Shovel

Abstract

To facilitate adjustment of control parameters.SOLUTION: A shovel has: a lower running body; an upper rotating body; an attachment provided on the upper rotating body; and an actuator driving the attachment. The shovel further comprises a control device that refers to a memory unit that stores control parameter information in which working conditions and control parameters are associated with each other, and operates the shovel using control parameters specified based on working conditions of the shovel.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present disclosure relates to an excavator.

Background Art

[0002] Conventionally, when an operator manually performs operations such as ground excavation and leveling, there is known an excavator having a machine control function that automatically operates at least one of a boom, an arm, and a bucket so that a target construction surface coincides with a working part of the bucket.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the control by the conventional machine control function, in order to operate the excavator appropriately, a plurality of control parameters are manually adjusted by an operator, a service engineer, or the like. However, since the control parameters to be adjusted have many items and a wide adjustment range, sufficient experience is required for adjusting the control parameters, and repeated adjustment and operation confirmation are required, which is not easy.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to facilitate the adjustment of control parameters.

Means for Solving the Problems

[0006] The excavator according to an embodiment of the present invention is an excavator having a lower traveling body, an upper swing body, an attachment provided on the upper swing body, and an actuator for driving the attachment, and refers to a storage unit storing control parameter information in which working conditions and control parameters are associated with each other, and operates the excavator using the control parameters specified based on the working conditions of the excavator. It is an excavator having a control device.

Effect of the Invention

[0007] The adjustment of the control parameters can be facilitated.

Brief Description of the Drawings

[0008]

Figure 1A

Figure 1B

Figure 2

Figure 3A

Figure 3B

Figure 3C

Figure 3D

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Best Mode for Carrying Out the Invention

[0009] First, referring to FIGS. 1A and 1B, an excavator 100 as a digging machine according to an embodiment of the present invention will be described. FIG. 1A is a side view of the excavator 100, and FIG. 1B is a top view of the excavator 100.

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

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

[0012] A boom 4 is attached to the upper revolving 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. The boom 4, the arm 5, and the bucket 6 constitute a digging attachment AT which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0013] The boom 4 is rotatably supported by the upper revolving body 3. And a boom angle sensor S1 is attached to the boom 4. The boom angle sensor S1 can detect a boom angle β1 which is the rotation angle of the boom 4. The boom angle β1 is, for example, the rising angle from the state where the boom 4 is lowered most. Therefore, the boom angle β1 becomes maximum when the boom 4 is raised most.

[0014] The arm 5 is rotatably supported with respect to the boom 4. An arm angle sensor S2 is attached to the arm 5. The arm angle sensor S2 can detect an arm angle β2 which is the rotation angle of the arm 5. The arm angle β2 is, for example, the opening angle of the arm 5 from the most closed state. Therefore, the arm angle β2 becomes maximum when the arm 5 is most open.

[0015] The bucket 6 is rotatably supported with respect to the arm 5 by a bucket link mechanism 6a. A bucket angle sensor S3 is attached to the bucket 6. The bucket angle sensor S3 can detect a bucket angle β3 which is the rotation angle of the bucket 6. The bucket angle β3 is the opening angle of the bucket 6 from the most closed state. Therefore, the bucket angle β3 becomes maximum when the bucket 6 is most open.

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

[0017] The upper swing body 3 is provided with a cabin 10 as an operator's cab, and a power source such as an engine 11 is mounted thereon. Further, an object detection device 70, an imaging device 80, a machine body inclination sensor S4, a swing angular velocity sensor S5, and the like are attached to the upper swing body 3. Inside the cabin 10, an operation device 26, a controller 30, a display device 40, a sound output device 50, and the like are provided. In this document, for convenience, the side of the upper swing body 3 where the excavation attachment AT is attached is defined as the front, and the side where the counterweight is attached is defined as the rear.

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

[0019] The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the excavator 100. The object detection device 70 may be configured to distinguish between a person and an object other than a person. The object detection device 70 may be configured to calculate the distance to an object recognized from the object detection device 70 or the excavator 100.

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

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

[0022] The image captured by the imaging device 80 is displayed on the display device 40. The imaging device 80 may be configured to be able to display a viewpoint conversion image such as an aerial image on the display device 40. The aerial image is generated, for example, by synthesizing the images output by the rear camera 80B, the left camera 80L, and the right camera 80R respectively.

[0023] The body tilt sensor S4 is configured to detect the tilt of the upper swing body 3 with respect to a predetermined plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the tilt angle (roll angle) around the front-rear axis and the tilt angle (pitch angle) around the left-right axis of the upper swing body 3 with respect to the horizontal plane. The front-rear axis and the left-right axis of the upper swing body 3 pass through, for example, a point on the swing axis of the excavator 100, the excavator center point, which are orthogonal to each other. The body tilt sensor S4 may be configured as a combination of an acceleration sensor and a gyro sensor.

[0024] The swing angular velocity sensor S5 is configured to detect the swing angular velocity 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. The swing angular velocity sensor S5 may detect the swing speed. The swing speed may be calculated from the swing angular velocity.

[0025] Hereinafter, each of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the swing angular velocity sensor S5 is also referred to as an attitude detection device.

[0026] The display device 40 is configured to display various information. The sound output device 50 is configured to output sound. The operation device 26 is a device used by the operator for operating the actuator.

[0027] The controller 30 is a control device for controlling the excavator 100. In the present embodiment, the controller 30 is configured by a computer including a CPU, a volatile memory device, a non-volatile memory device, and the like. Then, the controller 30 reads out and executes a program corresponding to each function from the non-volatile memory device. Each function includes, for example, a machine guidance function for guiding (guiding) the manual operation of the excavator 100 by the operator, and a machine control function for automatically assisting the manual operation of the excavator 100 by the operator.

[0028] The machine control function of the present embodiment is a function that automatically operates the boom 4 and the bucket 6 so that the target construction surface (design surface) coincides with the working part of the bucket when the operator manually operates the arm 5.

[0029] In the excavator 100 of the present embodiment, control parameter information in which a combination of various conditions when control using the machine control function is performed and a set of control parameters referred to in the control using the machine control function are associated may be held.

[0030] In the following description, various conditions when control using the machine control function is performed may be expressed as working conditions. The set of control parameters includes values of a plurality of types of control parameters referred to in the control using the machine control function.

[0031] The control parameters of the present embodiment include parameters for supplying hydraulic oil having a flow rate corresponding to the operation amount of the lever operation to the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, and parameters for determining the target tip position. The target tip position is, in other words, the target position of the working part of the end attachment after a predetermined time.

[0032] The working conditions of the present embodiment may include environmental conditions related to the environment in which the excavator 100 performs work and operating conditions related to the operation of the excavator 100.

[0033] The environmental conditions are, specifically, for example, the soil quality of the work site where the excavator 100 performs work. The operating conditions include, specifically, for example, the manual operation speed by the operator, the followability with respect to the design surface, the weight of the bucket 6, etc.

[0034] In the present embodiment, a set of control parameters may be associated with each pattern of work conditions and be regarded as control parameter information.

[0035] When the controller 30 of the excavator 100 in the present embodiment receives an operation for activating the machine control function, it acquires the work conditions. Then, the controller 30 refers to the control parameter information, specifies a set of control parameters corresponding to the acquired work conditions, and sets the specified set of control parameters as the values of the control parameters to be referred to in the control using the machine control function.

[0036] Therefore, according to the present embodiment, the control parameters adjustable in the machine control function can be appropriately set according to the work environment and the operation of the excavator 100 by the operator. Further, in the present embodiment, empirical values for setting the control parameters, repeated adjustment and operation confirmation of the control parameters, etc. are not required, and the control parameters can be easily adjusted.

[0037] Details of the processing of the controller 30 in the present embodiment will be described later.

[0038] Note that the control parameter information may not be held by the excavator 100, and may be held by a management device for managing the excavator 100, an external device for assisting the remote operation of the excavator 100, etc.

[0039] Next, referring to FIG. 2, another configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 2 is a diagram showing another configuration example of the hydraulic system mounted on the excavator 100. In FIG. 2, the mechanical power transmission system, the hydraulic oil line, the pilot line, and the electric control system are shown by double lines, solid lines, broken lines, and dotted lines, respectively.

[0040] The hydraulic system in FIG. 2 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, and a controller 30, etc.

[0041] In FIG. 2, the hydraulic system circulates hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank through the center bypass pipeline 60 or the parallel pipeline 62.

[0042] The engine 11 is a driving source of the excavator 100. In this 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.

[0043] The main pump 14 supplies hydraulic oil to the control valve 17 through the hydraulic oil line. In this embodiment, the main pump 14 is an inclined plate type variable displacement hydraulic pump.

[0044] The regulator 13 controls the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 according to a control command from the controller 30.

[0045] The pilot pump 15 is configured to supply hydraulic oil to the hydraulic control equipment including the operating device 26 via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function that the pilot pump 15 has assumed may be realized by the main pump 14. That is, the main pump 14 may be provided with a function of supplying hydraulic oil to the operating device 26 etc. after reducing the pressure of the hydraulic oil by a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve 17.

[0046] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the present embodiment, the control valve 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve 17 can selectively supply the hydraulic oil discharged from 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 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 traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0047] The operating device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is a pressure corresponding to the operating direction and operating amount of the operating device 26 corresponding to each of the hydraulic actuators. However, the operating device 26 may be an electric control type instead of the pilot pressure type as described above. In this case, the control valve in the control valve 17 may be an electromagnetic solenoid type spool valve.

[0048] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0049] The operating pressure sensor 29 detects the content of the operation of the operating device 26 by the operator. In this embodiment, the operating pressure sensor 29 detects the operating direction and operating amount of the lever or pedal of the operating device 26 corresponding to each actuator in the form of pressure (operating pressure), and outputs the detected value to the controller 30. The content of the operation of the operating device 26 may be detected using other sensors other than the operating pressure sensor.

[0050] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank via the left center bypass pipeline 60L or the left parallel pipeline 62L, and the right main pump 14R circulates the hydraulic oil to the hydraulic oil tank via the right center bypass pipeline 60R or the right parallel pipeline 62R.

[0051] The left center bypass pipeline 60L is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L arranged within the control valve 17. The right center bypass pipeline 60R is a hydraulic oil line that passes through the control valves 172, 174, 175R, and 176R arranged within the control valve 17.

[0052] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and to discharge the hydraulic oil discharged from the left travel hydraulic motor 2ML to the hydraulic oil tank.

[0053] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and to discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR to the hydraulic oil tank.

[0054] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

[0055] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil within the bucket cylinder 9 to the hydraulic oil tank.

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

[0057] The control valve 176L is a spool valve that supplies the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and switches the flow of the hydraulic oil to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

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

[0059] The left parallel pipeline 62L is a hydraulic oil line parallel to the left center bypass pipeline 60L. When the flow of the hydraulic oil passing through the left center bypass pipeline 60L is restricted or blocked by any one of the control valves 171, 173, 175L, the left parallel pipeline 62L can supply the hydraulic oil to the downstream control valve. The right parallel pipeline 62R is a hydraulic oil line parallel to the right center bypass pipeline 60R. When the flow of the hydraulic oil passing through the right center bypass pipeline 60R is restricted or blocked by any one of the control valves 172, 174, 175R, the right parallel pipeline 62R can supply the hydraulic oil to the downstream control valve.

[0060] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to decrease the discharge amount. The same applies to the right regulator 13R. This is to ensure that the absorbed horsepower of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11.

[0061] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a traveling lever 26D. The traveling lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0062] The left operation lever 26L is used for the slewing operation and the operation of the arm 5. When the left operation lever 26L is operated in the front-rear direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When it is operated in the left-right direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0063] Specifically, when the left operation lever 26L is operated in the arm closing direction, it introduces hydraulic oil into the right pilot port of the control valve 176L and also into the left pilot port of the control valve 176R. When the left operation lever 26L is operated in the arm opening direction, it introduces hydraulic oil into the left pilot port of the control valve 176L and also into the right pilot port of the control valve 176R. When the left operation lever 26L is operated in the left slewing direction, it introduces hydraulic oil into the left pilot port of the control valve 173, and when it is operated in the right slewing direction, it introduces hydraulic oil into the right pilot port of the control valve 173.

[0064] The right operation lever 26R is used for the operation of the boom 4 and the operation of the bucket 6. When the right operation lever 26R is operated in the front-rear direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When it is operated in the left-right direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0065] Specifically, when the right operation lever 26R is operated in the boom lowering direction, hydraulic oil is introduced into the left pilot port of the control valve 175R. Also, when the right operation lever 26R is operated in the boom raising direction, hydraulic oil is introduced into the right pilot port of the control valve 175L and, at the same time, into the left pilot port of the control valve 175R. Further, when the right operation lever 26R is operated in the bucket closing direction, hydraulic oil is introduced into the right pilot port of the control valve 174, and when it is operated in the bucket opening direction, hydraulic oil is introduced into the left pilot port of the control valve 174.

[0066] The travel lever 26D is used for operating the crawler 1C. Specifically, the left travel lever 26DL is used for operating the left crawler 1CL. It may be configured to be interlocked with the left travel pedal. When the left travel lever 26DL is operated in the front-rear direction, it uses the hydraulic oil discharged from the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used for operating the right crawler 1CR. It may be configured to be interlocked with the right travel pedal. When the right travel lever 26DR is operated in the front-rear direction, it uses the hydraulic oil discharged from the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0067] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0068] The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects, in the form of pressure, the content of the operator's front-rear direction operation on the left operation lever 26L and outputs the detected value to the controller 30. The content of the operation is, for example, the lever operation direction, the lever operation amount (lever operation angle), etc.

[0069] Similarly, the operation pressure sensor 29LB detects, in the form of pressure, the content of the left-right direction operation on the left operation lever 26L by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29RA detects, in the form of pressure, the content of the front-rear direction operation on the right operation lever 26R by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29RB detects, in the form of pressure, the content of the left-right direction operation on the right operation lever 26R by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29DL detects, in the form of pressure, the content of the front-rear direction operation on the left travel lever 26DL by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29DR detects, in the form of pressure, the content of the front-rear direction operation on the right travel lever 26DR by the operator, and outputs the detected value to the controller 30.

[0070] The controller 30 receives the output of the operation pressure sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. Further, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0071] In the left center bypass pipeline 60L, a left throttle valve 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle valve 18L. And the left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same way.

[0072] Specifically, as shown in FIG. 2, in the standby state where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the left main pump 14L reaches the left throttle valve 18L through the left center bypass pipeline 60L. And the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 decreases the discharge amount of the left main pump 14L to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipeline 60L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the operated hydraulic actuator through the control valve corresponding to the operated hydraulic actuator. And the flow of the hydraulic oil discharged by the left main pump 14L decreases or disappears the amount reaching the left throttle valve 18L, and decreases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic oil to the operated hydraulic actuator, and ensures the driving of the operated hydraulic actuator. Note that the controller 30 controls the discharge amount of the right main pump 14R in the same way.

[0073] With the above configuration, in the standby state, the hydraulic system shown in FIG. 2 can suppress the wasteful energy consumption in the main pump 14. The wasteful energy consumption includes the pumping loss generated by the hydraulic oil discharged from the main pump 14 in the center bypass pipeline 60. Further, when operating the hydraulic actuator, the hydraulic system shown in FIG. 2 can surely supply sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0074] Next, with reference to FIGS. 3A to 3D, a configuration for the controller 30 to automatically operate the actuator by the machine control function will be described. FIGS. 3A to 3D are diagrams showing a part of the hydraulic system extracted. Specifically, FIG. 3A is a diagram showing the extracted part of the hydraulic system related to the operation of the arm cylinder 8, and FIG. 3B is a diagram showing the extracted part of the hydraulic system related to the operation of the swing hydraulic motor 2A. Further, FIG. 3C is a diagram showing the extracted part of the hydraulic system related to the operation of the boom cylinder 7, and FIG. 3D is a diagram showing the extracted part of the hydraulic system related to the operation of the bucket cylinder 9.

[0075] As shown in FIGS. 3A to 3D, the hydraulic system includes a proportional valve 31 and a shuttle valve 32. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR, and the shuttle valve 32 includes shuttle valves 32AL to 32DL and 32AR to 32DR.

[0076] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 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 area of the pipeline. In this 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.

[0077] 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 act on the pilot port of the corresponding control valve with the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31.

[0078] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not being operated.

[0079] For example, as shown in FIG. 3A, the left operation lever 26L is used to operate the arm 5. Specifically, the left operation lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 and acts on the pilot port of the control valve 176 with a pilot pressure corresponding to the operation in the front-rear direction. More specifically, when the left operation lever 26L is operated in the arm closing direction (rearward), it acts on the right pilot port of the control valve 176L and the left pilot port of the control valve 176R with a pilot pressure corresponding to the operation amount. Also, when the left operation lever 26L is operated in the arm opening direction (forward), it acts on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R with a pilot pressure corresponding to the operation amount.

[0080] A switch NS is provided on the left operation lever 26L. In this embodiment, the switch NS is a push button switch. The operator can operate the left operation lever 26L while pressing the switch NS. The switch NS may be provided on the right operation lever 26R or at other positions within the cabin 10.

[0081] The operation pressure sensor 29LA detects the content of the front-rear direction operation of the left operation lever 26L by the operator in the form of pressure and outputs the detected value to the controller 30.

[0082] The proportional valve 31AL operates according to the current command output by the controller 30. Then, the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL is adjusted. The proportional valve 31AR operates according to the current command output by the controller 30. Then, the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR is adjusted. The proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0083] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation by the operator. That is, the arm 5 can be automatically closed. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR, regardless of the arm opening operation by the operator. That is, the arm 5 can be automatically opened.

[0084] Also, as shown in FIG. 3B, the left operation lever 26L is also used to operate the slewing mechanism 2. Specifically, the left operation lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the left-right operation to the pilot port of the control valve 173. More specifically, when the left operation lever 26L is operated in the left slewing direction (left direction), a pilot pressure corresponding to the operation amount is applied to the left pilot port of the control valve 173. Also, when the left operation lever 26L is operated in the right slewing direction (right direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 173.

[0085] The operation pressure sensor 29LB detects the content of the left - right direction operation on the left operation lever 26L by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0086] The proportional valve 31BL operates according to the current command output by the controller 30. Then, it adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 through 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, it adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 through 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 173 can be stopped at an arbitrary valve position.

[0087] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 through the proportional valve 31BL and the shuttle valve 32BL, regardless of the left - turn operation by the operator. That is, the slewing mechanism 2 can be automatically slewed to the left. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 through the proportional valve 31BR and the shuttle valve 32BR, regardless of the right - turn operation by the operator. That is, the slewing mechanism 2 can be automatically slewed to the right.

[0088] Also, as shown in FIG. 3C, the right operation lever 26R is used to operate the boom 4. Specifically, the right operation lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 175. More specifically, when the right operation lever 26R is operated in the boom raising direction (rear 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 right operation lever 26R is operated in the boom lowering direction (front direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175R.

[0089] The operation pressure sensor 29RA detects the content of the front-rear direction operation of the right operation lever 26R by the operator in the form of pressure and outputs the detected value to the controller 30.

[0090] The proportional valve 31CL operates according to the current command output by the controller 30. Then, it adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 through the proportional valve 31CL and the shuttle valve 32CL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The proportional valve 31CR operates according to the current command output by the controller 30. Then, it adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 through the proportional valve 31CR and the shuttle valve 32CR to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R. The proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at an arbitrary valve position.

[0091] With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31CL and the shuttle valve 32CL, regardless of the boom raising operation by the operator. That is, the boom 4 can be automatically raised. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31CR and the shuttle valve 32CR, regardless of the boom lowering operation by the operator. That is, the boom 4 can be automatically lowered.

[0092] Also, as shown in FIG. 3D, the right operation lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses the hydraulic oil discharged from the pilot pump 15 and applies a pilot pressure corresponding to the operation in the left - right direction to the pilot port of the control valve 174. More specifically, when the right operation lever 26R is operated in the bucket closing direction (left direction), a pilot pressure corresponding to the operation amount is applied to the left pilot port of the control valve 174. Also, when the right operation lever 26R is operated in the bucket opening direction (right direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 174.

[0093] The operation pressure sensor 29RB detects the content of the left - right direction operation on the right operation lever 26R by the operator in the form of pressure and outputs the detected value to the controller 30.

[0094] The proportional valve 31DL operates in response to the current command output by the controller 30. Then, it adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31DL and the shuttle valve 32DL. The proportional valve 31DR operates in response to the current command output by the controller 30. Then, it adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31DR and the shuttle valve 32DR. The proportional valves 31DL and 31DR can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.

[0095] 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 174 via the proportional valve 31DL and the shuttle valve 32DL, regardless of the bucket closing operation by the operator. That is, the bucket 6 can be automatically closed. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31DR and the shuttle valve 32DR, regardless of the bucket opening operation by the operator. That is, the bucket 6 can be automatically opened.

[0096] The excavator 100 may be configured to automatically move the lower traveling body 1 forward and backward. In this case, the hydraulic system part related to the operation of the left traveling hydraulic motor 2ML and the hydraulic system part related to the operation of the right traveling hydraulic motor 2MR may be configured in the same way as the hydraulic system part related to the operation of the boom cylinder 7 and the like.

[0097] In addition, although a hydraulic operation lever equipped with a hydraulic pilot circuit is described in FIGS. 2 and 3A to 3D, an electric operation lever equipped with an electric pilot circuit may be adopted instead of the hydraulic operation lever. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. Also, a solenoid valve is arranged between the pilot pump 15 and the pilot ports of each control valve. The solenoid valve is configured to operate according to an electric signal from the controller 30. With this configuration, when a manual operation using the electric operation lever is performed, the controller 30 can control the solenoid valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving each control valve. Note that each control valve may be constituted by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates according to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

[0098] Next, with reference to FIG. 4, the functions of the controller 30 will be described. FIG. 4 is a functional block diagram of the controller 30.

[0099] In the example of FIG. 4, the controller 30 is configured to receive signals output from an attitude detection device, an operation device 26, an object detection device 70, an imaging device 80, a switch NS, etc., execute various calculations, and output control commands to a proportional valve 31, a display device 40, a sound output device 50, etc.

[0100] The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning angular velocity sensor S5.

[0101] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is arranged in a pipeline connecting the pilot pump 15 and the shuttle valve, 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 a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator. The controller 30 has attitude recording unit 30A, trajectory calculation unit 30B, autonomous control unit 30C, parameter adjustment unit 30D, and display control unit 30E as functional elements. Each functional element may be configured by hardware or software.

[0102] The attitude recording unit 30A is configured to record information regarding the attitude of the excavator 100. In the present embodiment, the attitude recording unit 30A records information regarding the attitude of the excavator 100 when the switch NS is pressed in the RAM. Specifically, the attitude recording unit 30A records the output of the attitude detection device each time the switch NS is pressed. The attitude recording unit 30A may be configured to start recording when the switch NS is pressed at the first time point and end the recording when the switch NS is pressed at the second time point. In this case, the attitude recording unit 30A may repeatedly record information regarding the attitude of the excavator 100 at a predetermined control cycle from the first time point to the second time point.

[0103] The trajectory calculation unit 30B is configured to calculate a target trajectory, which is the trajectory drawn by a predetermined part of the excavator 100 when the excavator 100 operates autonomously. The predetermined part is, for example, a predetermined point on the back surface of the bucket 6. In the present embodiment, the trajectory calculation unit 30B calculates a target trajectory to be used when the autonomous control unit 30C operates the excavator 100 autonomously. Specifically, the trajectory calculation unit 30B calculates the target trajectory based on the information regarding the posture of the excavator 100 recorded by the posture recording unit 30A. The target trajectory may include a target construction surface, or may include the trajectory until a predetermined part of the excavator 100 reaches the target construction surface.

[0104] The trajectory calculation unit 30B may calculate the target trajectory based on the output of the LIDAR as the object detection device 70, which is an example of the surrounding monitoring device. Alternatively, the trajectory calculation unit 30B may calculate the target trajectory based on the output of the imaging device 80, which is another example of the surrounding monitoring device. Alternatively, the trajectory calculation unit 30B may calculate the target trajectory based on the information regarding the posture of the excavator 100 recorded by the posture recording unit 30A and the output of the surrounding monitoring device.

[0105] The autonomous control unit 30C is configured to operate the excavator 100 autonomously. In the present embodiment, when the switch NS is pressed, the controller 30 activates the machine control function. Then, when the adjustment of the control parameters by the parameter adjustment unit 30D is completed, the autonomous control unit 30C enables the machine control function. That is, in the present embodiment, the machine control function is invalidated after being activated and during the adjustment of the control parameters according to the working conditions by the parameter adjustment unit 30D.

[0106] When the machine control function of the autonomous control unit 30C is enabled and the left operation lever included in the operation device 26 is operated in the arm closing direction while the switch NS is pressed, the excavator 100 may be autonomously operated so that the lower end of the bucket 6 moves along the target trajectory. In this case, the left operation lever may be operated with an arbitrary lever operation amount. Therefore, the operator can move the lower end of the bucket 6 along the target trajectory at a predetermined moving speed without worrying about the lever operation amount. Alternatively, the moving speed of the bucket 6 may be configured to change according to the change in the operation amount of the left operation lever.

[0107] The autonomous control unit 30C may be configured to control at least one of the boom cylinder 7 and the swing hydraulic motor 2A so that the lower end of the bucket 6 follows the target trajectory. For example, the autonomous control unit 30C may semi-automatically control the swing speed of the upper swing body 3 according to the rising speed of the boom 4. For example, the higher the rising speed of the boom 4, the higher the swing speed of the upper swing body 3 may be set. In this case, the boom 4 rises at a speed corresponding to the lever operation amount in the boom raising direction of the right operation lever included in the operation device 26, but the upper swing body 3 may swing at a speed different from the speed corresponding to the lever operation amount in the right swing direction of the left operation lever.

[0108] Alternatively, the autonomous control unit 30C may semi-automatically control the rising speed of the boom 4 according to the swing speed of the upper swing body 3. For example, the higher the swing speed of the upper swing body 3, the higher the rising speed of the boom 4 may be set. In this case, the upper swing body 3 swings at a speed corresponding to the lever operation amount in the right swing direction of the left operation lever, but the boom 4 may rise at a speed different from the speed corresponding to the lever operation amount in the boom raising direction of the right operation lever.

[0109] Alternatively, the autonomous control unit 30C may semi-automatically control both the turning speed of the upper slewing body 3 and the raising speed of the boom 4. In this case, the upper slewing body 3 may turn at a speed different from the speed corresponding to the lever operation amount in the right-turning direction of the left operation lever. Similarly, the boom 4 may rise at a speed different from the speed corresponding to the lever operation amount in the boom-raising direction of the right operation lever.

[0110] The parameter adjustment unit 30D acquires the working conditions of the excavator 100 and adjusts the control parameters according to the acquired working conditions. Specifically, the parameter adjustment unit 30D sets a set of control parameters corresponding to the working conditions. The details of the parameter adjustment unit 30D will be described later.

[0111] The display control unit 30E controls the display on the display device 40 of the excavator 100. Specifically, the display control unit 30E causes the display device 40 to display a screen for notifying the operator of the working conditions of the excavator 100.

[0112] Here, the parameter adjustment unit 30D of the present embodiment will be described. The parameter adjustment unit 30D of the present embodiment includes a working condition acquisition unit 30f, a parameter identification unit 30g, and a parameter information storage unit 30h.

[0113] The working condition acquisition unit 30f acquires the working conditions of the excavator 100. More specifically, when an operation for activating the machine control function is performed, the working condition acquisition unit 30f causes the display control unit 30E to display an input screen for inputting the working conditions on the display device 40. Then, the working condition acquisition unit 30f acquires the conditions input on the input screen as the working conditions.

[0114] Also, the working condition acquisition unit 30f may automatically acquire the working conditions. In this case, the working condition acquisition unit 30f may acquire environmental conditions, which are part of the working conditions, based on the image data captured by the imaging device 80 of the excavator 100. More specifically, the working condition acquisition unit 30f may determine the soil quality as either hard, standard, or soft from the image data acquired by the imaging device 80.

[0115] Further, the working condition acquisition unit 30f may acquire operation conditions, which are part of the working conditions, according to the operation of the excavator 100 when the operator operates the excavator 100. More specifically, the working condition acquisition unit 30f may determine the manual operation speed included in the operation conditions as either low speed, standard speed, or high speed based on the operation amount of the arm 5 within a predetermined time and a previously determined operation amount threshold value.

[0116] Also, the working condition acquisition unit 30f may determine the followability to the design surface included in the operation conditions as either weak, standard, or strong based on the distance between the design surface and the working part and a previously determined distance threshold value.

[0117] The parameter identification unit 30g refers to the parameter information storage unit 30h and identifies a set of control parameters corresponding to the working conditions acquired by the working condition acquisition unit 30f.

[0118] The parameter information storage unit 30h stores control parameter information. The parameter information storage unit 30h of the present embodiment may store, for example, control parameter information previously created in a management device or the like. Also, the parameter information storage unit 30h of the present embodiment may store, for example, control parameter information newly created in the excavator 100.

[0119] Furthermore, the control parameter information stored in the parameter information storage unit 30h of the present embodiment may be associated with, for example, the work site of the excavator 100 or the operator of the excavator 100.

[0120] In the example of FIG. 4, the parameter information storage unit 30h is assumed to be possessed by the controller 30, but it is not limited thereto. The parameter information storage unit 30h may be possessed by, for example, a management device for communicating with the excavator 100 to manage the excavator 100. In that case, the controller 30 does not necessarily have to have the parameter information storage unit 30h.

[0121] In addition, when the management device has the parameter information storage unit 30h, a screen for adjusting control parameters may be displayed on the display device controlled by the management device. On the display device controlled by the management device, for example, a dedicated screen for the administrator may be displayed such that the values of a plurality of control parameters can be adjusted for each working condition.

[0122] In this embodiment, by displaying the dedicated screen for the administrator in this way, the control parameters included in the control parameter information stored in the parameter information storage unit 30h can be adjusted for each working condition.

[0123] Therefore, according to this embodiment, the control parameters can be adjusted according to the state of the body of the excavator 100 and the like. For example, between the excavator 100 immediately after factory shipment and the excavator 100 with aging deterioration, even when the working conditions are the same, there may be cases where it is better to set different control parameters. In this embodiment, in such a case, the control parameters can be adjusted to match the body of the excavator 100 for each working condition. The dedicated screen for the administrator may be displayed on the display device 40 of the excavator 100 by performing a specific operation on the excavator 100.

[0124] In this way, by holding the parameter information storage unit 30h in the management device, the capacity of the storage device mounted on the excavator 100 can be reduced, and a simple configuration can be achieved.

[0125] Next, with reference to FIG. 5, an example of a function (machine control function) in which the controller 30 autonomously controls the movement of the attachment will be described. FIG. 5 is a block diagram showing an example of functional elements of the autonomous control unit.

[0126] In the example of FIG. 5, the autonomous control unit 30C of the controller 30 has functional elements F1 to F6 for realizing the machine control function. The functional elements may be configured by software, may be configured by hardware, or may be configured by a combination of software and hardware.

[0127] The functional element F1 is configured to calculate the tip position of the current bucket 6. In the present embodiment, the functional element F1 calculates the coordinate point of the tip of the bucket 6 as the current tip position based on the boom angle β1 detected by the boom angle sensor S1, the arm angle β2 detected by the arm angle sensor S2, the bucket angle β3 detected by the bucket angle sensor S3, and the slewing angle α1 detected by the slewing angular velocity sensor S5. The functional element F1 may utilize the output of the machine body inclination sensor S4 when calculating the current tip position.

[0128] The functional element F2 is configured to calculate the next tip position. In the present embodiment, the functional element F2 calculates the tip position after a predetermined time as the target tip position based on the operation data output by the operation pressure sensor 29, the target trajectory calculated by the trajectory calculation unit 30B, the current tip position calculated by the functional element F1, and the control parameters acquired by the functional element F6 described later.

[0129] The functional element F2 may determine whether the deviation between the current tip position and the target trajectory is within the allowable range. In the present embodiment, the functional element F2 determines whether the distance between the current tip position and the target trajectory is equal to or less than a predetermined value. Then, when the distance is equal to or less than the predetermined value, the functional element F2 determines that the deviation is within the allowable range and calculates the target tip position. On the other hand, when the distance exceeds the predetermined value, the functional element F2 determines that the deviation is not within the allowable range and decelerates or stops the movement of the actuator based on the control parameters acquired by the functional element F6 described later, regardless of the lever operation amount.

[0130] The functional element F3 is configured to generate a command value related to the speed of the bucket tip. In the present embodiment, the current bucket tip position calculated by the functional element F1 and the next bucket tip position calculated by the functional element F2 are input to the functional element F3, and the speed of the bucket tip required to move the current bucket tip position to the next bucket tip position in a predetermined time is calculated as a command value (speed command value) related to the speed of the bucket tip. At this time, the functional element F3 of the present embodiment may generate a speed command value for the bucket tip of the bucket 6 so that the change in the load on the bucket 6 is reflected in the operation of the bucket 6.

[0131] Further, the functional element F3 of the present embodiment may calculate a speed command value for the bucket tip according to the current bucket angle β3 (opening angle).

[0132] The functional element F4 is configured to calculate a command value for operating the actuator. In the present embodiment, the functional element F4 is based on the target bucket tip position calculated by the functional element F2, the speed command value calculated by the functional element F3, and the control parameter acquired by the functional element F6 described later, in order to move the current bucket tip position to the target bucket tip position, and calculates a command value β 1r for the boom angle β1, 2r a command value β 3r for the arm angle β2, and 1r a command value β for the bucket angle β3. The functional element F4 calculates the command value β

[0133] even when the boom 4 is not being operated, if necessary. This is for automatically operating the boom 4.

[0134] Next, with reference to FIGS. 6 to 8, the operation of the excavator 100 of the present embodiment will be described. First, with reference to FIG. 6, the operation of the excavator 100 when the work condition acquisition unit 30f acquires the work conditions input to the input screen will be described.

[0135] FIG. 6 is a first flowchart for explaining the operation of the excavator. The excavator 100 of the present embodiment determines whether or not the machine control function has been activated by the autonomous control unit 30C (step S601). In other words, the controller 30 determines whether or not an operation for activating the machine control function has been performed. If the machine control function is not activated in step S601, the controller 30 waits.

[0136] If an operation for activating the machine control function is performed in step S601, the controller 30 causes the display control unit 30E to display an input screen for working conditions on the display device 40 (step S602). More specifically, the display control unit 30E may cause the main screen displayed on the display device 40 in step S601 to transition to an input screen for working conditions. Details of the input screen will be described later.

[0137] Subsequently, the parameter adjustment unit 30D of the controller 30 acquires the working conditions input on the input screen by the working condition acquisition unit 30f (step S603). Subsequently, the parameter adjustment unit 30D refers to the parameter information storage unit 30h by the parameter identification unit 30g to identify a set of control parameters corresponding to the acquired working conditions (step S604).

[0138] Subsequently, the parameter adjustment unit 30D sets the set of control parameters identified in step S604 in the autonomous control unit 30C (step S605). More specifically, the parameter adjustment unit 30D outputs the set of identified control parameters to the functional element F6 of the autonomous control unit 30C.

[0139] Subsequently, when the setting of the control parameters is completed, the controller 30 enables the machine control function by the autonomous control unit 30C (step S606).

[0140] In addition, when the machine control function is enabled, the display control unit 30E may make the input screen non-displayed. That is, in the present embodiment, while the input screen is being displayed on the display device 40, the machine control function is disabled.

[0141] In the present embodiment, by doing so, it is possible to prevent control using the machine control function from being performed in a state where the setting of the control parameter is not completed. Note that in the present embodiment, even when the machine control function is disabled, the lever operation on the excavator 100 can be performed.

[0142] Furthermore, in the present embodiment, during the control using the machine control function, the adjustment of the control parameter is prohibited. By doing so, it is possible to prevent the control parameter from being changed during the control using the machine control function and the operation of the excavator 100 from becoming unstable.

[0143] Next, with reference to FIG. 7, the input screen displayed on the display device 40 will be described. FIG. 7 is a diagram showing a display example.

[0144] The display device 40 has an image display unit 41 for displaying an image. FIG. 7 shows an example in which an input screen for inputting work conditions is displayed on the image display unit 41. The image display unit 41 includes an upper display area 41A, a main display area 41B, and a lower display area 41C.

[0145] The upper display area 41A is arranged in an upper part of the image display unit 41. The lower display area 41C is arranged in a lower part of the image display unit 41. The main display area 41B is arranged in the central part of the image display unit 41. The main display area 41B is arranged between the upper display area 41A and the lower display area 41C. The area of the main display area 41B is, for example, larger than the total area of the upper display area 41A and the lower display area 41C.

[0146] The upper display area 41A includes a date and time display area 41a, an operation mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, a coolant temperature display area 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, and an operating oil temperature display area 41k.

[0147] The main display area 41B includes an image display area 41n. The image display area 41n includes an overhead image display area 41n1, a rear image display area 41n2, and a right-side image display area 41n3. The overhead image display area 41n1, the rear image display area 41n2, and the right-side image display area 41n3 occupy most of the image display unit 41. The overhead image display area 41n1, the rear image display area 41n2, and the right-side image display area 41n3 are arranged below the upper display area 41A.

[0148] The date and time display area 41a is an area for displaying the current date and time. The operation mode display area 41b is an area for displaying the current driving mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 for displaying the lifetime average fuel consumption or the interval average fuel consumption, and an instantaneous fuel consumption display area 41d2 for displaying the instantaneous fuel consumption.

[0149] The coolant temperature display area 41g is an area for displaying the current temperature state of the engine coolant water. The fuel remaining amount display area 41h is an area for displaying the remaining amount state of the fuel stored in the fuel tank. The urea water remaining amount display area 41j is an area for displaying, in an image, the remaining amount state of the urea water stored in the urea water tank. The operating oil temperature display area 41k is an area for displaying the temperature state of the operating oil in the operating oil tank.

[0150] The image display area 41n is an area for displaying the image captured by the imaging device 80. The image display area 41n displays an overhead image FV, a rear image BM, and a right-side image RM. The overhead image FV is a virtual viewpoint image generated by the display control unit 30E and is generated based on the images acquired by the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R, respectively. Also, a shovel figure GE corresponding to the shovel 100 is arranged in the central portion of the overhead image FV. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and the objects existing around the shovel 100.

[0151] The rear image BM is an image showing the space behind the shovel 100. The rear image BM may include an image of the counterweight. The rear image BM is a real viewpoint image generated by the display control unit 30E and is generated based on the image acquired by the rear camera 80B provided at the rear.

[0152] The right-side image RM is an image showing the space to the right of the shovel 100. The right-side image RM is a real viewpoint image generated by the display control unit 30E and is generated based on the image acquired by the right camera 80R arranged on the right side.

[0153] The display device 40 displays the overhead image FV in the overhead image display area 41n1, the rear image BM in the rear image display area 41n2, and the right-side image RM in the right-side image display area 41n3.

[0154] Furthermore, in the present embodiment, an icon image 41x is displayed in the overhead image display area 41n1. The icon image 41x is an image representing the relative relationship between the position of the imaging device 80 and the orientation of the attachment of the upper swing body 3. Note that the icon image 41x may also be displayed in each of the rear image display area 41n2 and the right-side image display area 41n3.

[0155] The icon image 41x of the present embodiment includes an image 41xM of the excavator 100, an image 41xF showing the front of the excavator 100, and an image 41xB showing the rear of the excavator 100. Further, the icon image 41x includes an image 41xL showing the left side of the excavator 100, an image 41xR showing the right side of the excavator 100, and an image 41xI showing the inside of the cabin 10.

[0156] The images 41xF, 41xB, 41xL, 41xR, and 41xI respectively correspond to a front camera 80F that images the front of the excavator 100, a rear camera 80B that images the rear of the excavator 100, a left camera 80L that images the left side of the excavator 100, and a right camera 80R that images the right side of the excavator 100. Further, the image 41xI corresponds to a camera inside the cabin 10.

[0157] In the present embodiment, in the icon image 41x, when an image associated with each camera is selected, the image data captured by the camera corresponding to the selected image may be displayed in the image display area 41n.

[0158] In the example of FIG. 7, in the overhead image display area 41n1, the display modes of the images 41xB, 41xL, and 41xR are different from the display modes of the images 41xF and 41xI. Therefore, it can be seen that an overhead image indicated by the image data synthesized from the image data captured by the rear camera 80B, the left camera 80L, and the right camera 80R corresponding to each of the images 41xB, 41xL, and 41xR is displayed in the overhead image display area 41n1.

[0159] Further, in the rear image display area 41n2, the display mode of the image 41xB may be made different from the display modes of the images 41xF, 41xL, 41xR, and 41xI. By doing so, it can be seen that an image indicated by the image data captured by the rear camera 80B corresponding to the image 41xB is displayed in the rear image display area 41n2.

[0160] Also, in the right image display area 41n3, the display mode of the image 41xR may be made different from the display modes of the images 41xF, 41xL, 41xB, and 41xI. By doing so, it can be understood that an image indicated by the image data captured by the right camera 80R corresponding to the image 41xR is displayed in the right image display area 41n3.

[0161] The lower display area 41C is an input area including an input field for work conditions. The lower display area 41C includes input fields 42a to 42d for inputting work conditions and operation members 42e to 42j for saving work conditions.

[0162] Each of the input fields 42a to 42d includes a plurality of options for inputting work conditions. When any one of the plurality of options is selected, the work conditions corresponding to each input field are set according to the selected option.

[0163] The input field 42a is an input field for inputting the manual operation speed, which is included in the operation conditions that are part of the work conditions. In the input field 42a, the manual operation speed can be set by selecting any one of the options "low speed", "standard", and "high speed". For example, when the option "low speed" is selected as the manual operation speed, the working part of the end attachment moves at a lower speed than in the standard case, and the deviation between the working part of the end attachment and the target trajectory becomes smaller. When the option "high speed" is selected as the manual operation speed, the working part of the end attachment moves at a higher speed than in the standard case, and the deviation between the working part of the end attachment and the target trajectory becomes larger.

[0164] The input field 42b is an input field for inputting the soil quality, which is included in the environmental conditions that are part of the work conditions. In the input field 42b, the soil quality can be set by selecting any one of the options "soft", "standard", and "hard". For example, the work condition acquisition unit 30f may make the excavation force when the option "hard" is selected as the soil quality stronger than the excavation force when the option "standard" is selected, and make the excavation force when the option "soft" is selected as the soil quality weaker than the excavation force when the option "standard" is selected.

[0165] The input field 42c is an input field for setting the weight of the bucket 6, which is included in the operating conditions that are part of the working conditions. In the input field 42c, the weight of the bucket 6 can be set by selecting any one of the options "light", "standard", or "heavy". For example, the controller 30 may adjust the thrust force when driving the hydraulic actuator according to the weight setting of the bucket 6. Thereby, the lower end of the bucket 6 can surely move along the target trajectory.

[0166] The input field 42d is an input field for setting the followability with respect to the design surface, which is included in the operating conditions that are part of the working conditions. In the input field 42d, the followability with respect to the design surface can be set by selecting any one of the options "weak", "standard", or "strong". For example, when the option "weak" is selected, the excavation force may be made smaller than when the option "standard" is selected, and when the option "strong" is selected, the excavation force may be made larger than twice the case when the option "standard" is selected. Thereby, the followability to the design surface when there are hard portions such as lumps of earth and sand during excavation and it is necessary to excavate away from the design surface can be adjusted.

[0167] In this embodiment, in this way, items included in the working conditions and a plurality of options for inputting the values of the items are prepared in advance, and the operator is allowed to select the values of the items included in the working conditions on the input screen according to the working situation. Then, in this embodiment, the control parameters specified based on the input working conditions are output to the autonomous control unit 30C.

[0168] Therefore, in this embodiment, there is no need to perform experiences for adjusting control parameters, repeated adjustments and operation confirmations, etc., and control parameters suitable for the working environment and the operator's operation can be easily set.

[0169] Note that in the example of FIG. 7, the input fields 42a to 42d are assumed to select options, but the present invention is not limited thereto, and arbitrary values may be input to each input field.

[0170] The operation member 42e is an operation button for determining whether to automatically update control parameters after an operator's operation is started. Details of the process for automatically updating control parameters will be described later.

[0171] The operation member 42f is an operation member for selecting control parameter information. In the present embodiment, when the operation member 42f is operated, a list of control parameter information stored in the parameter information storage unit 30h may be displayed in a pull-down format. The list of control parameter information may be a list of the names of control parameter information.

[0172] The operation member 42g is an operation member for storing, as new control parameter information, control parameter information associating the working conditions input in the input fields 42a to 42d with a set of control parameters specified based on the working conditions, in the parameter information storage unit 30h.

[0173] The operation member 42h is an operation member for overwriting control parameter information stored in the parameter information storage unit 30h with control parameter information associating the working conditions input in the input fields 42a to 42d with a set of control parameters specified based on the working conditions.

[0174] The operation member 42i is an operation member for reading control parameter information from the parameter information storage unit 30h.

[0175] An example of operations up to the operation members 42f to 42i will be described below. First, a case where the operation member 42g is operated to newly store control parameter information in the parameter information storage unit 30h will be described. In this case, after the operator inputs the working conditions in the input fields 42a to 42d of the input screen displayed on the display device 40 in step S602, the operator may operate the operation member 42g. By doing so, control parameter information in which the working conditions input on the input screen and the set of control parameters specified based on the working conditions are associated with each other is newly stored in the parameter information storage unit 30h separately from the control parameter information set when the machine control function was activated in step S601.

[0176] At this time, for example, by operating the operation member 42f, the name of the control parameter information to be newly stored may be selected.

[0177] Next, a case where the operation member 42h is operated to overwrite the control parameter information will be described. In this case, after the operator inputs the working conditions in the input fields 42a to 42d of the input area displayed on the display device 40 in step S602, the operator operates the operation member 42h. By doing so, the control parameter information set when the machine control function was activated in step S601 is overwritten with the control parameter information in which the working conditions input on the input screen and the set of control parameters specified based on the working conditions are associated with each other.

[0178] Next, a case where the operation member 42i is operated to read out the control parameter information stored in the parameter information storage unit 30h will be described. In this case, when the display control unit 30E receives the operation of the operation member 42f by the operator, it displays a list of the names of the control parameter information stored in the parameter information storage unit 30h. Then, when the controller 30 detects that the name of the control parameter information is selected from the list by the operator, it causes the set of control parameters included in the selected control parameter information to be displayed in the input fields 42a to 42d.

[0179] In this embodiment, after the machine control function is activated in step S601 and the input screen for working conditions is displayed, an operation of reading out the control parameter information stored in the parameter information storage unit 30h may be performed.

[0180] The operation member 42j is an operation member for setting the set of control parameters displayed in the input fields 42a to 42d for the autonomous control unit 30C.

[0181] In this embodiment, after the operation member 42i is operated and the set of control parameters is displayed in the input fields 42a to 42d, when the operation member 42j is operated, the displayed set of control parameters is set for the autonomous control unit 30C.

[0182] Also, in the image display unit 41, icon images 44a1 to 44a7 are displayed below the lower display area 41C. Each of the icon images 44a1 to 44a7 is an operation member for performing various operations on the screen displayed on the display device 40.

[0183] For example, when the icon image 44a1 is operated, the display control unit 30E may switch the display content of the work information display area 43n to the display content that was displayed immediately before. Also, when the icon image 44a2 is operated, the display control unit 30E may display various setting screens.

[0184] Also, when the icon image 44a3 is operated, the display control unit 30E may display an input field for the target value of the loading amount in the loading operation in the work information display area. The work information display area may be displayed in the lower display area 41C immediately before the input screen is displayed. Also, when the icon image 44a4 is operated, the display control unit 30E may display an input field for the height of the dump truck bed in the work information display area.

[0185] When the icon image 44a5 is operated, a process of correcting a reference value used when calculating the weight of the load in the bucket 6 may be performed. When the icon image 44a6 is operated, calculation of the loading amount of the dump truck bed may be started. When the icon image 44a7 is operated, the display in the lower display area 41C may be switched to the display of the home screen.

[0186] As described above, in this embodiment, by displaying the display device 40 of the excavator 100 and the input screen for work conditions, the operator only needs to input work conditions along the input screen, and appropriate control parameters can be set regardless of the operator's proficiency.

[0187] Note that in the example of FIG. 7, the input screen is assumed to be displayed on the controller 30 of the excavator 100, but it is not limited to this. The input screen may be displayed, for example, on a display device provided in a remote operation room for operating the excavator 100 from outside the excavator 100. In this case, the remote operation room of the excavator 100 may include a control device having the same functional configuration as the controller 30 of the excavator 100. Further, when the control device of the remote operation device has the function of the parameter adjustment unit 30D, the controller 30 may not have the parameter adjustment unit 30D.

[0188] Further, the input screen may be displayed, for example, on a display device of a management device for managing the excavator 100. When the input screen is displayed on the management device, only an input area including an input field for inputting work conditions may be displayed.

[0189] Next, with reference to FIG. 8, the operation of the excavator 100 when the work condition acquisition unit 30f automatically acquires work conditions will be described.

[0190] Figure 8 is a second flowchart for explaining the operation of the excavator. The excavator 100 of the present embodiment determines whether or not the machine control function has been activated by the autonomous control unit 30C (step S801). In other words, the controller 30 determines whether or not an operation for activating the machine control function has been performed. In step S801, when the machine control function has not been activated, the controller 30 waits.

[0191] In step S801, when an operation for activating the syncontrol function has been performed, the working condition acquisition unit 30f of the controller 30 analyzes the image data captured by the imaging device 80 and acquires the working environment included in the working conditions (step S802).

[0192] More specifically, the working condition acquisition unit 30f analyzes the image data to identify the type of soil at the work site, and acquires the type of soil as information indicating the working environment.

[0193] Subsequently, the working condition acquisition unit 30f acquires the working conditions corresponding to the working environment (step S803). Specifically, the working condition acquisition unit 30f determines the soil quality as either soft, standard, or hard according to the type of soil indicating the working environment. Note that the working condition acquisition unit 30f may hold in advance information associating the type of soil with the soil quality.

[0194] Subsequently, the controller 30 updates the currently set working conditions to the working conditions reflecting the working conditions acquired in step S803 by the working condition acquisition unit 30f, and the parameter specifying unit 30g specifies a set of control parameters based on the updated working conditions (step S804).

[0195] More specifically, the working condition acquisition unit 30f updates the soil quality among the items included in the working conditions corresponding to the set of control parameters set in the autonomous control unit 30C in step S801 to the conditions determined in step S803. In other words, the working condition acquisition unit 30f updates the environmental conditions, which are part of the working conditions corresponding to the set control parameters, to the environmental conditions obtained from the image data acquired by the imaging device 80. Then, the parameter identification unit 30g refers to the parameter information storage unit 30h and identifies the set of control parameters corresponding to the updated working conditions.

[0196] Subsequently, the parameter adjustment unit 30D sets the set of control parameters identified in step S804 in the autonomous control unit 30C (step S805). Subsequently, when the setting of the control parameters is completed, the controller 30 enables the machine control function by the autonomous control unit 30C (step S806).

[0197] Subsequently, the controller 30 causes the display control unit 30E to display a notification prompting an operation to the operator (step S807). Specifically, the notification displayed here may be, for example, a notification prompting a specific operation for acquiring the operating conditions included in the working conditions.

[0198] Subsequently, the controller 30 determines whether an operation has been performed by the operator (step S808).

[0199] In step S808, if no operation has been performed, the controller 30 may wait until an operation is performed. Note that if the waiting time exceeds a certain time, the controller 30 may hide the notification displayed in step S807 and make the machine control function available for operation.

[0200] In step S808, if an operation has been performed, the controller 30 acquires the working conditions corresponding to the operation based on the operation by the working condition acquisition unit 30f (step S809).

[0201] More specifically, the working condition acquisition unit 30f may determine values of the manual operation speed by the operator, the followability with respect to the design surface, and the weight of the bucket 6 among the items included in the working conditions according to the operation of the operator. In other words, the working condition acquisition unit 30f may acquire the operation conditions that are part of the working conditions according to the operation of the operator.

[0202] Note that the excavator 100 of the present embodiment may acquire machine operation information indicating the operation status of the own machine each time the own machine operates. The operation information may include output values of various sensors included in the excavator 100, information indicating the position of the tip of the bucket 6, and information indicating the weight of the bucket 6.

[0203] The working condition acquisition unit 30f of the present embodiment may acquire the operation conditions that are part of the working conditions from the operation information of the excavator 100 acquired according to the operation of the operator.

[0204] Subsequently, the controller 30 invalidates the machine control function (step S810). Subsequently, the controller 30 updates the currently set working conditions to the working conditions reflecting the working conditions acquired in step S809, and the parameter specifying unit 30g specifies a set of control parameters based on the updated working conditions (step S811), and proceeds to step S812.

[0205] More specifically, the working condition acquisition unit 30f updates the manual operation speed by the operator, the followability with respect to the design surface, and the weight of the bucket 6 among the items included in the working conditions corresponding to the set of control parameters set in the autonomous control unit 30C in step S806 to the conditions determined in step S809. In other words, the working condition acquisition unit 30f updates the operation conditions that are part of the working conditions corresponding to the set control parameters to the operation conditions acquired based on the operation of the operator. Then, the parameter specifying unit 30g refers to the parameter information storage unit 30h and specifies a set of control parameters corresponding to the updated working conditions.

[0206] The processes of step S812 and step S813 following step S811 are the same as the processes of step S805 and step S806 in FIG. 8, and thus the description thereof is omitted.

[0207] In this embodiment, in this way, based on the image data acquired by the excavator 100 and the operation information acquired by the excavator 100 when the operator actually operates, the working conditions are automatically acquired. Therefore, in this embodiment, the labor of the operator for setting the working conditions can be reduced.

[0208] Also, in this embodiment, based on the image data around the excavator 100 and the working conditions based on the operation information of the excavator 100, the set of control parameters is specified. For this reason, in this embodiment, regardless of the proficiency of the operator, appropriate control parameters can be easily set. Furthermore, the working conditions can be acquired according to the habits of the operator's manual operations.

[0209] Note that, in this embodiment, when new working conditions are acquired, the newly acquired working conditions may be displayed.

[0210] In that case, for example, the lower display area 41C (input area) shown in FIG. 7 may be displayed on the main screen in a pop-up manner or the like.

[0211] More specifically, for example, when the environmental conditions are acquired in step S803, the display control unit 30E may cause the display device 40 to display the same content as the lower display area 41C so that the operator can grasp the working conditions in which the acquired environmental conditions are reflected.

[0212] Also, for example, in step S808, after the operation of the excavator 100 is performed, the display control unit 30E may set whether to update the operation conditions by the operation of the operation member 42e by the operator. When an operation for instructing the update of the operation conditions is performed, the controller 30 may proceed to step S809.

[0213] In this embodiment, for example, when the machine control function is activated in step S801, it is assumed that the control parameters when the machine control function was previously enabled are set.

[0214] Here, for example, in step S808, after the operation of the excavator 100 is performed, if the operator selects "enabled" for the operation member 42e, the controller 30 automatically updates the control parameters when the machine control function is activated to control parameters adapted to the current operation of the excavator 100.

[0215] Then, the display control unit 30E switches the working conditions to be displayed in the input fields 42a to 42d from the working conditions during the machine control function to the working conditions including the updated operation conditions. Note that when "disabled" is selected with the operation member 42e, the control parameters are not updated even after the operation is performed.

[0216] By doing so, the operator can be made aware that the control parameters are adjusted according to the working conditions.

[0217] Also, in this embodiment, the excavator 100 is taken as an example of a working machine, but the working machine is not limited to the excavator 100. This embodiment can be applied to any working machine as long as it has a machine control function.

[0218] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as there is no technical contradiction.

Description of Reference Numerals

[0219] 1 Lower Travel Body 2 Swing Mechanism 3 Upper Swing Structure 4 Boom 5 Arms 6 Buckets 30 Controllers 40 Display Devices 100 Excavators

Claims

1. An excavator having a lower traveling body, an upper revolving body, an attachment provided on the upper revolving body, and an actuator for driving the attachment, The excavator having a control device that refers to a storage unit storing control parameter information in which working conditions and control parameters are associated, and operates the excavator using the control parameters specified based on the working conditions of the excavator.

2. The excavator according to claim 1, wherein the control parameters include a parameter for supplying hydraulic oil having a flow rate corresponding to an operation amount of a lever operation to the actuator, and a parameter for determining a target position of a working part of an end attachment after a predetermined time.

3. The excavator according to claim 1, wherein the working conditions include environmental conditions related to the environment in which the excavator performs work and operating conditions related to the operation of the excavator.

4. The working conditions are input to an input screen displayed on a display device, The input screen includes a plurality of options associated with the environmental conditions and a plurality of options associated with the operating conditions, The excavator according to claim 3, wherein the environmental conditions and the operating conditions are set according to options selected from the plurality of options.

5. The working conditions are including the soil quality included in the environmental conditions, the weight of the end attachment included in the operating conditions, and the followability with respect to the design surface included in the operating conditions, The working conditions are obtained from image data acquired by an imaging device included in the excavator and operation information of the excavator acquired according to an operator's operation. The excavator according to claim 3.

6. The control device The excavator according to claim 1, which causes a display device to display a screen on which each value of the control parameter for each working condition included in the control parameter information stored in the storage unit is adjusted.

7. The control device When receiving an operation for activating a machine control function, causes the input screen to be displayed on the display device, While the input screen is being displayed, the machine control function is disabled, The excavator according to claim 4, wherein after a control parameter specified based on the working conditions input from the input screen is set for the machine control function, the machine control function is enabled.

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