The operating pressure sensor 29RA detects the operation of the right operating lever 26R in the forward and backward directions by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0094] The proportional valve 31CL operates in response to a current command output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31CL and the shuttle valve 32CL. The proportional valve 31CR operates in response to a current command output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31CR and the shuttle valve 32CR. The proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.

[0095] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31CL and the shuttle valve 32CL, regardless of the boom-raising operation by the operator. That is, the boom 4 can be automatically raised. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31CR and the shuttle valve 32CR, regardless of the boom-lowering operation by the operator. That is, the boom 4 can be automatically lowered.

[0096] 3D, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R utilizes hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 174. More specifically, when the right operating lever 26R is operated in the bucket closing direction (left direction), it applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174. Also, when the right operating lever 26R is operated in the bucket opening direction (right direction), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174.

[0097] The operating pressure sensor 29RB detects the contents of the left / right operation of the right operating lever 26R by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0098] The proportional valve 31DL operates in response to a current command output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31DL and shuttle valve 32DL. The proportional valve 31DR operates in response to a current command output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31DR and shuttle valve 32DR. The proportional valves 31DL and 31DR are capable of adjusting the pilot pressure so that the control valve 174 can be stopped at any valve position.

[0099] With this configuration, controller 30 can supply hydraulic oil discharged by pilot pump 15 to the left pilot port of control valve 174 via proportional valve 31DL and shuttle valve 32DL, regardless of the bucket closing operation by the operator. That is, the bucket 6 can be automatically closed. Also, controller 30 can supply hydraulic oil discharged by pilot pump 15 to the right pilot port of control valve 174 via proportional valve 31DR and shuttle valve 32DR, regardless of the bucket opening operation by the operator. That is, the bucket 6 can be automatically opened.

[0100] The excavator 100 may be configured to automatically move the lower traveling structure 1 forward and backward. In this case, the hydraulic system portion related to the operation of the left traveling hydraulic motor 2ML and the hydraulic system portion related to the operation of the right traveling hydraulic motor 2MR may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0101] In addition, although a hydraulic control lever equipped with a hydraulic pilot circuit is described in FIG. 2 and FIG. 3A to FIG. 3D, an electric control lever equipped with an electric pilot circuit may be adopted instead of a hydraulic control lever. In this case, the lever operation amount of the electric control lever is input to the controller 30 as an electric signal. In addition, a solenoid valve is disposed between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electric signal from the controller 30. With this configuration, when manual operation is performed using the electric control lever, the controller 30 can move each control valve by controlling the solenoid valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure. Note that each control valve may be configured as an electromagnetic spool valve. In this case, the solenoid spool valve operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric control lever.

[0102] Next, the function of the controller 30 will be described with reference to Fig. 4. Fig. 4 is a functional block diagram of the controller 30.

[0103] In the example of Figure 4, the controller 30 is configured to receive signals output from the attitude detection device, the operation device 26, the object detection device 70, the imaging device 80, the switch NS, etc., perform various calculations, and output control commands to the proportional valve 31, the display device D1, the sound output device D2, etc.

[0104] The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, and a turning angular velocity sensor S5.

[0105] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is disposed in a pipe connecting the pilot pump 15 and the shuttle valve, and is configured to be able to change the flow passage area of ​​the pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator. The controller 30 has, as functional elements, an attitude recording unit 30A, a trajectory calculation unit 30B, and an autonomous control unit 30C. Each functional element may be configured by hardware or software.

[0106] The posture recording unit 30A is configured to record information related to the posture of the shovel 100. In this embodiment, the posture recording unit 30A records information related to the posture of the shovel 100 when the switch NS is pressed in the RAM. Specifically, the posture recording unit 30A records the output of the posture detection device every time the switch NS is pressed. The posture recording unit 30A may be configured to start recording when the switch NS is pressed at a first time point, and to end the recording when the switch NS is pressed at a second time point. In this case, the posture recording unit 30A may repeatedly record information related to the posture of the shovel 100 at a predetermined control period from the first time point to the second time point.

[0107] The trajectory calculation unit 30B is configured to calculate a target trajectory, which is a trajectory drawn by a predetermined portion of the shovel 100 when the shovel 100 is operated autonomously. The predetermined portion is, for example, a predetermined point on the back surface of the bucket 6. In this embodiment, the trajectory calculation unit 30B calculates a target trajectory used by the autonomous control unit 30C when the shovel 100 is operated autonomously. Specifically, the trajectory calculation unit 30B calculates the target trajectory based on information related to the attitude of the shovel 100 recorded by the attitude recording unit 30A.

[0108] The trajectory calculation unit 30B may calculate the target trajectory based on the output of a LIDAR serving as an object detection device 70, which is an example of a surroundings monitoring device. Alternatively, the trajectory calculation unit 30B may calculate the target trajectory based on the output of an imaging device 80, which is another example of a surroundings monitoring device. Alternatively, the trajectory calculation unit 30B may calculate the target trajectory based on information relating to the posture of the shovel 100 recorded by the posture recording unit 30A and the output of the surroundings monitoring device.

[0109] The autonomous control unit 30C is configured to autonomously operate the shovel 100. In other words, the autonomous control unit 30C realizes a machine control function. In this embodiment, when a predetermined start condition is satisfied, the autonomous control unit 30C is configured to move a predetermined portion of the shovel 100 along the target trajectory calculated by the trajectory calculation unit 30B. The predetermined start condition is that the switch NS is pressed. In this embodiment, when the operating device 26 is operated with the switch NS pressed, the autonomous control unit 30C autonomously operates the shovel 100 so that a predetermined portion of the shovel 100 moves along the target trajectory.

[0110] In other words, in this embodiment, when the switch NS is pressed, the machine control function is enabled.

[0111] For example, the excavator 100 may be operated autonomously so that when the left operating lever included in the operating device 26 is operated in the arm raising direction while the switch NS is pressed, the lower end of the bucket 6 moves along the target trajectory. In this case, the left operating lever may be operated by any lever operation amount. Therefore, the operator can move the lower end of the bucket 6 along the target trajectory at a predetermined moving speed without worrying about the lever operation amount. Alternatively, the moving speed of the bucket 6 may be configured to change in response to a change in the operation amount of the left operating lever.

[0112] The autonomous control unit 30C may be configured to control at least one of the boom cylinder 7 and the hydraulic motor for rotation 2A so that the lower end of the bucket 6 follows the target trajectory. For example, the autonomous control unit 30C may semi-automatically control the rotation speed of the upper rotating body 3 according to the lifting speed of the boom 4. For example, the rotation speed of the upper rotating body 3 may be increased as the lifting speed of the boom 4 increases. In this case, the boom 4 rises at a speed according to the amount of lever operation in the boom-raising direction of the right operating lever included in the operating device 26, but the upper rotating body 3 may rotate at a speed different from the speed according to the amount of lever operation in the right rotating direction of the left operating lever.

[0113] Alternatively, the autonomous control unit 30C may semi-automatically control the lifting speed of the boom 4 according to the rotation speed of the upper rotating body 3. For example, the lifting speed of the boom 4 may be increased as the rotation speed of the upper rotating body 3 increases. In this case, the upper rotating body 3 rotates at a speed according to the amount of lever operation of the left operating lever in the right rotating direction, but the boom 4 may be raised at a speed different from the speed according to the amount of lever operation of the right operating lever in the boom raising direction.

[0114] Alternatively, the autonomous control unit 30C may semi-automatically control both the rotation speed of the upper rotating body 3 and the lifting speed of the boom 4. In this case, the upper rotating body 3 may rotate at a speed different from the speed corresponding to the amount of lever operation of the left operating lever in the right rotating direction. Similarly, the boom 4 may lift at a speed different from the speed corresponding to the amount of lever operation of the right operating lever in the boom lifting direction.

[0115] The parameter adjustment unit 30D acquires identification information for identifying the operator who operates the shovel 100, and adjusts the control parameters according to the operation history information of each operator.

[0116] The parameter adjustment unit 30D may acquire (receive) the identification information for identifying the operator from a smartphone or the like carried by the operator, or the identification information may be input by the operator from an input device provided on the display device D1.

[0117] The parameter adjustment unit 30D also stores reference operation information 30f, compares the reference operation information 30f with the operation history information, and adjusts the control parameters according to the comparison result. The parameter adjustment unit 30D also stores the adjusted parameters obtained by adjusting the control parameters as individual parameter information 30g in association with the operator's identification information. The details of the processing of the parameter adjustment unit 30D will be described later.

[0118] Next, an example of a function (machine control function) of the controller 30 to autonomously control the movement of the attachment will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of functional elements of an autonomous control unit.

[0119] 5, the controller 30 has functional elements F1 to F6 for realizing a machine control function. The functional elements may be configured with software, may be configured with hardware, or may be configured with a combination of software and hardware.

[0120] The functional element F1 is configured to calculate a current tip position. In this embodiment, the functional element F1 calculates the coordinate point of the tip of the bucket 6 as the current tip position based on the boom angle β1 detected by the boom angle sensor S1, the arm angle β2 detected by the arm angle sensor S2, the bucket angle β3 detected by the bucket angle sensor S3, and the rotation angle α1 detected by the rotation angular velocity sensor S5. The functional element F1 may use the output of the machine body tilt sensor S4 when calculating the current tip position.

[0121] The functional element F2 is configured to calculate the next toe position. In this embodiment, the functional element F2 calculates the toe position after a predetermined time as a target toe position based on the operation data output by the operation pressure sensor 29, the target trajectory calculated by the trajectory calculation unit 30B, and the current toe position calculated by the functional element F1.

[0122] The functional element F2 may determine whether the deviation between the current toe position and the target trajectory is within an allowable range. In this embodiment, the functional element F2 determines whether the distance between the current toe position and the target trajectory is equal to or less than a predetermined value. If the distance is equal to or less than the predetermined value, the functional element F2 determines that the deviation is within the allowable range and calculates the target toe position. On the other hand, if the distance is greater than the predetermined value, the functional element F2 determines that the deviation is not within the allowable range and slows down or stops the movement of the actuator regardless of the lever operation amount.

[0123] The functional element F3 is configured to generate a command value related to the tip speed. In this embodiment, the current tip position calculated by the functional element F1 and the next tip position calculated by the functional element F2 are input to the functional element F3, and the tip speed required to move the current tip position to the next tip position in a predetermined time is calculated as a command value related to the tip speed (speed command value). At this time, the functional element F3 in this embodiment may generate a speed command value for the tip of the bucket 6 so that a change in the load on the bucket 6 is reflected in the operation of the bucket 6.

[0124] Furthermore, the functional element F3 of this embodiment may calculate a speed command value for the tip in accordance with the current bucket angle β3 (opening angle).

[0125] The functional element F4 is configured to calculate a command value for operating the actuator. In this embodiment, the functional element F4 calculates a command value β for the boom angle β1 based on the target tip position calculated by the functional element F2, the speed command value calculated by the functional element F3, and the adjusted parameters or preset control parameters acquired by the functional element F6 described below, in order to move the current tip position to the target tip position. 1r , command value β for arm angle β 2r , command value β for bucket angle β 3r The command value α 1r Calculate. The functional element F4 controls the command value β as necessary even when the boom 4 is not being operated.1r This is to automatically operate the boom 4.

[0126] Furthermore, the functional element F5 records, as operation history information, a transition of the operation pressure (operation amount) output from the operation pressure sensor 29. Furthermore, when the machine control function is disabled, the functional element F5 outputs the recorded operation history information for one cycle to the parameter adjustment unit 30D.

[0127] When the machine control function is enabled, the functional element F6 acquires adjusted parameters corresponding to the operator currently operating the shovel 100 from the parameter adjustment unit 30D, and inputs the adjusted parameters to the functional element F4.

[0128] Next, the processing of the controller 30 of this embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart for explaining the processing of the controller. Note that Fig. 6 mainly shows the processing of the parameter adjustment unit 30D. The processing shown in Fig. 6 may be started when the shovel 100 is started.

[0129] In the controller 30 of this embodiment, when the operator's identification information is input by an operation by the operator, the parameter adjustment section 30D acquires this identification information (step S601).

[0130] Next, the parameter adjustment unit 30D determines whether or not the machine control function has been turned on (step S602). Specifically, the controller 30 determines whether or not the switch NS provided on the operation lever of the operation device 26 has been pressed by the operator.

[0131] If the machine control function is not turned on in step S602, the controller 30 waits.

[0132] If the machine control function is turned on in step S602, it is determined whether or not the individual parameter information 30g including the operator identification information acquired in step S601 is recorded in the parameter adjustment unit 30D (step S603). If the corresponding individual parameter information 30g is not recorded in the parameter adjustment unit 30D in step S603, the controller 30 proceeds to step S605, which will be described later.

[0133] In step S603, if the corresponding individual parameter information 30g is recorded in the parameter adjustment unit 30D, the parameter adjustment unit 30D acquires the corresponding individual parameter information 30g and outputs the adjustment parameters included in the individual parameter information 30g to the autonomous control unit 30C (step S604).

[0134] Next, the parameter adjustment unit 30D determines whether the machine control function has been turned off (step S605). In other words, the parameter adjustment unit 30D determines whether the switch NS provided on the operation lever of the operation device 26 has been released from its pressed state.

[0135] In step S605, if the machine control function is not turned off, the parameter adjustment unit 30D waits.

[0136] If the machine control function is turned off in step S505, the parameter adjustment unit 30D obtains from the autonomous control unit 30C the operation history information recorded during the period (one cycle) when the machine control function was on (step S606).

[0137] Next, the parameter adjustment section 30D compares the acquired operation history information with the reference operation information 30f recorded in the parameter adjustment section 30D (step S607).

[0138] Next, parameter-adjusting section 30D determines whether or not there is a timing at which the difference between the amounts of operation between the two is equal to or greater than a predetermined threshold (step S608).

[0139] If there is no corresponding timing in step S608, parameter-adjusting section 30D returns the process to step S602.

[0140] In step S608, if the corresponding timing exists, the parameter adjustment unit 30D adjusts the control parameters and updates the reference operation information 30f to reference control information 30f corresponding to the adjusted parameters (step S609). In this embodiment, by updating the reference operation information 30f in this manner, the control parameters can be brought closer to the operation of the operator.

[0141] The updated reference control information 30f may be temporary information during operation, and after the adjustment of the control parameters is completed, only the initially set reference operation information 30f may be held in the parameter adjustment unit 30D. The case where the adjustment of the control parameters is completed may be, for example, a case where a cycle in which the difference between the operation history information and the reference operation information 30f does not become equal to or greater than a predetermined threshold continues a predetermined number of times.

[0142] Specifically, if individual parameter information 30g including the operator's identification information has been recorded in step S603, the parameter adjustment section 30D re-adjusts the adjusted parameters included in the existing individual parameter information 30g.

[0143] Furthermore, if the individual parameter information 30g including the operator's identification information is not recorded in step S603, the parameter adjustment unit 30D adjusts the control parameters. The details of parameter adjustment will be described later.

[0144] Next, the parameter adjustment section 30D records the adjusted parameters after the adjustment as individual parameter information 30g associated with the operator's identification information in the parameter adjustment section 30D (step S610), and the process returns to step S602.

[0145] Next, parameter adjustment by parameter adjustment section 30D of this embodiment will be described with reference to FIGS.

[0146] Fig. 7 is a first diagram for explaining parameter adjustment. Fig. 7(A) shows reference operation information and operation history information for one cycle, and Fig. 7(B) shows a schematic diagram of how the parameters are controlled.

[0147] In FIG. 7(A), the horizontal axis is time and the vertical axis is the amount of operation of the operating lever, graph 61 is a graph showing reference operation information for one cycle, and graph 62 is a graph showing operation history information for one cycle of a certain operator.

[0148] In other words, graph 61 shows the transition of the lever operation amount corresponding to a predetermined operation that has been set in advance, and graph 62 shows how the lever operation amount transitions when the operator operates the operating device 26 to perform the predetermined operation.

[0149] When the parameter adjustment unit 30D of this embodiment acquires operation history information from the autonomous control unit 30C, it compares the operation history information with the reference operation information 30f. Then, when there is a timing when the difference between the operation amounts of both is equal to or greater than a predetermined threshold, it adjusts the control parameter or the adjusted parameter.

[0150] In the example of Fig. 7, it is assumed that at timing T1, the difference between the operation amount indicated by the reference operation information and the operation amount indicated by the operation history information is equal to or greater than a predetermined threshold value. Also, in the example of Fig. 7, it is assumed that there is no adjusted parameter corresponding to the operator's identification information.

[0151] For this reason, the parameter adjustment section 30D adjusts the control parameters used in the calculation of the functional element F4 of the autonomous control section 30C at timing T1, as shown in FIG. 7(B).

[0152] Here, the control parameters of this embodiment will be described. In this embodiment, the control parameters are weights for speed control and weights for position control, which are used in the calculation in the functional element F4.

[0153] The weight for the speed control is a value indicating the priority of control for making the speed of moving the actuators (boom cylinder 7, arm cylinder 8, bucket cylinder 9) follow the speed of the lever operation. When the controller 30 increases the weight for the speed control, the calculation in the functional element F4 generates a command value that gives priority to matching the moving speed of the actuators to the speed indicated by the lever operation of the operator.

[0154] The weight for position control is a value indicating the priority of control for aligning the position of the tip of the bucket 6 with the position derived from the lever operation of the operator. When the weight for position control is increased, in the calculation in functional element F4, a command value is generated that prioritizes bringing the tip of the bucket 6 closer to the next tip position calculated in functional element F2.

[0155] Fig. 8 is a second diagram for explaining parameter adjustment. In Fig. 8(A), the horizontal axis is time, the vertical axis is the operation amount of the operation lever, graph 71 is a graph showing reference operation information for one cycle, and graph 72 is a graph showing operation history information for one cycle of a certain operator. Fig. 8(B) shows the relationship between the weight for speed control and time.

[0156] The example of FIG. 8(A) shows a case where, during a period K1 from the start of one cycle to timing T2, the difference between the operation amount indicated by the operation history information and the operation amount indicated by the reference operation information is equal to or greater than a predetermined threshold, and the operation amount indicated by the operation history information is greater than the operation amount indicated by the reference operation information.

[0157] In this case, the speed at which the operator tilts the control lever is greater than the speed indicated by the reference operation information. In other words, the operator has a habit of tilting the control lever faster than the recommended speed during the period K1.

[0158] Therefore, the parameter adjustment unit 30D adjusts the control parameters so that the relationship between the weight for the speed control and time in the next cycle becomes the relationship shown in Fig. 8(B). Specifically, in the next cycle, the controller 30 increases the weight for the speed control from X1 to X2 for a period K1 after the machine control function is turned on.

[0159] In this way, the parameter adjustment unit 30D of this embodiment adjusts the weight (parameter) for speed control so that the boom 4 and bucket 6 move in accordance with the movement speed of the arm 5 operated by the operator when the speed at which the operator tilts the operating lever becomes faster than the speed indicated by the reference operation information by a certain amount or more.

[0160] In addition, in this embodiment, for example, during period K1, the difference from the operation amount indicated by the reference operation information is equal to or greater than a predetermined threshold, and the operation amount indicated by the operation history information is smaller than the operation amount indicated by the reference operation information.

[0161] In this case, the speed at which the operator tilts the control lever is slower than the speed indicated by the reference operation information. In other words, the operator has a habit of tilting the control lever more slowly than the recommended speed during period K1.

[0162] Therefore, parameter adjusting section 30D may make adjustments in the next cycle so that the weighting on the position control in period K1 is greater than the weighting on the position control in other periods.

[0163] In this embodiment, the range of weighting to be changed in one adjustment may be determined in advance, and the weighting for speed control or the weighting for position control may gradually increase as the number of cycles increases.

[0164] In this embodiment, the operating habits of each operator can be reflected in the control of the machine control functions when each operator operates the machine.

[0165] Therefore, for example, when an operator who has the habit of tilting the control lever quickly at a specific timing within one cycle operates the shovel 100, or when an operator who has the habit of tilting the control lever slowly at a specific timing operates the shovel 100, the habits of each individual operator can be reflected in the control performed by the machine control function.

[0166] Therefore, according to this embodiment, it is possible to improve the responsiveness of the operation of the shovel 100 to the operation by the operator, and it is possible to improve operability for the operator.

[0167] In addition, in this embodiment, the parameters are adjusted according to the operator's operation for each cycle, so that the operator's habits, etc. can be reflected in the operation of the shovel 100 when the machine control function is used during construction by the shovel 100.

[0168] Furthermore, in this embodiment, the shovel 100 is used as an example of a work machine, but the work machine is not limited to the shovel 100. This embodiment can be applied to any work machine as long as it has a machine control function.

[0169] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise. [Explanation of symbols]

[0170] 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 30 Controller 100 Shovel

Claims

1. An attachment provided on the upper rotating body; An actuator that drives the attachment; a control device in which reference operation information indicating a transition of a lever operation amount corresponding to a predetermined operation and a control parameter for supplying hydraulic oil at a flow rate corresponding to the reference operation information to the actuator are preset, The control device includes: and adjusting the control parameters according to a comparison result between the reference operation information and operation history information indicating a transition in a lever operation amount when an operator operates an operating device to perform the specified action, so as to bring a flow rate of hydraulic oil supplied to the actuator closer to a flow rate corresponding to the operation history information.

2. The control device includes:

2. The work machine according to claim 1, further comprising: acquiring identification information for identifying the operator; and retaining the adjusted control parameters as individual parameter information associated with the identification information.

3. The control device includes: comparing the reference operation information with the operation history information each time the predetermined operation is performed; 3. The work machine according to claim 1, wherein the control parameter is adjusted when a difference between an amount of lever operation indicated by the reference operation information and an amount of lever operation indicated by the operation history information is equal to or greater than a predetermined threshold value.

4. The reference operation information is 4. The work machine according to claim 3, wherein each time the control parameter is adjusted, the control parameter is updated to reference operation information indicating a transition of the lever operation amount corresponding to the adjusted control parameter.

5. The control device includes:

3. The work machine according to claim 2, further comprising: acquiring identification information of the operator; determining whether or not individual parameter information including the identification information is held; and, if individual parameter information including the identification information is held, controlling a flow rate of hydraulic oil supplied to the actuator using the adjusted control parameter associated with the identification information.

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