Shovel and controller of shovel

Abstract

To provide a controller that allows an operator to accurately determine whether a shovel is facing the target construction surface.SOLUTION: It consists of a base carrier, an upper swing body that is mounted on the base carrier and can swing, and a controller that notifies whether the upper swing body is facing the target construction surface based on information about the target construction surface and the orientation of the upper swing body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an excavator and a control device for an excavator.

Background Art

[0002] Conventionally, in an excavator, not only depending on the operation by an operator, but also performing work using information on a construction area or the like, so-called semi-automatic control is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to perform semi-automatic control with high accuracy, it is necessary to directly face the excavator to the target construction surface. However, with only semi-automatic control, it has been difficult for the operator to accurately determine whether the excavator is directly facing the target construction surface.

[0005] Therefore, it is desirable to provide an excavator and a control device for an excavator that allow an operator to accurately determine whether the excavator is directly facing the target construction surface.

Means for Solving the Problems

[0006] The excavator of the present disclosure includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, and a control device that notifies whether the upper swing body is directly facing the target construction surface based on information on the target construction surface and information on the orientation of the upper swing body.

[0007] In addition, the control device for an excavator according to the present disclosure is a control device for an excavator including a lower traveling body and an upper slewing body rotatably mounted on the lower traveling body, and notifies whether or not the upper slewing body is facing the target construction surface based on information regarding the target construction surface and information regarding the orientation of the upper slewing body.

Advantages of the Invention

[0008] According to the present disclosure, an operator can accurately determine whether or not the excavator is facing the target construction surface.

Brief Description of the Drawings

[0009]

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Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] FIG. 1 is a side view of an excavator 100 as a digging machine according to an embodiment of the present invention.

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

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

[0014] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the rotation angle of the boom 4 with respect to the upper slewing body 3 (hereinafter referred to as the "boom angle"). The boom angle, for example, becomes the minimum angle when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised.

[0015] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as the "arm angle"). The arm angle, for example, becomes the minimum angle when the arm 5 is closed to the maximum extent, and increases as the arm 5 is opened.

[0016] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the "bucket angle"). The bucket angle, for example, becomes the minimum angle when the bucket 6 is closed to the maximum extent, and increases as the bucket 6 is opened.

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

[0018] The upper slewing body 3 is provided with a cabin 10 which is a driver's cab and is equipped with a power source such as an engine 11. Further, on the upper slewing body 3, a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, a body tilt sensor S4, a slewing angular velocity sensor S5, a camera S6, a communication device T1, a positioning device P1, etc. are attached.

[0019] The controller 30 is configured to function as a main control unit that performs drive control of the excavator 100. In the present embodiment, the controller 30 is composed of a computer including a CPU, a RAM, a ROM, etc. Various functions of the controller 30 are realized, for example, by the CPU executing a program stored in the ROM. The various functions include, for example, a machine guidance function that guides (guides) the manual operation of the excavator 100 by the operator, and a machine control function that automatically supports the manual operation of the excavator 100 by the operator. The machine guidance device 50 included in the controller 30 is configured to execute the machine guidance function and the machine control function. Further, the controller 30 has a function of notifying whether or not the upper swing body 3 is facing the target construction surface.

[0020] The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

[0021] The input device 42 is configured to enable the operator to input various information to the controller 30. The input device 42 includes a touch panel, a knob switch, a membrane switch, etc. installed in the cab 10.

[0022] The sound output device 43 is configured to output information by sound. The sound output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In the present embodiment, the sound output device 43 is configured to output various information by voice in response to a voice output command from the controller 30. Also, the sound output device 43 can notify that the facing control described later is in progress, or notify that the facing control has been completed. Also, the sound output device 43 can notify whether or not the upper swing body 3 is facing the target construction surface.

[0023] The memory device 47 is configured to store various types of information. The memory device 47 is, for example, a non-volatile memory medium such as a semiconductor memory. The memory device 47 may store information output by various devices during the operation of the excavator 100, or may store information acquired via various devices before the operation of the excavator 100 is started. The memory device 47 may store, for example, information regarding the target construction surface acquired via a communication device T1 or the like. The target construction surface may be set by the operator of the excavator 100, or may be set by a construction manager or the like.

[0024] The body tilt sensor S4 is configured to detect the tilt of the upper swing body 3 with respect to the virtual horizontal plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the tilt angle around the front-rear axis and the tilt angle around the left-right axis of the upper swing body 3. The front-rear axis and the left-right axis of the upper swing body 3 are orthogonal to each other at, for example, the excavator center point, which is a point on the swing axis of the excavator 100.

[0025] The swing angular velocity sensor S5 is configured to detect the swing angular velocity of the upper swing body 3. The swing angular velocity sensor S5 may be configured to detect or calculate the swing angle of the upper swing body 3. In the present embodiment, the swing angular velocity sensor S5 is a gyro sensor. The swing angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

[0026] The camera S6 is an example of a space recognition device and is configured to acquire an image of the surroundings of the excavator 100. In the present embodiment, the camera S6 includes a front camera S6F that images the space in front of the excavator 100, a left camera S6L that images the space to the left of the excavator 100, a right camera S6R that images the space to the right of the excavator 100, and a rear camera S6B that images the space behind the excavator 100.

[0027] The camera S6 is a monocular camera having an imaging device such as a CCD or a CMOS, and outputs the captured image to the display device 40. The camera S6 may be a stereo camera, a distance image camera, or the like. Further, the camera S6 may be replaced with another spatial recognition device such as an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another spatial recognition device and a camera.

[0028] The front camera S6F is attached, for example, to the ceiling of the cabin 10, that is, inside the cabin 10. However, the front camera S6F may be attached to the roof of the cabin 10, that is, outside the cabin 10. The left camera S6L is attached to the left end of the upper surface of the upper swing body 3, the right camera S6R is attached to the right end of the upper surface of the upper swing body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper swing body 3.

[0029] The communication device T1 controls communication with an external device outside the excavator 100. In the present embodiment, the communication device T1 controls communication with an external device via a satellite communication network, a mobile phone communication network, the Internet, or the like. The external device may be, for example, a management device such as a server installed in an external facility, or an assistance device such as a smartphone carried by an operator around the excavator 100. The external device is configured to be able to manage construction information regarding, for example, one or more excavators 100. The construction information includes information regarding at least one of, for example, the operating time, fuel consumption, and work amount of the excavator 100. The work amount is, for example, the amount of earth and sand excavated and the amount of earth and sand loaded on the dump truck bed. The excavator 100 is configured to transmit construction information regarding the excavator 100 to the external device at a predetermined time interval via the communication device T1.

[0030] The positioning device P1 is configured to measure the position of the upper swing body 3. The positioning device P1 may be configured to measure the orientation of the upper swing body 3. In the present embodiment, the positioning device P1 is, for example, a GNSS compass, which detects the position and orientation of the upper swing body 3 and outputs the detected values to the controller 30. Therefore, the positioning device P1 can function as an orientation detection device that detects the orientation of the upper swing body 3. The orientation detection device may be an azimuth sensor attached to the upper swing body 3.

[0031] FIG. 2 is a block diagram showing a configuration example of the drive system of the excavator 100, in which the mechanical power system, the hydraulic oil line, the pilot line, and the electric control system are indicated by double lines, solid lines, broken lines, and dotted lines, respectively.

[0032] The drive system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a proportional valve 31, and the like.

[0033] The engine 11 is a drive source of the excavator 100. In the present embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0034] The main pump 14 is configured to supply hydraulic oil to the control valve 17 via a hydraulic oil line. In the present embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0035] The regulator 13 is configured to control 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 according to a control command from the controller 30. For example, the controller 30 receives the output of the operation pressure sensor 29 or the like, and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0036] The pilot pump 15 supplies hydraulic oil to various hydraulic control devices including the operation device 26 and the proportional valve 31 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 performed by the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may be provided with a circuit separate from the function of supplying hydraulic oil to the control valve 17, and may have a function of supplying hydraulic oil to the operation device 26 or the like after reducing the supply pressure of the hydraulic oil by a throttle or the like.

[0037] 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 17 can selectively supply the hydraulic oil discharged by the main pump 14 to one or a plurality of hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 are configured to control the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 1L, a right travel hydraulic motor 1R, and a swing hydraulic motor 2A. The swing hydraulic motor 2A may be a swing motor generator as an electric actuator.

[0038] The operating device 26 is a device including a lever 260 used by an operator for operating an actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. The pressure (pilot pressure) of the hydraulic oil supplied to each of the pilot ports is, in principle, a pressure corresponding to the operation direction and operation amount of the operating device 26 corresponding to each of the hydraulic actuators. At least one of the operating devices 26 is configured to be able to supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line and a shuttle valve 32.

[0039] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0040] The operation pressure sensor 29 is configured to detect the operation content of the operator using the operating device 26. In the present embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each of the actuators in the form of pressure, and outputs the detected value to the controller 30. The operation content of the operating device 26 may be detected using other sensors other than the operation pressure sensor.

[0041] The proportional valve 31 that functions as a control valve for machine control is arranged in the pipeline connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change the flow passage area of the pipeline. In the present embodiment, the proportional valve 31 operates according to the control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged from 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.

[0042] 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 one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0043] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when an operation on the specific operating device 26 is not being performed.

[0044] Next, the machine guidance device 50 included in the controller 30 will be described.

[0045] The machine guidance device 50 is configured to execute, for example, a machine guidance function. In the present embodiment, the machine guidance device 50 notifies, for example, an operator whether or not the upper swing body 3 is facing the target construction surface. Information regarding the target construction surface is, for example, stored in advance in the storage device 47. The machine guidance device 50 may acquire information regarding the target construction surface from an external device via the communication device T1. The information regarding the target construction surface is, for example, expressed 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. The target construction surface may be set based on the relative positional relationship with a reference point. In this case, the operator may define an arbitrary point at the construction site as the reference point. The reference on the excavator 100 side for determining whether or not the upper swing body 3 is facing the target construction surface is, for example, the tip of the bucket 6 or the back surface of the bucket 6. The machine guidance device 50 may be configured to guide the operation of the excavator 100 by notifying the operator via the display device 40 or the sound output device 43 whether or not the upper swing body 3 is facing the target construction surface.

[0046] The machine guidance device 50 may execute a machine control function that automatically supports the manual operation of the excavator 100 by the operator. For example, when the operator is manually performing an excavation operation, the machine guidance device 50 may automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface and the tip position of the bucket 6 coincide.

[0047] In this embodiment, the machine guidance device 50 is incorporated in the controller 30, but it may be a control device provided separately from the controller 30. In this case, the machine guidance device 50 is configured by a computer including a CPU and an internal memory, for example, in the same manner as the controller 30. Then, various functions of the machine guidance device 50 are realized by the CPU executing a program stored in the internal memory. Further, the machine guidance device 50 and the controller 30 are communicably connected to each other through a communication network such as CAN.

[0048] Specifically, the machine guidance device 50 acquires information from a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a turning angular velocity sensor S5, a camera S6, a positioning device P1, a communication device T1, an input device 42, and the like. Then, the machine guidance device 50 calculates, for example, the distance between the bucket 6 and the target construction surface based on the acquired information, determines whether or not the upper swing body 3 is facing the target construction surface based on the calculated distance, and notifies whether or not the upper swing body 3 is facing the target construction surface by at least one of sound and display.

[0049] Therefore, the machine guidance device 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, and an automatic control unit 54.

[0050] The position calculation unit 51 is configured to calculate the position of the object to be positioned. In this embodiment, the position calculation unit 51 calculates the coordinate points in the reference coordinate system of the working part of the attachment. Specifically, the position calculation unit 51 calculates the coordinate points of the tip of the bucket 6 from the respective rotation angles of the boom 4, the arm 5, and the bucket 6. The position calculation unit 51 may calculate not only the central coordinate points of the tip of the bucket 6 but also the left-end coordinate points and the right-end coordinate points of the tip of the bucket 6 in order to determine whether or not the upper swing body 3 is facing the target construction surface.

[0051] The distance calculation unit 52 is configured to calculate the distance between two positioning targets. In the present embodiment, the distance calculation unit 52 calculates the vertical distance between the tip of the bucket 6 and the target construction surface. The distance calculation unit 52 may calculate the distances (e.g., vertical distances) between the respective coordinate points at the left end and the right end of the tip of the bucket 6 and the corresponding target construction surface so that the machine guidance device 50 can determine whether the excavator 100 is facing the target construction surface directly.

[0052] The information transmission unit 53 is configured to transmit various information to the operator of the excavator 100. In the present embodiment, based on the distance calculated by the distance calculation unit 52, the information transmission unit 53 uses at least one of visual information and auditory information to notify the operator of the excavator 100 whether the upper swing body 3 is facing the target construction surface directly. Also, the magnitude of the vertical distance between the tip of the bucket 6 and the target construction surface may be transmitted to the operator of the excavator 100.

[0053] For example, the information transmission unit 53 may notify the operator using the sound from the sound output device 43 whether the upper swing body 3 is facing the target construction surface directly. In this case, the information transmission unit 53 may use mutually different sounds when the upper swing body 3 is facing the target construction surface directly and when it is not. Thereby, the operator can distinguish and recognize the case where the upper swing body 3 is facing the target construction surface directly and the case where it is not.

[0054] Also, the information transmission unit 53 may cause the display device 40 to display whether the upper swing body 3 is facing the target construction surface directly. The display device 40 displays, for example, the information received from the information transmission unit 53 together with the image data received from the camera S6 on the screen. The information transmission unit 53 may, for example, notify the operator using information in the form of characters or icons whether the upper swing body 3 is facing the target construction surface directly.

[0055] The automatic control unit 54 automatically supports the manual operation of the excavator 100 by the operator by automatically operating the actuator. For example, when the operator is manually performing an arm closing operation, the automatic control unit 54 may automatically extend and contract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the target construction surface coincides with the position of the tip of the bucket 6. In this case, the operator can close the arm 5 while aligning the tip of the bucket 6 with the target construction surface by, for example, simply operating the arm operation lever in the closing direction. This automatic control may be configured to be executed when a predetermined switch, which is one of the input devices 42, is operated such as being pressed. The predetermined switch may be, for example, a machine control switch (hereinafter referred to as "MC switch"), and may be arranged at the tip of the operating device 26 as a knob switch.

[0056] When a predetermined switch such as an MC switch is pressed, the automatic control unit 54 may automatically rotate the slewing hydraulic motor 2A to align the upper slewing body 3 with the target construction surface. In this case, the operator can align the upper slewing body 3 with the target construction surface by simply pressing a predetermined switch or by operating the slewing operation lever while pressing the predetermined switch. Alternatively, the operator can align the upper slewing body 3 with the target construction surface and start the machine control function by simply pressing a predetermined switch. Hereinafter, the control for aligning the upper slewing body 3 with the target construction surface is referred to as "alignment control". In the alignment control, the machine guidance device 50 determines that the excavator 100 is aligned with the target construction surface when the vertical distance from the coordinate point at the left end of the bucket tip of the bucket 6 to the target construction surface (left end vertical distance) is equal to the vertical distance from the coordinate point at the right end of the bucket tip of the bucket 6 to the target construction surface (right end vertical distance). However, even when the difference between the left end vertical distance and the right end vertical distance is not equal to zero, that is, when the difference between the left end vertical distance and the right end vertical distance is not zero but is less than or equal to a predetermined value, the machine guidance device 50 may determine that the excavator 100 is aligned with the target construction surface. After automatically rotating the slewing hydraulic motor 2A, when the machine guidance device 50 determines that the excavator 100 is aligned with the target construction surface, it may use at least one of visual information and auditory information to notify the operator that the alignment control has been completed. That is, the machine guidance device 50 may notify the operator that the upper slewing body 3 has been aligned with the target construction surface. Further, during the execution of the alignment control, the machine guidance device 50 may notify the operator that the alignment control is being executed.

[0057] Note that the switch (the third switch) to be pressed when performing the above-described automatic control and the switch (the second switch) to be pressed when performing the facing control do not have to be the same switch, and these are not limited to the type that is pressed as long as it is operable. However, if the switch to be pressed when performing the automatic control and the switch to be pressed when performing the facing control are the same switch, the facing control can be executed by operating the swing operation lever while pressing the switch, and the upper swing body 3 can be made to face the target construction surface. Then, the automatic control can be performed by operating another lever while continuously pressing the switch. Thereby, the facing control and the automatic control can be performed in a series of operations. Further, the first switch provided as one of the input devices 42 for checking whether or not the upper swing body 3 and the target construction surface are facing each other may be the same switch as the third switch to be pressed when performing the above-described automatic control and the second switch to be pressed when performing the facing control. Thereby, the work of checking whether or not the upper swing body 3 and the target construction surface are facing each other can also be performed in a series of operations.

[0058] In this embodiment, the automatic control unit 54 can automatically operate each actuator by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator. For example, in the facing control, the automatic control unit 54 may operate the slewing hydraulic motor 2A based on the difference between the left vertical distance and the right vertical distance. Specifically, when the slewing operation lever is operated with a predetermined switch pressed, the automatic control unit 54 determines whether the slewing operation lever is operated in a direction to face the upper slewing body 3 toward the target construction surface. For example, when the slewing operation lever is operated in a direction in which the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope surface) increases, the automatic control unit 54 does not execute the facing control. On the other hand, when the slewing operation lever is operated in a direction in which the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope surface) decreases, the automatic control unit 54 executes the facing control. As a result, the automatic control unit 54 can operate the slewing hydraulic motor 2A so that the difference between the left vertical distance and the right vertical distance becomes smaller. After that, when the difference becomes less than or equal to a predetermined value or zero, the automatic control unit 54 stops the slewing hydraulic motor 2A. Alternatively, the automatic control unit 54 may set the slewing angle at which the difference becomes less than or equal to a predetermined value or zero as the target angle, and perform slewing angle control so that the angle difference between the target angle and the current slewing angle (detected value) becomes zero. In this case, the slewing angle is, for example, the angle of the front-rear axis of the upper slewing body 3 with respect to the reference direction.

[0059] Also, when an operation related to the target construction surface such as an excavation operation or a slope finishing operation is being performed, the automatic control unit 54 may automatically operate the actuator so that the upper slewing body 3 is maintained in a state of facing the target construction surface. For example, when the direction of the upper slewing body 3 changes due to an excavation reaction force or the like and the upper slewing body 3 no longer faces the target construction surface, the automatic control unit 54 may automatically operate the slewing hydraulic motor 2A in order to quickly face the upper slewing body 3 toward the target construction surface. Alternatively, when an operation related to the target construction surface is being performed, the automatic control unit 54 may prophylactically operate the actuator so that the direction of the upper slewing body 3 does not change due to an excavation reaction force or the like.

[0060] Furthermore, when a predetermined switch is pressed and the upper swing body 3 is swinging and facing the target construction surface, and the swing operation lever continues to be operated while the predetermined switch is being pressed, the automatic control unit 54 may control the swing hydraulic motor 2A or the swing electric actuator not to rotate so as not to swing the upper swing body 3, thereby maintaining the state where the upper swing body 3 faces the target construction surface. Also, when the swing operation lever is returned to the neutral position and then operated again, the upper swing body 3 may be swung.

[0061] Next, with reference to FIG. 3, a configuration example of the hydraulic system mounted on the excavator 100 will be described.

[0062] FIG. 3 is a schematic diagram showing a configuration example of the hydraulic system mounted on the excavator 100 of FIG. 1. Similar to FIG. 2, FIG. 3 shows the mechanical power system, the hydraulic oil line, the pilot line, and the electric control system by double lines, solid lines, broken lines, and dotted lines, respectively.

[0063] The hydraulic system circulates hydraulic oil from the main pumps 14L and 14R driven by the engine 11 to the hydraulic oil tank through at least one of the center bypass pipelines 40L and 40R and the parallel pipelines 42L and 42R. The main pumps 14L and 14R correspond to the main pump 14 in FIG. 2.

[0064] The center bypass pipeline 40L is a hydraulic oil line passing through the control valves 171, 173, 175L, and 176L arranged in the control valve 17. The center bypass pipeline 40R is a hydraulic oil line passing through the control valves 172, 174, 175R, and 176R arranged in the control valve 17. The control valves 175L and 175R correspond to the control valve 175 in FIG. 2. The control valves 176L and 176R correspond to the control valve 176 in FIG. 2.

[0065] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14L to the left traveling hydraulic motor 1L and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 1L to the hydraulic oil tank.

[0066] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14R to the right traveling hydraulic motor 1R and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 1R to the hydraulic oil tank.

[0067] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14L to the slewing hydraulic motor 2A and to discharge the hydraulic oil discharged by the slewing hydraulic motor 2A to the hydraulic oil tank.

[0068] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0069] The control valves 175L and 175R are spool valves that switch the flow of hydraulic oil to supply the hydraulic oil discharged by the main pumps 14L and 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0070] The control valves 176L and 176R are spool valves that switch the flow of hydraulic oil to supply the hydraulic oil discharged by the main pumps 14L and 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0071] The parallel pipeline 42L is a hydraulic oil line parallel to the center bypass pipeline 40L. The parallel pipeline 42L is configured to supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, 175L. The parallel pipeline 42R is a hydraulic oil line parallel to the center bypass pipeline 40R. The parallel pipeline 42R is configured to supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, 175R.

[0072] The regulators 13L, 13R control the discharge amounts of the main pumps 14L, 14R by adjusting the swash plate tilting angles of the main pumps 14L, 14R according to the discharge pressures of the main pumps 14L, 14R. The regulators 13L, 13R correspond to the regulator 13 in FIG. 2. For example, the regulator 13L adjusts the swash plate tilting angle of the main pump 14L in response to an increase in the discharge pressure of the main pump 14L to decrease the discharge amount. The same applies to the regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, represented by the product of the discharge pressure and the discharge amount, does not exceed the output power (output horsepower) of the engine 11.

[0073] The discharge pressure sensor 28L is an example of the discharge pressure sensor 28, detects the discharge pressure of the main pump 14L, and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0074] Here, the negative control used in the hydraulic system of FIG. 3 will be described.

[0075] In the center bypass pipeline 40L, a throttle 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. The flow of the hydraulic oil discharged by the main pump 14L is restricted by the throttle 18L. Then, the throttle 18L generates a control pressure for controlling the regulator 13L. The control pressure sensor 19L is a sensor for detecting the control pressure and outputs the detected value to the controller 30. Similarly, in the center bypass pipeline 40R, a throttle 18R is arranged between the most downstream control valve 176R and the hydraulic oil tank. The flow of the hydraulic oil discharged by the main pump 14R is restricted by the throttle 18R. Then, the throttle 18R generates a control pressure for controlling the regulator 13R. The control pressure sensor 19R is a sensor for detecting the control pressure and outputs the detected value to the controller 30.

[0076] The controller 30 controls the discharge amount of the main pump 14L by adjusting the swash plate tilt angle of the main pump 14L according to the control pressure detected by the control pressure sensor 19L. The controller 30 decreases the discharge amount of the main pump 14L as the control pressure increases and increases the discharge amount of the main pump 14L as the control pressure decreases.

[0077] Specifically, as shown in FIG. 3, in the standby state where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the main pump 14L reaches the throttle 18L through the center bypass pipeline 40L. Then, the flow of the hydraulic oil discharged by the main pump 14L increases the control pressure generated upstream of the throttle 18L. As a result, the controller 30 decreases the discharge amount of the main pump 14L to the allowable minimum discharge amount and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass pipeline 40L.

[0078] When any one of the hydraulic actuators is operated, the hydraulic oil discharged by the 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 main pump 14L reduces or eliminates the amount reaching the throttle 18L, and reduces the control pressure generated upstream of the throttle 18L. As a result, the controller 30 increases the discharge amount of the main pump 14L, circulates sufficient hydraulic oil to the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the above description of the main pump 14L is similarly applicable to the main pump 14R.

[0079] With the configuration as described above, in the standby state, the hydraulic system in FIG. 3 can suppress the wasteful energy consumption in the main pumps 14L and 14R. The wasteful energy consumption includes the pumping loss generated by the hydraulic oil discharged by the main pumps 14L and 14R in the center bypass pipelines 40L and 40R. Also, when operating the hydraulic actuator, the hydraulic system in FIG. 3 can supply sufficient hydraulic oil from the main pumps 14L and 14R to the hydraulic actuator to be operated.

[0080] Next, with reference to FIGS. 4A to 4C, a configuration for automatically operating the actuator will be described.

[0081] FIGS. 4A to 4C are diagrams showing a part of the hydraulic system extracted. Specifically, FIG. 4A is a diagram showing the extracted part of the hydraulic system related to the operation of the boom cylinder 7, FIG. 4B is a diagram showing the extracted part of the hydraulic system related to the operation of the bucket cylinder 9, and FIG. 4C is a diagram showing the extracted part of the hydraulic system related to the operation of the swing hydraulic motor 2A.

[0082] The boom operation lever 26A in Fig. 4A is an example of the lever 260 included in the operation device 26 and is used to operate the boom 4. The boom operation lever 26A utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation content to the pilot ports of the control valves 175L and 175R. Specifically, when the boom operation lever 26A is operated in the boom raising direction, a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the boom operation lever 26A is operated in the boom lowering direction, a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 176R.

[0083] The operation pressure sensor 29A is an example of the operation pressure sensor 29, detects the operation content of the operator on the boom operation lever 26A in the form of pressure, and outputs the detected value to the controller 30. The operation content is, for example, the operation direction and the operation amount (operation angle), etc.

[0084] The proportional valves 31AL and 31AR are examples of the proportional valve 31, and the shuttle valves 32AL and 32AR are examples of the shuttle valve 32. The proportional valve 31AL operates according to the current command output by the controller 30. Then, the proportional valve 31AL adjusts the pilot pressure by the 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 31AL and the shuttle valve 32AL. The proportional valve 31AR operates according to the current command output by the controller 30. Then, the proportional valve 31AR adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R 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 175L and 175R can be stopped at an arbitrary valve position.

[0085] With this configuration, the controller 30 can supply, for example, 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 31AL and the shuttle valve 32AL, regardless of the boom raising operation by the operator. That is, the controller 30 can automatically raise the boom 4. 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 31AR and the shuttle valve 32AR, regardless of the boom lowering operation by the operator. That is, the controller 30 can automatically lower the boom 4.

[0086] The bucket operation lever 26B in Fig. 4B is an example of the lever 260 included in the operating device 26 and is used to operate the bucket 6. The bucket operation lever 26B utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation content to the pilot port of the control valve 174. Specifically, when the bucket operation lever 26B is operated in the bucket opening direction, it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174. Also, when the bucket operation lever 26B is operated in the bucket closing direction, it applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174.

[0087] The operation pressure sensor 29B is an example of the operation pressure sensor 29, detects the operation content of the operator on the bucket operation lever 26B in the form of pressure, and outputs the detected value to the controller 30.

[0088] The proportional valves 31BL and 31BR are examples of the proportional valve 31, and the shuttle valves 32BL and 32BR are examples of the shuttle valve 32. The proportional valve 31BL operates according to the current command output by the controller 30. Then, the proportional valve 31BL adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31BL and the shuttle valve 32BL. The proportional valve 31BR operates according to the current command output by the controller 30. Then, the proportional valve 31BR adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31BR and the shuttle valve 32BR. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.

[0089] 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 174 via the proportional valve 31BL and the shuttle valve 32BL, regardless of the bucket closing operation by the operator. That is, the controller 30 can automatically close the bucket 6. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31BR and the shuttle valve 32BR, regardless of the bucket opening operation by the operator. That is, the controller 30 can automatically open the bucket 6.

[0090] The swing operation lever 26C in FIG. 4C is an example of the lever 260 included in the operating device 26 and is used to swing the upper swing body 3. The swing operation lever 26C utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation content to the pilot port of the control valve 173. Specifically, when the swing operation lever 26C is operated in the left swing direction, it applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. Also, when the swing operation lever 26C is operated in the right swing direction, it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0091] The operation pressure sensor 29C is an example of the operation pressure sensor 29, detects the operation content of the operator on the turning operation lever 26C in the form of pressure, and outputs the detected value to the controller 30.

[0092] The proportional valves 31CL and 31CR are examples of the proportional valve 31, and the shuttle valves 32CL and 32CR are examples of the shuttle valve 32. The proportional valve 31CL operates according to the current command output by the controller 30. Then, the proportional valve 31CL adjusts the pilot pressure by the hydraulic oil introduced into the left pilot port of the control valve 173 from the pilot pump 15 via the proportional valve 31CL and the shuttle valve 32CL. The proportional valve 31CR operates according to the current command output by the controller 30. Then, the proportional valve 31CR adjusts the pilot pressure by the hydraulic oil introduced into the right pilot port of the control valve 173 from the pilot pump 15 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 valve 173 can be stopped at an arbitrary valve position.

[0093] With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31CL and the shuttle valve 32CL, regardless of the left turning operation by the operator. That is, the controller 30 can automatically turn the upper swing body 3 to the left. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31CR and the shuttle valve 32CR, regardless of the right turning operation by the operator. That is, the controller 30 can automatically turn the upper swing body 3 to the right.

[0094] The excavator 100 may be configured to automatically open and close the arm 5 and to automatically move the lower traveling body 1 forward and backward. In this case, the hydraulic system part related to the operation of the arm cylinder 8, the hydraulic system part related to the operation of the left traveling hydraulic motor 1L, and the hydraulic system part related to the operation of the right traveling hydraulic motor 1R may be configured in the same manner as the hydraulic system part related to the operation of the boom cylinder 7 and the like.

[0095] In this way, the controller 30 can operate the attachment regardless of the operation on the operation device 26. At this time, when an operation is performed on the operation device 26 with the MC switch pressed, the controller 30 can operate the attachment based on the operation on the operation device 26, the information acquired about the position and orientation of the excavator 100, and the information registered in advance. For example, as described above, when the operator manually performs an arm closing operation, the controller 30 may automatically extend and contract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the target construction surface and the position of the tip of the bucket 6 coincide. Thereby, the burden associated with the operator's operation can be reduced. Note that, for example, the position and orientation of the excavator 100 can be the ones measured by the positioning device P1 and output to the controller 30. Also, the information about the target construction surface stored in the storage device 47 can be used as the information registered in advance.

[0096] Next, with reference to FIG. 5, another configuration example of the machine guidance device 50 will be described.

[0097] FIG. 5 is a block diagram showing another configuration example of the drive system of the excavator 100 and corresponds to FIG. 2. The drive system of FIG. 5 is different from the drive system of FIG. 2 in that the machine guidance device 50 includes a swing angle calculation unit 55 and a relative angle calculation unit 56, but is common in other respects. Therefore, the description of the common parts will be omitted, and the different parts will be described in detail.

[0098] The turning angle calculation unit 55 calculates the turning angle of the upper slewing body 3. This is for identifying the current orientation of the upper slewing body 3. In the present embodiment, the turning angle calculation unit 55 calculates, as the turning angle, the angle of the longitudinal axis of the upper slewing body 3 with respect to the reference direction based on the output of the GNSS compass as the positioning device P1. The turning angle calculation unit 55 may calculate the turning angle based on the output of the turning angular velocity sensor S5. Also, when a reference point is set at the construction site, the turning angle calculation unit 55 may use, as the reference direction, the direction of the reference point seen from the turning axis.

[0099] The turning angle indicates the direction in which the attachment operating surface extends. The attachment operating surface is, for example, a virtual plane that longitudinally cuts through the attachment and is arranged to be perpendicular to the turning plane. The turning plane is, for example, a virtual plane that includes the bottom surface of the turning frame perpendicular to the turning axis. The machine guidance device 50 determines, for example, that the upper slewing body 3 is facing the target construction surface when it determines that the attachment operating surface AF (see FIG. 7A) includes the normal line of the target construction surface.

[0100] The relative angle calculation unit 56 calculates the relative angle as the turning angle required to align the upper slewing body 3 with the target construction surface. The relative angle is, for example, the relative angle formed between the direction of the longitudinal axis of the upper slewing body 3 when the upper slewing body 3 is aligned with the target construction surface and the current direction of the longitudinal axis of the upper slewing body 3. In the present embodiment, the relative angle calculation unit 56 calculates the relative angle based on the information regarding the target construction surface stored in the storage device 47 and the turning angle calculated by the turning angle calculation unit 55.

[0101] When the swing operation lever is operated with a predetermined switch pressed, the automatic control unit 54 determines whether the swing operation lever is operated in a direction to align the upper swing body 3 with the target construction surface. When it is determined that the swing operation lever is operated in a direction to align the upper swing body 3 with the target construction surface, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. When the change in the swing angle after the swing operation lever is operated reaches the target angle, it is determined that the upper swing body 3 is facing the target construction surface, and the movement of the swing hydraulic motor 2A is stopped.

[0102] In this way, similar to the machine guidance device 50 in FIG. 2, the machine guidance device 50 in FIG. 5 can align the upper swing body 3 with the target construction surface.

[0103] Next, with reference to FIGS. 6A, 6B, 7A, and 7B, an example of the alignment control in which the controller 30 aligns the upper swing body 3 with the target construction surface will be described.

[0104] FIGS. 6A and 6B are top views of the excavator 100 when the alignment control is executed, and FIGS. 7A and 7B are perspective views of the excavator 100 when viewed from the left rear when the alignment control is executed. Specifically, FIGS. 6A and 7A show a state where the upper swing body 3 is not aligned with the target construction surface, and FIGS. 6B and 7B show a state where the upper swing body 3 is aligned with the target construction surface. The target construction surface in FIGS. 6A, 6B, 7A, and 7B is, for example, the uphill slope BS as shown in FIG. 1. The region NS represents a state where the uphill slope BS is not completed, that is, a state where the ground surface ES does not coincide with the uphill slope BS as shown in FIG. 1, and the region CS represents a state where the uphill slope BS is completed, that is, a state where the ground surface ES coincides with the uphill slope BS.

[0105] The state where the upper revolving body 3 faces the target construction surface head-on includes, for example, a state where, as shown in FIG. 6B, on the virtual horizontal plane, the angle α formed between the line segment L1 representing the direction (extension direction) of the target construction surface and the line segment L2 representing the longitudinal axis of the upper revolving body 3 is 90 degrees. The extension direction of the normal plane as the direction of the target construction surface represented by the line segment L1 is, for example, a direction perpendicular to the slope length direction. The slope length direction is, for example, a direction along a virtual line segment connecting the upper end (the top of the slope) and the lower end (the bottom of the slope) of the normal plane at the shortest distance. The state where the upper revolving body 3 faces the target construction surface head-on may be defined as a state where, on the virtual horizontal plane, the angle β (see FIG. 6A) formed between the line segment L2 representing the longitudinal axis of the upper revolving body 3 and the line segment L3 perpendicular to the direction (extension direction) of the target construction surface is 0 degrees. Note that the direction represented by the line segment L3 corresponds to the horizontal component direction of the perpendicular line dropped to the target construction surface.

[0106] The virtual cylindrical body CB in FIGS. 7A and 7B represents a part of the normal line of the target construction surface (the upward slope surface BS), the dashed-dotted line represents a part of the virtual turning plane SF, and the dashed line represents a part of the virtual attachment operation surface AF. The attachment operation surface AF is arranged to be perpendicular to the turning plane SF. Then, as shown in FIG. 7B, in the state where the upper revolving body 3 faces the target construction surface head-on, the attachment operation surface AF is arranged to include a part of the normal line represented by the virtual cylindrical body CB, that is, the attachment operation surface AF extends along a part of the normal line.

[0107] The automatic control unit 54 sets, for example, the turning angle when the attachment operation surface AF and the target construction surface (the uphill surface BS) are perpendicular as the target angle. Then, the automatic control unit 54 detects the current turning angle based on the output of the positioning device P1 or the like, and calculates the difference between the target angle and the current turning angle (the detected value). Then, the automatic control unit 54 operates the turning hydraulic motor 2A so that the difference becomes less than or equal to a predetermined value or zero. Specifically, the automatic control unit 54 determines that the upper swing body 3 is facing the target construction surface when the difference between the target angle and the current turning angle becomes less than or equal to a predetermined value or zero. Further, when the turning operation lever is operated while a predetermined switch is pressed, the automatic control unit 54 determines whether the turning operation lever is operated in the direction of facing the upper swing body 3 to the target construction surface. For example, when the turning operation lever is operated in the direction in which the difference between the target angle and the current turning angle increases, the automatic control unit 54 determines that the turning operation lever is not operated in the direction of facing the upper swing body 3 to the target construction surface, and does not execute the alignment control. On the other hand, when the turning operation lever is operated in the direction in which the difference between the target angle and the current turning angle decreases, the automatic control unit 54 determines that the turning operation lever is operated in the direction of facing the upper swing body 3 to the target construction surface, and executes the alignment control. As a result, the turning hydraulic motor 2A can be operated so that the difference between the target angle and the current turning angle becomes smaller. Thereafter, when the difference between the target angle and the current turning angle becomes less than or equal to a predetermined value or zero, the automatic control unit 54 stops the turning hydraulic motor 2A.

[0108] The case shown in FIG. 6B is one case showing a state in which the attachment operation surface AF includes the normal line (the virtual cylindrical body CB), and the angle α formed between the line segment L1 indicating the direction of the target construction surface and the line segment L2 indicating the longitudinal axis of the upper swing body 3 is 90°. However, if the attachment operation surface AF includes the normal line (the virtual cylindrical body CB), the angle α does not necessarily have to be 90 degrees. For example, since the ground on which the excavator 100 is installed is often a ground with large undulations, even if the attachment operation surface AF includes the normal line (the virtual cylindrical body CB), the angle α does not necessarily become 90 degrees.

[0109] When the MC switch is pressed, the controller 30 executes the facing control.

[0110] First, the machine guidance device 50 included in the controller 30 determines whether or not a facing deviation has occurred. In the present embodiment, the machine guidance device 50 determines whether or not a facing deviation has occurred based on the information regarding the target construction surface pre-stored in the storage device 47 and the output of the positioning device P1 as the orientation detection device. The information regarding the target construction surface includes information regarding the orientation of the target construction surface. The positioning device P1 outputs information regarding the orientation of the upper swing body 3. For example, as shown in FIG. 7A, the machine guidance device 50 determines that a facing deviation has occurred between the target construction surface and the excavator 100 when the attachment operation surface AF does not include the normal line of the target construction surface. In such a state, as shown in FIG. 6A, the angle α formed between the line segment L1 representing the orientation of the target construction surface and the line segment L2 representing the orientation of the upper swing body 3 is an angle other than 90 degrees.

[0111] Note that the machine guidance device 50 may determine whether or not a facing deviation has occurred based on the image captured by the camera S6. For example, the machine guidance device 50 may perform various image processes on the image captured by the camera S6 to derive information regarding the shape of the slope surface that is the work target, and determine whether or not a facing deviation has occurred based on the derived information. Alternatively, the machine guidance device 50 may determine whether or not a facing deviation has occurred based on the output of another spatial recognition device other than the camera S6, such as an ultrasonic sensor, a millimeter wave radar, a distance image sensor, a LIDAR, or an infrared sensor.

[0112] When it is determined that no facing deviation has occurred, the machine guidance device 50 ends the current facing control without executing the facing control.

[0113] When it is determined that a front misalignment has occurred, the machine guidance device 50 determines whether there are any obstacles around the excavator 100. Then, when it is determined that there are no obstacles around the excavator 100, the machine guidance device 50 executes front alignment control. In the examples of FIGS. 6A, 6B, 7A, and 7B, the automatic control unit 54 of the machine guidance device 50 outputs a current command to the proportional valve 31CL (see FIG. 4C). Then, the pilot pressure generated by the hydraulic oil flowing out of the pilot pump 15 and passing through the proportional valve 31CL and the shuttle valve CL is applied to the left pilot port of the control valve 173. The control valve 173 receiving the pilot pressure at the left pilot port is displaced to the right, and the hydraulic oil discharged by the main pump 14L flows into the first port 2A1 of the swing hydraulic motor 2A. Further, the control valve 173 allows the hydraulic oil flowing out of the second port 2A2 of the swing hydraulic motor 2A to flow out to the hydraulic oil tank. As a result, the swing hydraulic motor 2A rotates in the forward direction, and the upper swing body 3 swings to the left around the swing axis 2X as shown by the arrow in FIG. 6A. Thereafter, when the angle α becomes 90 degrees or the angle β becomes 0 degrees as shown in FIG. 6B, the automatic control unit 54 stops outputting the current command to the proportional valve 31CL and reduces the pilot pressure acting on the left pilot port of the control valve 173. The control valve 173 is displaced to the left and returns to the neutral position, blocking the flow of hydraulic oil from the main pump 14L toward the first port 2A1 of the swing hydraulic motor 2A. Further, the control valve 173 blocks the flow of hydraulic oil from the second port 2A2 of the swing hydraulic motor 2A toward the hydraulic oil tank. As a result, the swing hydraulic motor 2A stops rotating in the forward direction, and the leftward swing of the upper swing body 3 stops. The target construction surface includes, for example, at least one of a downward slope surface, an upward slope surface, a horizontal surface, and a vertical surface. The information regarding the target construction surface includes, for example, information regarding the orientation of the target construction surface. The orientation of the target construction surface is determined based on, for example, at least one of the extension direction of the target construction surface and the direction of the horizontal component of the perpendicular dropped to the target construction surface. With this configuration, the excavator 100 can reduce the annoyance felt by the operator of the excavator 100 when aligning the excavator 100 with the target construction surface.This is because the operator of the excavator 100 does not need to manually operate actuators such as the slewing hydraulic motor 2A to align the upper slewing structure 3 with the target construction surface. Also, this is because the operator of the excavator 100 does not need to check whether the upper slewing structure 3 is aligned with the target construction surface by looking at an image such as a facing compass displayed on the display device 40.

[0114] In this way, the controller 30 can execute alignment control to slew the upper slewing structure 3 so that the upper slewing structure 3 faces the target construction surface based on information regarding the target construction surface and information regarding the orientation of the upper slewing structure 3.

[0115] The controller 30 may be configured to execute alignment control when a predetermined switch is operated. For example, it may be configured to execute alignment control when the MC switch is pressed. In this case, the controller 30 can automatically align the upper slewing structure 3 with the target construction surface when the MC switch for starting the machine control function is pressed. That is, the controller 30 can execute alignment control as part of the machine control function. Therefore, when the controller 30 executes the machine control function, it can reduce the annoyance felt by the operator of the excavator 100 when aligning the excavator 100 with the target construction surface. As a result, the controller 30 can improve the working efficiency of the excavator 100. In that case, when the slewing operation lever is operated in a direction in which the difference between the target angle and the current slewing angle becomes smaller while the predetermined switch is operated, the automatic control unit 54 may be configured to determine that the slewing operation lever is operated in a direction to align the upper slewing structure 3 with the target construction surface and execute alignment control. That is, alignment control may be executed when an operation to slew the upper slewing structure is performed while the predetermined switch is operated. Thereby, it is possible to assist the operator in attempting to align the upper slewing structure 3 with the target construction surface.

[0116] Note that the controller 30 may also operate other actuators to align the upper swing body 3 with the target construction surface. For example, as shown in FIGS. 8A and 8B, the controller 30 may operate the left travel hydraulic motor 1L and the right travel hydraulic motor 1R automatically to align the upper swing body 3 with the target construction surface.

[0117] FIGS. 8A and 8B are top views of the excavator 100 when the alignment process is executed, corresponding to FIGS. 6A and 6B. That is, FIG. 8A shows a state where the upper swing body 3 is not aligned with the target construction surface, and FIG. 8B shows a state where the upper swing body 3 is aligned with the target construction surface.

[0118] In the example of FIGS. 8A and 8B, the controller 30 rotates the right travel hydraulic motor 1R clockwise and the left travel hydraulic motor 1L counterclockwise to perform a super-close turning to align the upper swing body 3 with the target construction surface.

[0119] As described above, when working with the excavator 100, it is necessary to align the tip or the back surface of the bucket 6, which is the working part, with the target construction surface. That is, it is necessary to align the upper swing body 3 with the target construction surface. Therefore, it is preferable for the controller 30 to execute the above-described alignment control. However, it is also recommended that the operator confirm whether the upper swing body 3 and the target construction surface are aligned.

[0120] FIG. 9A is a flowchart for explaining the operation when the operator confirms whether the upper swing body 3 and the target construction surface are aligned.

[0121] The excavator 100 is provided with a first switch as one of the input devices 42 for confirming whether the upper swing body 3 and the target construction surface are aligned.

[0122] When the first switch is operated such as being pressed (step ST1), the machine guidance device 50 of the controller 30 determines whether or not the upper swing body 3 faces the target construction surface. Since the distance calculation unit 52 of the machine guidance device 50 calculates the distances between the coordinate points at the left and right ends of the tip of the bucket 6 and the corresponding target construction surface, for example, based on this distance, it can be determined whether or not the upper swing body 3 faces the target construction surface.

[0123] When the upper swing body 3 faces the target construction surface (YES in step ST2), the information transmission unit 53 of the machine guidance device 50 notifies that the upper swing body 3 faces the target construction surface via the sound output device 43 (step ST3). The sound output device 43 may notify that the upper swing body 3 faces the target construction surface by, for example, a buzzer. Further, the information transmission unit 53 may notify that the upper swing body 3 faces the target construction surface via the display device 40. The display device 40 may notify that the upper swing body 3 faces the target construction surface by characters or icons. Further, the information transmission unit 53 may notify that the upper swing body 3 faces the target construction surface using the lighting state of a lamp.

[0124] On the other hand, when the upper swing body 3 and the target construction surface are not facing each other (NO in step ST2), the information transmission unit 53 of the machine guidance device 50 notifies that the upper swing body 3 and the target construction surface are not facing each other via the sound output device 43 (step ST4). The sound output device 43 may notify that the upper swing body 3 and the target construction surface are not facing each other, for example, by a buzzer. In that case, the sound output device 43 operates the buzzer so as to be distinguishable between the case where the upper swing body 3 and the target construction surface are facing each other and the case where the upper swing body 3 and the target construction surface are not facing each other. Further, the information transmission unit 53 may notify that the upper swing body 3 and the target construction surface are not facing each other via the display device 40. The display device 40 may notify that the upper swing body 3 and the target construction surface are not facing each other by characters or icons. Further, the information transmission unit 53 may notify that the upper swing body 3 and the target construction surface are not facing each other by using the lighting state of a lamp. In that case, the information transmission unit 53 makes the lighting states of the lamps different from each other between the case where the upper swing body 3 and the target construction surface are facing each other and the case where the upper swing body 3 and the target construction surface are not facing each other so as to be distinguishable from each other. For example, the lamp may be lit when the upper swing body 3 and the target construction surface are facing each other, and the lamp may be blinked when the upper swing body 3 and the target construction surface are not facing each other.

[0125] Note that the machine guidance device 50 may always determine whether or not the upper swing body 3 and the target construction surface are facing each other, instead of determining whether or not the upper swing body 3 and the target construction surface are facing each other after the first switch is operated. In that case, when the first switch is operated, based on the current determination, it is notified whether or not the upper swing body 3 and the target construction surface are facing each other.

[0126] As described above, the excavator 100 according to the embodiment of the present invention includes a lower traveling body 1, an upper swing body 3 rotatably mounted on the lower traveling body 1, and a controller 30 as a control device that notifies whether or not the upper swing body 3 is facing the target construction surface based on information regarding the target construction surface and information regarding the orientation of the upper swing body 3. Thereby, the operator can accurately determine whether the excavator is facing the target construction surface.

[0127] Further, when the first switch is operated such as being pressed, by notifying whether or not the upper swing body 3 is facing the target construction surface, it is possible to notify whether or not the upper swing body 3 is facing the target construction surface at the timing desired by the operator.

[0128] Note that the series of processes described with reference to FIG. 9A can be performed by the operator operating the first switch even when the alignment control in the controller 30 is not being executed. When the operator rotates the upper swing body 3 himself / herself to face the target construction surface without executing the alignment control, before that operation, first, by operating the first switch, it is possible to confirm whether or not the upper swing body 3 is facing the target construction surface, and then, an operation of rotating the upper swing body 3 himself / herself to face the target construction surface may be performed. And when the operator determines that the upper swing body 3 is facing the target construction surface, by operating the first switch, it is also possible to confirm whether or not the upper swing body 3 is facing the target construction surface.

[0129] Also, when the alignment control by the controller 30 is being executed, it may be notified to that effect.

[0130] FIG. 9B is a flowchart for explaining the notification regarding the alignment control by the controller 30.

[0131] As described above, when a predetermined switch is operated, for example, the automatic control unit 54 of the controller 30 operates the automatic alignment function to turn the upper swing body 3 so that the upper swing body 3 faces the target construction surface based on the information regarding the target construction surface and the information regarding the orientation of the upper swing body 3, and can execute the above-described alignment control.

[0132] When the alignment control is executed by the automatic control unit 54 (step ST11), the information transmission unit 53 notifies that the alignment control is being executed via the sound output device 43 (step ST12). The sound output device 43 may notify that the alignment control is being executed by, for example, a buzzer. Further, the information transmission unit 53 may notify that the alignment control is being executed via the display device 40. The display device 40 may notify that the alignment control is being executed in characters. Further, the information transmission unit 53 may notify that the alignment control is being executed using the lighting state of a lamp.

[0133] Thereafter, when the upper swing body 3 faces the target construction surface and the alignment control in the automatic control unit 54 is completed (YES in step ST13), the information transmission unit 53 notifies that the alignment control is completed via the sound output device 43 (step ST14). The sound output device 43 may notify that the alignment control is completed by, for example, a buzzer. In that case, the sound output device 43 operates the buzzer so as to be distinguishable between when the alignment control is being executed and when the alignment control is completed. Further, the information transmission unit 53 may notify that the alignment control is completed via the display device 40. The display device 40 may notify that the alignment control is completed in characters. Further, the information transmission unit 53 may notify that the alignment control is completed using the lighting state of a lamp. In that case, the information transmission unit 53 makes them distinguishable from each other by varying the lighting state of the lamp between when the alignment control is being executed and when the alignment control is completed. For example, the lamp may be blinked when the alignment control is being executed, and the lamp may be lit when the alignment control is completed.

[0134] As described above, in the excavator 100 according to the embodiment of the present invention, the controller 30 as a control device can execute alignment control for rotating the upper swing body 3 so that the upper swing body 3 faces the target construction surface based on information regarding the target construction surface and information regarding the orientation of the upper swing body 3, and notifies that the alignment control is being executed when the alignment control is being executed. Thereby, when the alignment control for rotating the upper swing body 3 so that the upper swing body 3 faces the target construction surface is being executed, the operator can recognize that fact.

[0135] Further, the controller 30 notifies completion of the alignment control when the upper swing body 3 faces the target construction surface by executing the alignment control. Thereby, when the alignment control for rotating the upper swing body 3 so that the upper swing body 3 faces the target construction surface is completed and the upper swing body 3 faces the target construction surface, the operator can recognize that fact. Note that in the alignment control in the automatic control unit 54 of the controller 30, the turning speed of the upper swing body 3 may become slower as the upper swing body 3 approaches a state of facing the target construction surface. In that case, even if the alignment control is completed and the upper swing body 3 faces the target construction surface, there is a possibility that the operator may not be able to recognize that fact. Therefore, if, like the excavator 100 according to the present embodiment, completion of the alignment control is notified when the upper swing body 3 faces the target construction surface by executing the alignment control, the operator can surely recognize that the alignment control is completed and the upper swing body 3 faces the target construction surface.

[0136] In addition, in the excavator 100 according to the embodiment of the present invention, the controller 30 as a control device notifies the case where the upper swing body 3 is facing the target construction surface, the case where the upper swing body 3 is not facing the target construction surface, the case where the alignment control is being executed, and the case where the alignment control is completed in a distinguishable manner from each other. As a result, the operator can distinguish and recognize the case where the upper swing body 3 is facing the target construction surface, the case where the upper swing body 3 is not facing the target construction surface, the case where the alignment control is being executed, and the case where the alignment control is completed. At this time, it is preferable to notify at least the case where the upper swing body 3 is facing the target construction surface and the case where the upper swing body 3 is not facing the target construction surface in a distinguishable manner, and to notify the case where the alignment control is being executed and the case where the alignment control is completed in a distinguishable manner.

[0137] In addition, in the excavator 100 according to the embodiment of the present invention, it is stated that the controller 30 as a control device may perform the notification of the case where the upper swing body 3 is facing the target construction surface, the case where the upper swing body 3 is not facing the target construction surface, the case where the alignment control is being executed, and the case where the alignment control is completed via the sound output device 43. As a result, when operating the excavator 100, the operator can safely recognize the fact that the upper swing body 3 is facing the target construction surface, the upper swing body 3 is not facing the target construction surface, the alignment control is being executed, and the alignment control is completed without moving the line of sight from the work area. Further, it is stated that the notification of the case where the upper swing body 3 is facing the target construction surface, the case where the upper swing body 3 is not facing the target construction surface, the case where the alignment control is being executed, and the case where the alignment control is completed may be performed via the display device 40. As a result, the operator can surely recognize the fact by, for example, characters in the case where the upper swing body 3 is facing the target construction surface, the case where the upper swing body 3 is not facing the target construction surface, the case where the alignment control is being executed, and the case where the alignment control is completed.

[0138] In the above-described embodiment, a hydraulic operating device is adopted as the operating device 26, but an electric operating device may be adopted.

[0139] FIG. 10 shows a configuration example of an operation system including an electric operation device.

[0140] Specifically, the operation system in FIG. 10 is an example of a boom operation system, and mainly includes a pilot pressure-operated control valve 17, a boom operation lever 26A as an electric operation lever, a controller 30, a solenoid valve 60 for boom raising operation, and a solenoid valve 62 for boom lowering operation. The operation system in FIG. 10 can be similarly applied to an arm operation system, a bucket operation system, etc.

[0141] The pilot pressure-operated control valve 17 includes control valves 175L and 175R for the boom cylinder 7 as shown in FIG. 3. The solenoid valve 60 is configured to be able to adjust the flow passage area of the oil passage connecting the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R respectively. The solenoid valve 62 is configured to be able to adjust the flow passage area of the oil passage connecting the pilot pump 15 to the right pilot port of the control valve 175R.

[0142] When manual operation is performed, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) according to the operation signal (electrical signal) output by the operation signal generation unit of the boom operation lever 26A. The operation signal output by the operation signal generation unit of the boom operation lever 26A is an electrical signal that changes according to the operation amount and operation direction of the boom operation lever 26A.

[0143] Specifically, when the boom operation lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 60. The solenoid valve 60 adjusts the flow passage area according to the boom raising operation signal (electrical signal) and controls the pilot pressure acting on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Similarly, when the boom operation lever 26A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 62. The solenoid valve 62 adjusts the flow passage area according to the boom lowering operation signal (electrical signal) and controls the pilot pressure acting on the right pilot port of the control valve 175R.

[0144] When performing automatic control, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) according to a correction operation signal (electrical signal) instead of the operation signal output by the operation signal generation unit of the boom operation lever 26A. The correction operation signal may be an electrical signal generated by the machine guidance device 50 or an electrical signal generated by a control device other than the machine guidance device 50.

[0145] The above-described excavator 100 may be adopted in a construction system. With reference to FIG. 11, the construction system SYS will be described.

[0146] FIG. 11 is a schematic diagram showing an example of the construction system SYS.

[0147] As shown in FIG. 11, the construction system SYS includes an excavator 100, a support device 200, and a management device 300. The construction system SYS is configured to support construction by one or a plurality of excavators 100.

[0148] The information obtained by the excavator 100 may be shared with the administrator and the operators of other excavators, etc. through the construction system SYS. Each of the excavator 100, the support device 200, and the management device 300 that make up the construction system SYS may be one unit or multiple units. In this example, the construction system SYS includes one excavator 100, one support device 200, and one management device 300.

[0149] The support device 200 is typically a portable terminal device, for example, a laptop computer terminal, a tablet terminal, or a smartphone, etc. carried by workers at the construction site. The support device 200 may be a portable terminal carried by the operator of the excavator 100. The support device 200 may also be a fixed terminal device.

[0150] The management device 300 is typically a fixed terminal device, for example, a server computer (so-called cloud server) installed in a management center outside the construction site. Also, the management device 300 may be, for example, an edge server set at the construction site. Also, the management device 300 may be a portable terminal device (for example, a laptop computer terminal, a tablet terminal, or a portable terminal such as a smartphone).

[0151] At least one of the support device 200 and the management device 300 may be provided with a monitor and an operating device for remote operation. In this case, the operator using the support device 200 or the administrator using the management device 300 may operate the excavator 100 while using the operating device for remote operation. The operating device for remote operation is communicably connected to the controller 30 mounted on the excavator 100 through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.

[0152] In addition, various types of information (for example, image information representing the state around the excavator 100 or various setting screens, etc.) displayed on the display device 40 installed in the cabin 10 may be displayed on a display device connected to at least one of the support device 200 and the management device 300. The image information representing the state around the excavator 100 may be generated based on an image captured by an imaging device (for example, a camera as the space recognition device 70). Thereby, an operator using the support device 200 or an administrator using the management device 300, etc. can perform remote operation of the excavator 100 or perform various settings related to the excavator 100 while checking the state around the excavator 100.

[0153] For example, in the construction system SYS, the controller 30 of the excavator 100 transmits information regarding at least one of the time and location when the switch of the input device 42 is pressed, the target trajectory used when the excavator 100 operates autonomously, and the trajectory actually traced by a predetermined part during autonomous operation, etc. to at least one of the support device 200 and the management device 300. At that time, the controller 30 may transmit the captured image of the imaging device to at least one of the support device 200 and the management device 300. The captured image may be a plurality of images captured during autonomous operation. Further, the controller 30 may transmit information regarding at least one of data related to the operation content of the excavator 100 during autonomous operation, data related to the posture of the excavator 100, and data related to the posture of the excavation attachment, etc. to at least one of the support device 200 and the management device 300. Thereby, an operator using the support device 200 or an administrator using the management device 300 can obtain information regarding the excavator 100 during autonomous operation. In addition, the controller 30 may transmit information regarding the facing control to at least one of the support device 200 and the management device 300. For example, the controller 30 may transmit information indicating that the facing control is being executed or information indicating that the facing control has been completed. Also, information indicating whether or not the upper swing body 3 is facing the target construction surface may be transmitted.

[0154] In this way, the construction system SYS enables the operator of the excavator 100 to share information regarding the excavator 100 with the administrator and the operators of other excavators, etc.

[0155] Note that, as shown in FIG. 11, the communication device mounted on the excavator 100 may be configured to transmit and receive information to and from the communication device T2 installed in the remote operation room RC via wireless communication. In the example shown in FIG. 11, the communication device T1 and the communication device T2 mounted on the excavator 100 are configured to transmit and receive information via a fifth-generation mobile communication line (5G line), an LTE line, or a satellite line, etc.

[0156] In the remote operation room RC, a remote controller 30R, a sound output device A2, an indoor imaging device C2, a display device RD, a communication device T2, etc. are installed. Also, in the remote operation room RC, a driver's seat DE on which the operator OP who remotely operates the excavator 100 sits is installed.

[0157] The remote controller 30R is an arithmetic device that executes various operations. In the present embodiment, the remote controller 30R is composed of a microcomputer including a CPU and a memory, similar to the controller 30. And various functions of the remote controller 30R are realized by the CPU executing a program stored in the memory. The remote controller 30R may constitute an example of the control device of the present invention by having at least some of the functions of the controller 30 that the excavator 100 has. Thereby, even in remote operation, the above-described facing control can be executed.

[0158] The sound output device A2 is configured to output sound. In the present embodiment, the sound output device A2 is a speaker and is configured to reproduce the sound collected by a sound collection device (not shown) attached to the excavator 100. Further, the sound output device A2 may output sound according to the information transmitted from the controller 30 using a buzzer or the like. Thereby, for example, it is possible to notify that the facing control is being executed or that the facing control has been completed. It is also possible to notify whether or not the upper swing body 3 is facing the target construction surface.

[0159] The indoor imaging device C2 is configured to image the inside of the remote operation room RC. In the present embodiment, the indoor imaging device C2 is a camera installed inside the remote operation room RC and is configured to image the operator OP sitting on the driver's seat DE.

[0160] The communication device T2 is configured to control wireless communication with a communication device attached to the excavator 100.

[0161] In the present embodiment, the driver's seat DE has the same structure as the driver's seat installed in the cabin 10 of a normal excavator. Specifically, a left console box is arranged on the left side of the driver's seat DE, and a right console box is arranged on the right side of the driver's seat DE. And a left operation lever is arranged at the front end of the upper surface of the left console box, and a right operation lever is arranged at the front end of the upper surface of the right console box. Further, a travel lever and a travel pedal are arranged in front of the driver's seat DE. Furthermore, a dial 75 is arranged at the center of the upper surface of the right console box. Each of the left operation lever, the right operation lever, the travel lever, and the travel pedal constitutes the operation device 26E.

[0162] The dial 75 is a dial for adjusting the rotational speed of the engine 11 and is configured to be able to switch the engine rotational speed in four steps, for example.

[0163] Specifically, the dial 75 is configured to be able to switch the engine speed in four modes: SP mode, H mode, A mode, and idling mode. The dial 75 transmits data regarding the setting of the engine speed to the controller 30.

[0164] The SP mode is a speed mode selected when the operator OP wants to prioritize the amount of work, and utilizes the highest engine speed. The H mode is a speed mode selected when the operator OP wants to balance the amount of work and fuel consumption, and utilizes the second highest engine speed. The A mode is a speed mode selected when the operator OP wants to operate the excavator with low noise while prioritizing fuel consumption, and utilizes the third highest engine speed. The idling mode is a speed mode selected when the operator OP wants to put the engine in an idling state, and utilizes the lowest engine speed. Then, the engine 11 is constantly speed-controlled at the engine speed of the speed mode selected via the dial 75.

[0165] An operation pressure sensor 129A for detecting the operation content of the operation device 26E is installed in the operation device 26E. The operation pressure sensor 129A is, for example, an inclination sensor for detecting the inclination angle of the operation lever, or an angle sensor for detecting the swing angle around the swing axis of the operation lever. The operation pressure sensor 129A may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation pressure sensor 129A outputs information regarding the detected operation content of the operation device 26E to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and transmits the generated operation signal toward the excavator 100. The operation pressure sensor 129A may be configured to generate an operation signal. In this case, the operation pressure sensor 129A may output the operation signal to the communication device T2 without passing through the remote controller 30R.

[0166] The display device RD is configured to display information regarding the situation around the excavator 100. In the present embodiment, the display device RD is a multi-display composed of nine monitors arranged in three rows and three columns vertically, and is configured to be able to display the states of the spaces in front of, to the left of, and to the right of the excavator 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device RD may be composed of one or more curved monitors, or may be composed of a projector. Also, the display device RD may be configured to be able to display the states of the spaces in front of, to the left of, to the right of, and behind the excavator 100. Further, the display device RD may display the information transmitted from the controller 30. Thereby, for example, it is possible to notify in characters that the facing control is being executed, or to notify in characters that the facing control has been completed. Also, it is possible to notify in characters whether or not the upper swing body 3 is facing the target construction surface.

[0167] The display device RD may be a display device wearable by the operator OP. For example, the display device RD may be a head-mounted display and may be configured to be able to transmit and receive information to and from the remote controller 30R by wireless communication. The head-mounted display may be wired-connected to the remote controller 30R. The head-mounted display may be a transmissive head-mounted display or a non-transmissive head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0168] The display device RD is configured to display an image that enables the operator OP in the remote operation cab RC to visually recognize the surroundings of the excavator 100. That is, the display device RD displays an image so that the operator can confirm the situation around the excavator 100 as if he / she were inside the cab 10 of the excavator 100 even though the operator is in the remote operation cab RC.

Explanation of Reference Numerals

[0169] 1 Lower traveling body 1L Left traveling hydraulic motor 1R Right traveling hydraulic motor 2 Slewing mechanism 2A Slewing hydraulic motor 3 Upper slewing body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 11 Engine 13,13L,13R Regulator 14,14L,14R Main pump 15 Pilot pump 17 Control valve 18L,18R Throttle 19L,19R Control pressure sensor 26,26E Operating device 26A Boom operation lever 26B Bucket operation lever 26C Slewing operation lever 28,28L,28R Discharge pressure sensor 29,29A,29B,29C,129A Operating pressure sensor 30 Controller 30R Remote controller 31,31AL,31AR,31BL,31BR,31CL,31CR Proportional valve 32,32AL,32AR,32BL,32BR,32CL,32CR Shuttle valve 40,RD Display device 42 Input device 43,A2 Sound output device 47 Memory device 50 Machine guidance device 51 Position calculation unit 52 Distance calculation unit 53 Information transmission unit 54 Automatic control unit 60,62 Solenoid valve 75 Dial Control valves 171 - 174, 175L, 175R, 176L, 176R Support device 200 Lever 260 Management device 300 Indoor imaging device C2 Remote control room RC Boom angle sensor S1 Arm angle sensor S2 Bucket angle sensor S3 Machine body tilt sensor S4 Turning angular velocity sensor S5 Camera S6 Rear camera S6B Front camera S6F Left camera S6L Right camera S6R Positioning device P1 Communication devices T1, T2

Claims

1. A lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, A control device that notifies whether or not the upper slewing body is facing the target construction surface based on information regarding the target construction surface and information regarding the orientation of the upper slewing body. A excavator comprising the same.

2. The excavator according to claim 1, wherein the control device gives the notification when a first switch is operated.

3. The control device is capable of performing alignment control to rotate the upper slewing body so that the upper slewing body faces the target construction surface based on information regarding the target construction surface and information regarding the orientation of the upper slewing body, and notifies that the alignment control is being executed when the alignment control is being executed. The excavator according to claim 1.

4. The excavator according to claim 3, wherein the control device notifies completion of the alignment control when the upper slewing body faces the target construction surface by executing the alignment control.

5. The control device discriminately notifies when the upper slewing body is facing the target construction surface, when the upper slewing body is not facing the target construction surface, when the alignment control is being executed, and when the alignment control is completed. The excavator according to claim 4.

6. The excavator according to claim 3, wherein the control device executes the alignment control when an operation of rotating the upper slewing body is performed while a second switch is being operated.

7. An attachment attached to the upper slewing body, An operating device for operating the attachment, and having When an operation on the operation device is performed while the third switch is operated, the control device operates the attachment based on the operation on the operation device, the information acquired about the position and orientation of the excavator, and the pre-registered information. The excavator according to claim 1.

8. The control device of the excavator according to claim 1 performs the notification by sound or display.

9. A control device for an excavator comprising a lower traveling body and an upper slewing body rotatably mounted on the lower traveling body, A control device for an excavator that notifies whether or not the upper slewing body is facing the target construction surface based on information about the target construction surface and information about the orientation of the upper slewing body.

10. An attachment attached to the upper slewing body, And an operation device for operating the attachment, The control device, Based on the information about the target construction surface and the information about the orientation of the upper slewing body, it is possible to execute alignment control for slewing the upper slewing body so that the upper slewing body faces the target construction surface, Performs the notification when the first switch is operated, Executes the alignment control when an operation of slewing the upper slewing body is performed while the second switch is operated, When an operation on the operation device is performed while the third switch is operated, the attachment is operated based on the operation on the operation device, the information acquired about the position and orientation of the excavator, and the pre-registered information, The excavator according to claim 1, wherein the first switch, the second switch, and the third switch are the same switch.

Images