Shovel, and control system of shovel

Abstract

To reduce operational burden on an operator.SOLUTION: A shovel comprises: a lower running body; an upper rotating body mounted on the lower running body so as to be freely rotatable; a boom attached to the upper rotating body; an arm attached to the boom; a bucket provided at a tip of the arm; a detection device for detecting attitude of the boom, the arm and the bucket; and a control portion configured to, when a predetermined operation is received, perform a first operation to lower the boom based on the detection result by the detection device, and to perform a second operation to raise the boom after the first operation.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an excavator and a control system for an excavator.

Background Art

[0002] Conventionally, various operations have been tended to be performed using a bucket provided at the tip of an attachment. The operations include, for example, a compaction operation of pressing a surface formed on the bucket against the ground surface (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The compaction operation is an operation of pressing the back surface of the bucket against the ground by lowering the boom to compact the ground. There is a method of compacting the ground by repeating the lowering operation and the raising operation of the boom. The compaction operation by repeating the lowering operation and the raising operation of the boom places a large operation burden on the operator because the same operation is repeatedly performed on the operator.

[0005] One aspect of the present invention provides a technique capable of reducing the operation burden on the operator when performing compaction.

Means for Solving the Problems

[0006] An excavator according to one aspect of the present invention includes a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, a boom attached to the upper revolving body, an arm attached to the boom, a bucket provided at the tip of the arm, a detection device for detecting the postures of the boom, the arm, and the bucket, and a control unit configured to perform a first operation of lowering the boom based on a detection result by the detection device when a predetermined operation is received, and to perform a second operation of raising the boom after the first operation.

Advantages of the Invention

[0007] According to one aspect of the present invention, the operation burden on the operator when performing rolling compaction can be reduced.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Further, the embodiments described below are illustrative and do not limit the invention, and not all the features and combinations thereof described in the embodiments are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and the description thereof may be omitted.

[0010] (Overview of the working machine) In this embodiment, an example of using an excavator as an example of a working machine will be described, but it is not limited to an excavator. It may be applied to construction machinery, standard machines, application machines, forestry machines, or transport machines based on hydraulic excavators.

[0011] With reference to FIG. 1, an overview of the excavator 100 according to this embodiment will be described. FIG. 1 is a side view of the excavator 100 as a working machine according to this embodiment.

[0012] The excavator 100 according to this embodiment includes a lower traveling body 1, an upper slewing body 3 that is mounted on the lower traveling body 1 so as to be slewing freely via a slewing mechanism 2, a boom 4, an arm 5, and a bucket 6 as an attachment AT, and a cabin 10.

[0013] The lower traveling body 1 (an example of a traveling body) includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by traveling hydraulic motors 2ML, 2MR (see FIG. 2) to move the excavator 100.

[0014] The upper slewing body 3 (an example of a slewing body) is driven by a slewing hydraulic motor 2A (see FIG. 2) to slew with respect to the lower traveling body 1.

[0015] The attachment AT (an example of an attachment) is attached to the upper slewing body 3 and includes a boom 4, an arm 5, and a bucket 6.

[0016] The boom 4 is pivotally attached to the front center of the upper swing body 3. An arm 5 is pivotally attached to the tip of the boom 4, and a bucket 6 is pivotally attached to the tip of the arm 5 so as to be able to rotate vertically.

[0017] The bucket 6 is an example of a working tool. The bucket 6 is used, for example, in excavation work or the like. The bucket 6 according to the present embodiment includes a tip 6a and a back surface 6b as parts for forming a horizontal plane.

[0018] Alternatively, another working tool capable of performing a rolling operation may be attached to the tip of the arm 5 instead of the bucket 6. The other working tool may be, for example, another type of bucket such as a field bucket or a slope bucket.

[0019] The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators with hydraulic oil discharged from a main pump 14 (see FIG. 2).

[0020] The cabin 10 is an operator's cab and is mounted on the front left side of the upper swing body 3.

[0021] Note that the excavator 100 may be configured such that some of the driven elements such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 are electrically driven. That is, the excavator 100 may be a hybrid excavator, an electric excavator, or the like in which some of the driven elements are driven by electric actuators.

[0022] [Configuration of Excavator] Next, in addition to FIG. 1, with reference to FIG. 2, the specific configuration of the excavator 100 will be described.

[0023] FIG. 2 is a block diagram showing an example of the configuration of the excavator 100 according to the present embodiment.

[0024] In the drawings, the mechanical power line is indicated by a double line, the high-pressure hydraulic line is indicated by a solid line, the pilot line is indicated by a dashed line, and the electric drive / control line is indicated by a dotted line. The same applies to FIGS. 3 and 4 below.

[0025] The hydraulic drive system that hydraulically drives the hydraulic actuators of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. Also, as described above, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators such as travel hydraulic motors 2ML, 2MR that hydraulically drive the lower travel body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, a swing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0026] The engine 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper swing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under the direct or indirect control of a controller 30 described later, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0027] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0028] The main pump 14 (an example of a hydraulic pump) is mounted, for example, at the rear of the upper swing body 3 in the same manner as the engine 11, and supplies hydraulic oil to the control valve unit 17 through the high-pressure hydraulic line 16. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump. As described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, so that the stroke length of the piston is adjusted and the discharge flow rate (discharge pressure) can be controlled. The high-pressure hydraulic line 16 is a pipe for converting the power from the engine 11 into hydraulic pressure by the main pump 14 and conducting the hydraulic pressure to the control valve unit 17.

[0029] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the present embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to 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, for example, 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 the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the travel hydraulic motors 2ML, 2MR, and the swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left travel hydraulic motor 2ML, the control valve 172 corresponds to the right travel hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Also, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8.

[0030] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic oil to hydraulic control equipment via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, in addition to the function of supplying hydraulic oil to the control valve unit 17 via the hydraulic oil line, the main pump 14 may be provided with a function of supplying hydraulic oil to various hydraulic control equipment via the pilot line. In this case, the pilot pump 15 may be omitted.

[0031] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0032] The operating device 26 is a device used by an operator for operating an actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0033] The proportional valve 31 that functions as a control valve for machine control is arranged in a pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to be able to change the flow passage area of the pipeline. In the present embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

[0034] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when no operation on the specific operating device 26 is being performed.

[0035] The control system of the excavator 100 according to this embodiment includes a controller 30, an auxiliary storage device 47, a display device D1, an input device D2, a dial 48, an output characteristic switching switch 49, and a communication device T1. Further, as a configuration related to the semi-automatic operation function, the control system of the excavator 100 includes a proportional valve 31, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, a swing angle sensor S5, an imaging device S6, a positioning device PS, a boom rod pressure sensor S7R, a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, and a bucket bottom pressure sensor S9B.

[0036] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values to the controller 30. In this embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. Then, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure (pilot pressure) of the hydraulic oil supplied to each of the pilot ports is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0037] The dial 48 is used to adjust the rotational speed of the engine 11. An output characteristic switching switch 49 is provided on the upper surface of the dial 48. For example, when the output characteristic switching switch 49 is pressed, the output characteristic of the excavator is switched. The output characteristics of the excavator include, for example, the acceleration characteristics and deceleration characteristics of the hydraulic actuator with respect to the operation device 26.

[0038] The display device D1 is provided in a location that is easily visible to the seated operator within the cabin 10, and displays various information images under the control of the controller 30. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

[0039] Also, the display device D1 is not limited to a device pre-provided in the cabin 10, and may be a separately placed monitor. Furthermore, the display device D1 may be any device capable of displaying, and for example, a tablet terminal capable of communicating with the communication device T1 may be used.

[0040] The input device D2 is provided within the reach of the seated operator within the cabin 10, receives various operation inputs from the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device D2 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operation device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, and the like. A signal corresponding to the operation content for the input device D2 is taken in by the controller 30.

[0041] The auxiliary storage device 47 is a readable and writable non-volatile storage medium.

[0042] The controller 30 (an example of a control device) is provided, for example, inside the cabin 10 and performs drive control of the excavator 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly configured around a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage medium, various input / output interfaces, and the like. The controller 30 realizes various functions, for example, by executing various programs stored in the ROM or the non-volatile auxiliary storage medium on the CPU.

[0043] For example, based on operations such as those of an operator, the controller 30 sets a target rotational speed and performs drive control to rotate the engine 11 at a constant speed.

[0044] Also, for example, the controller 30 outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14.

[0045] Also, for example, the controller 30 controls the regulator 13 and adjusts the discharge amount of the main pump 14 based on detection values of pilot pressure corresponding to the operating states of various operating elements (i.e., various hydraulic actuators) in the operating device 26 input from the operation sensor 29.

[0046] Also, for example, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the excavator 100 through the operating device 26 by the operator. Also, the controller 30 performs control related to a machine control function that automatically supports the manual operation of the excavator 100 through the operating device 26 by the operator.

[0047] Note that some of the functions of the controller 30 may be realized by other controllers (control devices). That is, the functions of the controller 30 may be realized in a manner distributed among a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0048] More specifically, the controller 30 acquires information from a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine tilt sensor S4, a slewing angle sensor S5, an imaging device S6, a communication device T1, a positioning device PS, an input device D2, etc. Further, the controller 30 appropriately controls the proportional valve 31 according to the acquired information, and automatically adjusts individually the pilot pressure acting on the control valve corresponding to the hydraulic actuator, whereby each actuator can be automatically operated.

[0049] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the pilot ports of the control valves 171 to 176, and is configured to be able to change its flow passage area (the cross-sectional area through which the hydraulic oil can flow). The proportional valve 31 operates according to a control command input from the controller 30. Thereby, even when the operating device 26 is not operated by the operator, 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 unit 17 via the proportional valve 31. And the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

[0050] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation on the specific operating device 26 is performed. Also, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to a specific operating device 26 even when an operation on the specific operating device 26 is being performed.

[0051] The boom angle sensor (an example of a detection device) S1 is attached to the boom 4 and detects the pitching angle of the boom 4 with respect to the upper slewing body 3 (hereinafter, "boom angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2, the bucket angle sensor S3, and the machine body tilt sensor S4 below. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0052] The arm angle sensor (an example of a detection device) S2 is attached to the arm 5 and detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter, "arm angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 with respect to the straight line connecting the fulcrums at both ends of the boom 4. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0053] The bucket angle sensor (an example of a detection device) S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter, "bucket angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrum and the tip (cutting edge) of the bucket 6 with respect to the straight line connecting the fulcrums at both ends of the arm 5. The detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30.

[0054] The machine body tilt sensor S4 detects the tilt state of the machine body (the upper slewing body 3 or the lower traveling body 1) with respect to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper slewing body 3 and detects the tilt angles (hereinafter, "front-rear tilt angle" and "left-right tilt angle") around two axes in the front-rear direction and the left-right direction of the excavator 100 (i.e., the upper slewing body 3). The detection signals corresponding to the tilt angles (front-rear tilt angle and left-right tilt angle) by the machine body tilt sensor S4 are taken into the controller 30.

[0055] The slewing angle sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing angle sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing angle sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0056] The imaging device S6 images the periphery of the excavator 100. The imaging device S6 includes a camera S6F that images the front of the excavator 100, a camera S6L that images the left side of the excavator 100, a camera S6R that images the right side of the excavator 100, and a camera S6B that images the rear of the excavator 100.

[0057] The camera S6F is attached to, for example, the ceiling of the cab 10, i.e., inside the cab 10. Also, the camera S6F may be attached outside the cab 10, such as the roof of the cab 10 or the side surface of the boom 4. The camera S6L is attached to the left end of the upper surface of the upper slewing body 3, the camera S6R is attached to the right end of the upper surface of the upper slewing body 3, and the camera S6B is attached to the rear end of the upper surface of the upper slewing body 3.

[0058] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is, for example, a single-eye wide-angle camera having a very wide angle of view. Also, the imaging device S6 may be a stereo camera, a distance image camera, etc. The captured images by the imaging device S6 are taken into the controller 30.

[0059] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively attached to the boom cylinder 7, and detect the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "boom bottom pressure"). The detection signals corresponding to the boom rod pressure and the boom bottom pressure by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively taken into the controller 30.

[0060] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B respectively detect the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "arm bottom pressure"). The detection signals corresponding to the arm rod pressure and the arm bottom pressure by the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively taken into the controller 30.

[0061] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B respectively detect the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "bucket bottom pressure"). The detection signals corresponding to the bucket rod pressure and the bucket bottom pressure by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively taken into the controller 30.

[0062] The positioning device PS is configured to acquire information regarding the position of the excavator 100. In the present embodiment, the positioning device PS is configured to measure the position and orientation of the excavator 100. Specifically, the positioning device PS is a GNSS receiver incorporating an electronic compass, measures the latitude, longitude, and altitude of the current position of the excavator 100, and measures the orientation of the excavator 100.

[0063] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network, a satellite communication network, the Internet, etc., with the base station as the terminal. The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network, etc.

[0064] The excavator 100 operates an actuator (e.g., a hydraulic actuator) according to the operation of an operator boarding the cab 10, and drives operating elements such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6 (hereinafter, "driven elements").

[0065] Alternatively, or in addition to being configured to be operable by an operator in the cab 10, the excavator 100 may be configured to be remotely operated from outside the excavator 100. When the excavator 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0066] Also, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 realizes a function of automatically operating at least a part of the driven elements such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6, that is, a so-called "automatic driving function" or "machine control function".

[0067] The automatic driving function may include a function of automatically operating a driven element (actuator) other than the driven element (actuator) of the operation target in response to an operation on the operation device 26 of the operator or a remote operation, that is, a so-called "semiautomatic driving function" or an "operation support type machine control function". Further, the semiautomatic driving function or the like may include a mode in which the operation content of the driven element (actuator) of the automatic driving target is automatically determined according to a rule defined in advance. Further, the semiautomatic driving function or the like may include a mode (so-called "automatic driving function") in which the excavator 100 autonomously makes various determinations, and the operation content of the driven element (hydraulic actuator) of the automatic driving target is determined autonomously according to the determination result.

[0068] The controller 30 has a machine control function unit as a configuration for executing the machine control function. For example, when the operation of the arm 5 is performed by the operator through the operation device 26 by the machine control function of the machine control function unit of the controller 30, at least one of the boom 4 and the bucket 6 may be automatically operated so that the preset target construction surface and the tip position of the bucket 6 coincide. Further, the controller 30 may also automatically operate the arm 5 regardless of the operation state of the operation device 26 that operates the arm 5. That is, the controller 30 may cause the attachment to perform a preset operation by using the operation of the operation device 26 by the operator as a trigger.

[0069] [Explanation regarding rolling compaction] The excavator 100 according to the present embodiment performs so-called rolling compaction in which a force is applied from above with the bucket 6 to the surface of the earthwork, and air or water or the like is extruded from the earthwork to form a flat surface with increased density.

[0070] In the rolling operation, in order to form a flat ground surface, the back surface 6b of the bucket 6 is used to compact the area that requires rolling. In the present embodiment, since the back surface 6b of the bucket 6 is formed in a substantially flat surface, the ground surface can be flattened by pressing the back surface 6b. Therefore, it is preferable that the operator or the like grasps the situation of the ground surface and performs rolling according to the situation of the ground surface.

[0071] When the operator operates the boom 4 to perform rolling on a specified area, it is necessary to control the posture of the bucket 6 so that rolling can be performed with the back surface 6b of the bucket 6. In the present embodiment, the case of adjusting the bucket angle will be described as the control of the posture of the bucket 6. Note that the present embodiment does not limit the control of the posture of the bucket 6 to the adjustment of the bucket angle, and any control of the posture of the bucket 6 that enables rolling with the back surface 6b of the bucket 6 is acceptable.

[0072] By the way, since the arm 5 and the boom 4 that the operator operates move along an arc-shaped track, it is difficult to adjust the bucket angle so that rolling can be performed with the back surface 6b of the bucket 6 every time the rolling area is changed.

[0073] Therefore, in the present embodiment, the controller 30 controls the bucket angle so that the ground surface can be rolled with the back surface 6b of the bucket 6.

[0074] Note that in the present embodiment, the case of performing rolling with the back surface 6b of the bucket 6 is described, but the surface formed on the end attachment for performing rolling is not limited to the back surface 6b of the bucket 6. For example, a plate attached to the bucket 6 or a special end attachment with a surface formed for performing rolling may be used. Further, the present embodiment does not limit the type of the bucket 6 for performing rolling, and for example, a field bucket, a slope bucket, etc. may be used.

[0075] Furthermore, in the present embodiment, as the rolling by the bucket 6, the case of performing a tamping operation of hitting and compacting a predetermined area one or more times with the back surface 6b of the bucket 6 is assumed.

[0076] The tamping operation is an operation in which, after the boom lowering operation is performed, the ground surface is compacted with the back surface 6b of the bucket 6, and then the boom raising operation is performed. The excavator 100 according to the present embodiment needs to repeatedly perform the tamping operation one to a plurality of times for each predetermined area on the ground surface in order to uniformly compact the ground surface. The operation for performing the tamping operation requires the operator to repeatedly perform the same operation, which increases the operation burden.

[0077] Therefore, the controller 30 according to the present embodiment performs control for performing the tamping operation for compacting the ground surface.

[0078] Furthermore, in order to uniformly compact the area to be worked with the back surface 6b of the bucket 6, it is necessary to move the bucket 6 by the closing or opening operation of the arm 5 or the slewing operation. In order to uniformly compact the ground surface, it is necessary to pay attention so that the bucket 6 does not move too much.

[0079] Therefore, the controller 30 according to the present embodiment adjusts the amount of movement when moving the bucket 6 by the closing or opening operation of the arm 5 or the slewing operation in order to uniformly compact the area to be worked.

[0080] <Block Configuration of the Excavator Controller> FIG. 3 is a functional block diagram showing a configuration example of the controller 30 of the excavator 100 according to the present embodiment. In the example shown in FIG. 3, the block configuration of the controller 30 of the excavator 100 is shown.

[0081] The controller 30 receives information output by a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a slewing angle sensor S5, an imaging device S6, a display device D1, an input device D2, an operation sensor 29, a boom rod pressure sensor S7R, a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, a bucket bottom pressure sensor S9B, etc. Then, based on the received information, the controller 30 executes various calculations and outputs information based on the calculation results to the display device D1, the proportional valve 31, etc.

[0082] Note that in this embodiment, an example in which the controller 30 controls the excavator 100 will be described, but a part of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers mounted on the excavator 100.

[0083] For example, based on the inputs of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the slewing angle sensor S5, the controller 30 can grasp (estimate) the position of the tip (bucket 6) of the attachment AT. Therefore, while grasping the position of the tip of the attachment AT, the controller 30 can control the operation by the automatic driving function of the excavator 100.

[0084] The excavator 100 operates an actuator (for example, a hydraulic actuator) according to the operation of an operator boarding the cab 10, and drives operating elements (hereinafter, "driven elements") such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0085] Further, instead of or in addition to being configured to be operable by the operator in the cab 10, the excavator 100 may be configured to be remotely operable from the outside of the excavator 100. When the excavator 100 is remotely operated, the inside of the cab 10 may be in an unmanned state.

[0086] Further, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 realizes a function of automatically operating at least a part of the driven elements such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, that is, a so-called "automatic operation function" or "machine control function".

[0087] The automatic operation function may include a function of automatically operating driven elements (actuators) other than the driven element (actuator) of the operation target in response to an operation on the operator's operation device 26 or a remote operation, that is, a so-called "semiautomatic operation function" or "operation support type machine control function". Further, the automatic operation function may include a function of automatically operating at least a part of a plurality of driven elements (hydraulic actuators) on the premise that there is no operation on the operator's operation device 26 or a remote operation, that is, a so-called "fully automatic operation function" or "fully automatic type machine control function". In the excavator 100, when the fully automatic operation function is valid, the inside of the cab 10 may be unmanned. Further, the semiautomatic operation function, the fully automatic operation function, etc. may include a mode in which the operation content of the driven element (actuator) of the automatic operation target is automatically determined according to a rule defined in advance. Further, the semiautomatic operation function, the fully automatic operation function, etc. may include a mode (so-called "automatic operation function") in which the excavator 100 autonomously makes various determinations and the operation content of the driven element (hydraulic actuator) of the automatic operation target is determined autonomously according to the determination result.

[0088] Specifically, when the operator operates the arm 5 through the operating device 26, the controller 30 may automatically operate at least one of the boom 4 and the bucket 6 so that a predefined target construction surface coincides with the tip position of the bucket 6. Further, the controller 30 may also automatically operate the arm 5 regardless of the operating state of the operating device 26 that operates the arm 5. That is, the controller 30 may trigger the operation of the operating device 26 by the operator to cause the attachment to perform a predefined operation. Hereinafter, the function of the controller 30 that operates at least one of the boom 4 and the bucket 6 in addition to the arm 5 according to the operation of the operating device 26 corresponding to the arm 5 is referred to as the "semiautomatic operation function". The semiautomatic operation function may be executed, for example, by operating a predetermined switch (hereinafter, "MC (Machine Control) switch") disposed at the tip of any one of the lever devices included in the operating device 26.

[0089] The controller 30 includes an acquisition unit 301, an operation reception unit 302, an angle calculation unit 303, an automatic control unit 304, a display control unit 305, and a setting unit 306.

[0090] The acquisition unit 301 acquires various information from various sensors. For example, the acquisition unit 301 acquires image information captured by the imaging device S6 (camera S6F, camera S6L, camera S6R, and camera S6B).

[0091] The acquisition unit 301 acquires detection information detected by each of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the turning angle sensor S5, the boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, and the bucket bottom pressure sensor S9B.

[0092] The operation reception unit 302 receives an operation on the operation device 26 by receiving the operation signal of the operation sensor 29. Further, the operation reception unit 302 receives an operation input to the input device D2 by receiving a signal from the input device D2.

[0093] For example, the operation reception unit 302 receives the pressing of a predetermined switch included in the input device D2. The predetermined switch is, for example, a rolling pressure control switch.

[0094] The rolling pressure control switch is a switch for switching on and off the rolling pressure control by the soil flapping, and may be arranged at the tip of the gripping part by an operator of the operation device 26 (for example, the lever device corresponding to the operation of the arm 5) as a knob switch. The controller 30 according to the present embodiment continuously executes the rolling pressure control while the rolling pressure control switch is pressed. Then, when the pressing of the rolling pressure control switch ends, the controller 30 ends the rolling pressure control.

[0095] The bucket angle calculation unit 303 calculates the bucket angle when the back surface 6b of the bucket 6 contacts the ground surface. For example, the bucket angle calculation unit 303 calculates a bucket angle such that the entire back surface 6b of the bucket 6 contacts the ground surface when the boom is lowered at the current arm angle from before the bucket 6 contacts the ground surface.

[0096] The bucket angle such that the entire back surface 6b of the bucket 6 contacts the ground surface is calculated based on the shape of the bucket 6, the arm angle when the back surface 6b of the bucket 6 contacts the ground surface, the boom angle, the height of the ground surface based on the bottom surface of the shovel 100, and the inclination of the ground surface after compaction.

[0097] The position (height) and inclination of the ground surface to be compacted may be obtained by well-known methods. For example, the controller 30 may derive the height and inclination when the bucket 6 contacts the ground surface, or may use the target construction surface stored as data in the auxiliary storage device 47 or the like as the height and inclination of the ground surface to be compacted by the bucket 6, or may use the detection result of the ground surface by a distance measuring sensor (not shown). Note that this embodiment does not limit the specific method for specifying the height of the ground surface. For example, the height of the ground surface may be calculated based on the ground surface imaged by the imaging device S6.

[0098] In this embodiment, by recognizing the height of the ground surface to be compacted, the boom angle and the arm angle when the bucket 6 contacts the ground surface can be specified. Therefore, the angle calculation unit 303 can calculate the bucket angle for contacting the ground surface with the rear surface 6b. Note that the specific calculation method of the bucket angle is omitted from the description as a well-known method may be used.

[0099] The automatic control unit 304 automatically supports the manual operation of the excavator 100 through the operation device 26 by the operator by automatically operating the actuator. Specifically, as will be described later, the automatic control unit 304 can individually and automatically adjust the pilot pressure acting on the control valves corresponding to a plurality of hydraulic actuators. Thereby, the automatic control unit 304 can automatically operate each hydraulic actuator. The control regarding the machine control function by the automatic control unit 304 may be executed, for example, when a predetermined switch included in the input device D2 is pressed. The predetermined switch may be, for example, a compaction control switch and may be arranged at the tip of the gripping portion by the operator of the operation device 26 (for example, the lever device corresponding to the operation of the arm 5) as a knob switch. Hereinafter, the description will proceed on the premise that the machine control function is valid when the MC switch is pressed.

[0100] For example, while a rolling pressure control switch or the like is pressed, the automatic control unit 304 controls the operations of one or more of the upper swing body 3, the boom 4, the arm 5, and the bucket 6 according to the operation signal received from the operation sensor 29 to assist with operations related to rolling pressure. At the same time, on the back surface 6b of the bucket 6 (an example of the plane formed on the bucket 6), the control valve 174 is controlled based on the bucket angle calculated by the angle calculation unit 303 so as to be in contact with the ground surface.

[0101] While the rolling pressure control switch is pressed, the automatic control unit 304 according to this embodiment controls the control valve 174 based on the bucket angle calculated by the angle calculation unit 303, so that when the back surface 6b formed on the bucket 6 contacts the ground surface by the boom lowering operation (an example of the first operation), the posture of the bucket 6 is controlled so that the back surface 6b and the ground surface are substantially parallel. In this embodiment, since the back surface 6b of the bucket 6 is controlled to contact the ground surface, rolling pressure can be applied at an appropriate angle with respect to the ground surface. Since the ground surface can be formed into an appropriate shape, improvement in leveling accuracy can be realized. Note that in this embodiment, the bucket angle during rolling pressure is not limited to the case where the back surface 6b and the ground surface are substantially parallel, and any predetermined angle at which the ground surface can be rolled by the back surface 6b is acceptable. The bucket angle at which rolling pressure is possible will be omitted from the description as it is determined according to the embodiment.

[0102] While receiving the pressing of the rolling pressure control switch, the automatic control unit 304 performs a first operation of lowering the boom 4 until the bucket 6 contacts the ground surface from a predetermined height h1 based on the detection results by the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. Note that the method of obtaining the current height of the bucket 6 based on the detection results of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 will be omitted from the description as a well-known method is used.

[0103] When the automatic control unit 304 receives the pressing of the rolling pressure control switch, based on the detection result of a cylinder pressure sensor (for example, any one or more of the boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B), it performs a rolling operation of rolling the ground surface with a predetermined rolling pressure at the back surface 6b of the bucket 6. The predetermined height h1 and the predetermined rolling pressure will be described later.

[0104] After the rolling operation, when the automatic control unit 304 receives the pressing of the rolling pressure control switch, based on the detection results of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, it performs a second operation of raising the boom 4 until the bucket 6 reaches a predetermined height h1 from the ground surface.

[0105] In this embodiment, an example of switching whether to perform a series of controls for rolling the ground surface based on whether the rolling pressure control switch is pressed will be described. However, the operation of switching whether to perform the series of controls is not limited to whether the rolling pressure control switch is pressed. For example, each time the rolling pressure control switch is pressed once, a method of performing rolling by soil compaction once may be used. Furthermore, the method of using the rolling pressure control switch to switch whether to perform rolling control is not limited, and other switches or the like may be used. For example, whether to perform a series of controls for rolling the ground surface may be switched according to whether an MC switch for switching the presence or absence of the machine control function is pressed. Furthermore, whether to perform a series of controls may be switched according to the information input to the screen of the display device D1 via the input device D2.

[0106] The automatic control unit 304 according to this embodiment repeats the above-described first operation, rolling operation, and second operation a predetermined number of times. Hereinafter, the number of repetitions will be referred to as the rolling number. Also, the rolling number according to this embodiment is determined based on the setting by the operator. The specific setting method will be described later.

[0107] After the automatic control unit 304 finishes compaction for the number of compaction passes and performs the last second operation, when it receives an operation (opening operation or closing operation) of the arm 5 in addition to the pressing of the compaction control switch, when it moves a first movement amount based on the length in the depth direction of the back surface 6b of the bucket 6 (an example of the size) by the operation (opening operation or closing operation) of the arm 5, it stops the movement by the operation of the arm 5.

[0108] FIG. 4 is a conceptual diagram showing an example of the earth ramming work by the automatic control unit 304 according to the present embodiment. In the example shown in FIG. 4, it is assumed that compaction is performed on the embankment M1 with the bucket 6 until the target construction surface TP is reached. The example shown in FIG. 4 is a case where the bucket 6 exists at a predetermined height h1 from the target construction surface TP. Note that the automatic control unit 304 may control the bucket 6 to reach the predetermined height h1 at the timing when the compaction control button is pressed.

[0109] For example, when the operation reception unit 302 receives the pressing of the compaction control button, the automatic control unit 304 repeats the lowering operation (first operation) of the boom 4, the compaction operation, and the raising operation (second operation) of the boom 4 for the number of compaction passes so as to push in with the back surface 6b of the bucket 6 from the position 6a1 to the position 6a2.

[0110] When the bucket 6 exists at the position 6a1, the automatic control unit 304 adjusts in advance at the bucket angle calculated by the angle calculation unit 303 so that the back surface 6b of the bucket 6 substantially coincides with the target construction surface TP when it is lowered to the position 6a2. Then, after the automatic control unit 304 performs the lowering operation (first operation) of the boom 4 from the position 6a1 to the position 6a2, it performs a compaction operation so as to push in with the back surface 6b of the bucket 6. Thereafter, the automatic control unit 304 performs the raising operation (second operation) of the boom 4 to a predetermined height h1.

[0111] An example will be described in which the automatic control unit 304 according to the present embodiment lowers the boom 4 from a predetermined height h1 until it touches the ground surface, and then raises the boom 4 to the predetermined height h1. However, the present embodiment is not limited to the control that makes the lowering height of the boom 4 and the raising height of the boom 4 coincide. For example, the automatic control unit 304 may control such that the height to which the boom 4 is lifted gradually increases or gradually decreases while the lowering operation and the raising operation of the boom 4 are repeated after the lowering operation of the boom 4 is first performed from an arbitrary height.

[0112] When the automatic control unit 304 finishes compaction the number of compaction times and performs the last second operation, and then the operation reception unit 302 receives the closing operation of the arm 5, the automatic control unit 304 moves the bucket 6 by the first movement amount L1 in the closing operation of the arm 5, and stops the closing operation of the arm 5 when the bucket 6 reaches the position 6a3. The first movement amount L1 is set to a value equal to or less than the length of the back surface 6b of the bucket 6 in the traveling direction of the excavator 100. That is, by stopping the closing operation of the arm 5 when the bucket 6 has moved by the first movement amount L1, the automatic control unit 304 suppresses the occurrence of an uncompacted area due to compaction by the excavator 100.

[0113] Furthermore, when the bucket 6 reaches the position 6a3, the automatic control unit 304 adjusts it at the bucket angle calculated by the angle calculation unit 303.

[0114] Then, after adjusting the bucket angle, the automatic control unit 304 repeats the lowering operation (first operation) of the boom 4, the compaction operation, and the raising operation (second operation) of the boom 4 by the number of compaction times from position 6a3 with the rear surface 6b of the bucket 6 so as to push the fill M1 to the target construction surface TP. In other words, it performs the dozing operation. In this embodiment, in order to push the fill M1 to the target construction surface TP, the automatic control unit 304 continues the lowering operation of the boom 4 for a predetermined time (for example, several seconds to several tens of seconds) so as to press the rear surface 6b of the bucket 6 against the ground surface even after the rear surface 6b of the bucket 6 contacts the ground surface during the lowering operation of the boom 4, and then performs the raising operation of the boom 4. This embodiment repeats this operation. In this embodiment, while the rear surface 6b of the bucket 6 is pressed against the ground surface for compaction, the operation of the arm 5 and the slewing operation are suppressed. Thus, the automatic control unit 304 according to this embodiment performs compaction in units of the area of the rear surface 6b of the bucket 6. In this embodiment, since compaction is performed in units of the area of the rear surface 6b of the bucket 6, the range for performing compaction can be specifically adjusted.

[0115] When the automatic control unit 304 finishes compaction by the number of compaction times and after performing the last second operation, if the operation reception unit 302 receives a closing operation of the arm 5, the automatic control unit 304 moves the bucket 6 by the first movement amount L1 by the closing operation of the arm 5, and stops the closing operation of the arm 5 when the bucket 6 reaches position 6a4. That is, by stopping the closing operation of the arm 5 when the bucket 6 has moved by the first movement amount L1, the automatic control unit 304 suppresses the occurrence of an unleveled area due to compaction by the excavator 100.

[0116] Furthermore, when the bucket 6 reaches position 6a4, the automatic control unit 304 adjusts it to the bucket angle calculated by the angle calculation unit 303.

[0117] Then, after adjusting the bucket angle, the automatic control unit 304 repeats the lowering operation and the raising operation of the boom 4 by the number of compaction times from position 6a4 with the rear surface 6b of the bucket 6 so as to push the fill M1 to the target construction surface TP. In other words, it performs the dozing operation.

[0118] The controller 30 according to this embodiment repeats the above-described control. That is, when the operation reception unit 302 receives an operation (opening operation or closing operation) of the arm 5, the automatic control unit 304 stops the closing operation or the closing operation of the arm 5 when the bucket 6 is moved by the first movement amount L1 in the closing operation or the closing operation of the arm 5. Then, when the automatic control unit 304 stops the closing operation or the closing operation of the arm 5, it adjusts at the bucket angle calculated by the angle calculation unit 303. Then, after adjusting the bucket angle, the automatic control unit 304 performs the tamping operation the number of compaction times so as to push the fill M1 to the target construction surface TP with the back surface 6b of the bucket 6.

[0119] Note that the automatic control unit 304 according to this embodiment controls the bucket angle so that the entire back surface 6b of the bucket 6 contacts the ground surface (in other words, the back surface 6b and the ground surface are substantially coincident) at the height when the bucket 6 is pressed against the ground surface and the ground surface is compacted, rather than at the timing when the bucket 6 contacts the fill M1. This is because when compressing with the bucket 6, the density of the earth and sand increases every time air or water is pushed out from the fill M1. That is, the more the ground surface is compacted, the greater the force required for compaction. Therefore, in this embodiment, the bucket angle is adjusted so that the force from the back surface 6b of the bucket 6 can be transmitted to the ground surface at the compacted timing. As a result, when forming the shape of the ground surface, the back surface 6b of the bucket 6 can be appropriately compacted in a state where it is substantially coincident with the ground surface, so that the ground surface can be appropriately compacted.

[0120] Further, when the automatic control unit 304 finishes compressing the number of compaction times and, after performing the last second operation, receives a turning operation of the upper swing body 3 in addition to the pressing of the compaction control switch, the automatic control unit 304 stops the movement by the turning operation of the upper swing body 3 when the upper swing body 3 moves by a second movement amount based on the length in the width direction (an example of the size) of the back surface 6b of the bucket 6 by the turning operation.

[0121] FIG. 5 is a conceptual diagram showing an example of the soil spreading operation by the automatic control unit 304 according to the present embodiment. In the example shown in FIG. 5, until the target construction surface TP (see FIG. 4) is reached, the embankment M1 (see FIG. 4) is compacted with the bucket 6. The example shown in FIG. 5 assumes that the bucket 6 is at a predetermined height h1 from the target construction surface TP at the position 6b1.

[0122] For example, when the operation reception unit 302 receives the pressing of the compaction control button, the automatic control unit 304 repeats the lowering operation (first operation) of the boom 4, the compaction operation, and the raising operation (second operation) of the boom 4 for the number of compaction times so as to push in with the back surface 6b of the bucket 6 from the position 6b1 to the target construction surface TP.

[0123] When the bucket 6 is at the position 6b1, the automatic control unit 304 adjusts in advance at the bucket angle calculated by the angle calculation unit 303 so that the back surface 6b of the bucket 6 substantially coincides with the target construction surface TP when lowered to the target construction surface TP.

[0124] After the automatic control unit 304 finishes compaction for the number of compaction times and performs the last second operation, when the operation reception unit 302 receives the right rotation operation of the upper swing body 3, the automatic control unit 304 moves the bucket 6 by the second movement amount L2 by the right rotation operation of the upper swing body 3, and stops the right rotation operation of the upper swing body 3 when the bucket 6 reaches the position 6b2. The second movement amount L2 is set to a value equal to or less than the length of the back surface 6b of the bucket 6 in the width direction of the excavator 100. That is, by stopping the swing operation of the upper swing body 3 when the bucket 6 has moved by the second movement amount L2, the automatic control unit 304 suppresses the occurrence of an unleveled area due to the compaction by the excavator 100.

[0125] Then, after the right rotation operation, the automatic control unit 304 repeats the lowering operation (first operation) of the boom 4, the compaction operation, and the raising operation (second operation) of the boom 4 for the number of compaction times so as to push in the embankment M1 to the target construction surface TP with the back surface 6b of the bucket 6 from the position 6b2. In other words, the soil spreading operation is performed.

[0126] After the automatic control unit 304 finishes compaction for the number of compaction passes and performs the last second operation, when the operation reception unit 302 receives a right turning operation of the upper swing body 3, the automatic control unit 304 moves the bucket 6 by a second movement amount L2 by the turning operation of the upper swing body 3, and when the bucket 6 reaches the position 6b3, stops the closing operation of the arm 5.

[0127] Then, after the right turning operation, the automatic control unit 304 performs the soil slinging operation for the number of compaction passes so as to push the fill soil M1 to the target construction surface TP from the position 6b3 with the back surface 6b of the bucket 6.

[0128] After the automatic control unit 304 finishes compaction for the number of compaction passes and performs the last second operation, when the operation reception unit 302 receives a right turning operation of the upper swing body 3, the automatic control unit 304 moves the bucket 6 by a second movement amount L2 by the turning operation of the upper swing body 3, and when the bucket 6 reaches the position 6b4, stops the closing operation of the arm 5.

[0129] Then, after the right turning operation, the automatic control unit 304 performs the soil slinging operation for the number of compaction passes so as to push the fill soil M1 to the target construction surface TP from the position 6b4 with the back surface 6b of the bucket 6.

[0130] The controller 30 according to the present embodiment repeats the above-described control. That is, when the operation reception unit 302 receives a turning operation of the upper swing body 3, the automatic control unit 304 stops the turning operation of the upper swing body 3 when the bucket 6 is moved by a second movement amount L2 by the turning operation of the upper swing body 3. Then, the automatic control unit 304 performs the soil slinging operation for the number of compaction passes so as to push the fill soil M1 to the target construction surface TP with the back surface 6b of the bucket 6.

[0131] The automatic control unit 304 according to the present embodiment can perform compaction without gaps with respect to the target construction surface TP by performing the above-described control. Therefore, it is possible to suppress the occurrence of unleveled areas, and it is possible to improve the leveling accuracy.

[0132] Furthermore, while the boom 4 is being raised, compacted, or lowered for the soil slapping operation, the automatic control unit 304 suppresses the opening operation or closing operation of the arm 5 or the slewing operation of the upper slewing body 3 in addition to the pressing of the compaction control switch when it receives an operation of the arm 5 (opening operation or closing operation) or a slewing operation of the upper slewing body 3. That is, the automatic control unit 304 suppresses the operation corresponding to the operation when it receives an operation to change the compaction target while the soil slapping operation is being performed. Therefore, in this embodiment, since the deterioration of the leveling accuracy due to the interruption of the compaction on the ground surface is suppressed, the improvement of the leveling accuracy by the compaction of the excavator 100 can be realized.

[0133] Note that this embodiment is not limited to the method of pre-adjusting the bucket angle calculated by the angle calculation unit 303 so that the back surface 6b of the bucket 6 substantially coincides with the target construction surface TP when it is lowered to the target construction surface TP. For example, the automatic control unit 304 may continuously adjust the bucket angle so that the back surface 6b of the bucket 6 is always substantially parallel to the target construction surface TP.

[0134] Returning to FIG. 3, the display control unit 305 displays the information on the display device D1. For example, the display control unit 305 displays the setting screen for performing the above-described soil slapping operation.

[0135] FIG. 6 is a diagram illustrating the setting screen displayed by the display control unit 305 according to this embodiment. The setting screen 1600 shown in FIG. 6 is displayed on the display device D1.

[0136] The setting screen 1600 includes a teaching button 1601, a bucket depth column 1602, a bucket width column 1603, a height column 1604, a speed column 1605, a back surface angle column 1606, a compaction pressure column 1607, a compaction time column 1608, a compaction number column 1609, a slewing movement amount column 1610, and an arm movement amount column 1611.

[0137] The setting unit 306 makes settings for the automatic control unit 304 to perform the soil throwing operation based on the information input to the setting screen 1600.

[0138] The bucket depth column 1602 is a column for inputting the length in the depth direction (the traveling direction of the shovel 100) of the back surface 6b of the bucket 6. The bucket width column 1603 is a column for inputting the length in the width direction (of the shovel 100) of the back surface 6b of the bucket 6.

[0139] The height column 1604 is a column for inputting a predetermined height h1 of the lifting destination of the bucket 6 during the boom raising operation in the soil throwing operation. The speed column 1605 is a column for inputting the maximum speed of the bucket 6 during the boom lowering operation (the first operation) in the soil throwing operation. The back surface angle column 1606 is a column for inputting the angle of the back surface 6b of the bucket 6 with respect to the horizontal plane.

[0140] The setting unit 306 sets the height input to the height column 1604 as the predetermined height h1 of the lifting destination of the bucket 6 during the boom raising operation (the second operation) in the soil throwing operation. The setting unit 306 sets the speed input to the speed column 1605 as the moving speed of the bucket 6 during the boom lowering operation (the first operation) in the soil throwing operation. The setting unit 306 sets the angle input to the back surface angle column 1606 as the angle of the back surface 6b of the bucket 6 with respect to the horizontal plane. That is, even when the target construction surface is inclined from the horizontal plane, by setting the inclination angle in the back surface angle column 1606, the soil throwing operation for the inclined target construction surface can be realized.

[0141] The compaction pressure column 1607 is a column for inputting the compaction pressure during the operation of compacting the ground surface with the back surface 6b of the bucket 6 (the compaction operation). Note that this embodiment does not limit the method of inputting the specific compaction pressure. For example, in the compaction pressure column 1607, it may be selectable from "large", "medium", and "small", or it may be selectable from a 10 - level evaluation. Then the setting unit 306 sets the compaction pressure corresponding to the selected content for the automatic control unit 304 to control.

[0142] The rolling pressure time column 1608 shall be a column for inputting the rolling pressure time for rolling the ground surface with the back surface 6b of the bucket 6. The rolling number column 1609 shall be a column for inputting the number of times (rolling number) of compacting the ground surface with the back surface 6b of the bucket 6 per location.

[0143] The setting unit 306 sets the rolling pressure input in the rolling pressure column 1607 as the rolling pressure during the operation of compacting the ground surface with the back surface 6b of the bucket 6 when lowering the boom (rolling operation). The setting unit 306 sets the rolling pressure time input in the rolling pressure time column 1608 as the time for rolling the ground surface with the back surface 6b of the bucket 6. The setting unit 306 sets the rolling number input in the rolling number column 1608 as the number of times (rolling number) of the soil slapping operation (in other words, repeating the first operation, the rolling operation, and the second operation).

[0144] The swing movement amount column 1610 shall be a column for inputting the second movement amount (second movement amount L2) by which the bucket 6 moves when a swing operation of the upper swing body 3 is received during the soil slapping operation. In the present embodiment, in the swing movement amount column 1610, it is possible to input how many portions (for example, 0.5 portions to 1.0 portions) of the bucket 6 are to be moved. In the present embodiment, by setting within one portion of the bucket 6, the ground surface can be rolled by the bucket 6 without gaps.

[0145] That is, the setting unit 306 multiplies the length in the width direction input in the bucket width column 1603 by how many portions (for example, 0.7 portions or 0.9 portions) of the bucket 6 are input in the swing movement amount column 1610, and sets the obtained second movement amount L2. Note that the present embodiment shows an example of setting the movement amount, and specific movement amount input may be accepted. As a specific movement amount (an example of a predetermined amount) of the bucket 6, for example, a numerical value indicating an angle such as deg may be accepted for input.

[0146] The arm movement amount column 1611 is a column for inputting the first movement amount (first movement amount L1) by which the bucket 6 moves when the operation (opening operation or closing operation) of the arm 5 is received during the soil and feather hitting operation. In the present embodiment, the arm movement amount column 1611 enables input of the number of buckets 6 to be moved (for example, 0.5 to 1.0 buckets). In the present embodiment, by setting within one bucket of the bucket 6, the ground surface can be rolled without gaps using the bucket 6.

[0147] That is, the setting unit 306 multiplies the length in the depth direction input in the bucket depth column 1602 by the number of buckets 6 (for example, 0.7 buckets or 0.9 buckets) input in the arm movement amount column 1611, and sets the obtained first movement amount L1. Note that the present embodiment shows an example of setting the movement amount, and specific movement amounts may be accepted. As a specific movement amount (an example of a predetermined amount) of the bucket 6, for example, a numerical value indicating a length in the SI unit system such as cm may be accepted. Note that in the present embodiment, the case where it is less than 1.0 bucket of the bucket 6 is described, but it is not limited to the case where it is less than 1.0 bucket, and it may be greater than 1.0 bucket.

[0148] The teaching button 1601 is a button for making the operator remember the rolling pressure by the operation. When the teaching button 1601 is pressed, the setting unit 306 inputs information corresponding to the rolling pressure by the operator's operation into the speed column 1605, the back angle column 1606, the rolling pressure column 1607, the rolling pressure time column 1608, and the rolling pressure number column 1609.

[0149] Specifically, when the teaching button 1601 is pressed, a message indicating that the toe-beating operation is to be performed is displayed on the display device D1. The operator performs the toe-beating operation by means of the boom lowering operation, the rolling operation, and the boom raising operation once or multiple times according to the message. Then, during the toe-beating operation, the setting unit 306 inputs parameters for realizing the toe-beating operation by the operator into the height column 1604, the speed column 1605, the rear angle column 1606, the rolling pressure column 1607, the rolling time column 1608, and the rolling number column 1609 based on various information detected based on the angle sensors S1 to S3, the body tilt sensor S4, the turning angle sensor S5, the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B.

[0150] Furthermore, when the upper swing body 3 is swung by the operator's operation after the teaching button 1601 is pressed, the setting unit 306 sets the movement amount of the bucket 6 calculated based on the detection result of the turning angle sensor S5 in the turning movement amount column 1610.

[0151] Furthermore, when the opening or closing operation of the arm 5 is performed by the operator's operation after the teaching button 1601 is pressed, the setting unit 306 sets the movement amount of the bucket 6 calculated based on the detection result of the arm angle sensor S2 in the arm movement amount column 1611.

[0152] When the "OK" button 1612 is pressed, the setting unit 306 sets the predetermined height h1 input in the height column 1604, the maximum speed of the bucket 6 during the boom lowering operation input in the speed column 1605, the angle of the back surface 6b input in the back surface angle column 1606, the rolling pressure input in the rolling pressure column 1607, the rolling pressure time input in the rolling pressure time column 1608, and the number of rolling times input in the number of rolling times column 1609. Further, the setting unit 306 sets the movement amount during the swing operation input in the swing movement amount column 1610 and the movement amount during the arm closing operation or the arm opening operation input in the arm movement amount column 1611. Then, the automatic control unit 304 performs a soil spreading operation including the first operation, the rolling operation, and the second operation based on the settings made by the setting unit 306. Further, the automatic control unit 304 performs an arm closing operation or an arm opening operation and a swing operation based on the settings made by the setting unit 306. Since the excavator 100 according to the present embodiment can perform an operation based on the settings input by the operator, it enables a leveling operation according to the situation at the work site. Therefore, an improvement in work efficiency can be realized.

[0153] Further, while the rolling control button is pressed, the display control unit 305 displays the area leveled by the soil spreading operation on the display device D1.

[0154] FIG. 7 is a diagram showing an example of a screen displayed by the display control unit 305 according to the present embodiment on the display device D1. In the example shown in FIG. 7, a leveling status display area 1700 is displayed on the display device D1.

[0155] The leveling status display area 1700 shows the area rolled by the bucket 6 together with the closing operation or the opening operation of the arm 5 or the swing operation while accepting the pressing of the rolling control switch and accepting the closing operation or the opening operation of the arm 5 or the swing operation of the excavator 100. In the leveling status display area 1700, a display image 1711 showing the excavator 100 and a rolled display area 1712 are shown. Note that the leveling status display area 1700 may be a bird's-eye view image based on the image information captured by the imaging device S6 with the leveled area superimposed thereon.

[0156] The display image 1711 showing the excavator 100 displays the current situation of the excavator 100 based on the swing angle, boom angle, arm angle, and bucket angle of the excavator 100. Therefore, the operator can recognize the current situation of the excavator 100 by referring to the display image 1711.

[0157] The compacted display area 1712 indicates the area compacted by the back surface 6b of the bucket 6 of the excavator 100. The compacted display area 1712 has different display modes according to the height of the bucket 6 when compacting.

[0158] The first display area 1712a indicates the position of the bucket 6 when compacted to approximately the same height as the target construction surface TP.

[0159] The second display area 1712b indicates the area compacted by the bucket 6 to a position that is higher by a first height compared to the target construction surface TP.

[0160] The third display area 1712c indicates the area compacted by the bucket 6 to a position that is higher by a second height (second height > first height) compared to the target construction surface TP.

[0161] In this way, the display control unit 305 displays the compacted display area 1712 compacted by the bucket 6 on the display device D1 according to the closing operation, opening operation, or swinging operation of the arm 5. The operator can recognize the area leveled by the excavator 100 by referring to the leveling situation display area 1700.

[0162] By referring to the compacted display area 1712, the operator can recognize the height of the earth and sand in the surrounding areas. Furthermore, the operator can recognize the area where the earthmoving operation should be performed again to equalize the height of the ground. Since the operator can recognize the result of the leveling operation by referring to the compacted display area 1712 and perform operations based on the result, it is possible to suppress the occurrence of construction defects. Therefore, the controller 30 according to the present embodiment can improve the accuracy of the leveling operation and reduce the burden on the operator.

[0163] The screen example shown in FIG. 7 is merely an example and is not limited to the screen. For example, the display control unit 305 may display the leveling status display area 1700 together with peripheral monitoring information such as image information captured by the imaging device S6. Further, the display control unit 305 may display the leveling status display area 1700 together with information indicating the current status of the excavator 100. The peripheral monitoring information such as image information captured by the imaging device S6 may be at least one or a plurality of the image information captured by the camera S6F, the image information captured by the camera S6L, the image information captured by the camera S6R, and the image information captured by the camera S6B, or may be a bird's-eye view image generated by combining the image information captured by any one or more of the cameras S6F, S6L, S6R, and S6B so as to represent the surroundings of the excavator 100 from above the excavator 100. Further, the setting screen shown in FIG. 6 and the screen shown in FIG. 7 may be combined and displayed. Furthermore, any one or more of the setting screen shown in FIG. 6 and the display screen shown in FIG. 7 and the peripheral monitoring information such as image information captured by the imaging device S6 may be displayed simultaneously.

[0164] In the present embodiment, an example in which one display device D1 is provided in the cabin 10 of the excavator 100 will be described, but a plurality of display devices D1 may be provided in the cabin 10. When simultaneously displaying any two or more of the setting screen shown in FIG. 6, the display screen shown in FIG. 7, and the peripheral monitoring information, they may be displayed on the same display device D1 or on each of a plurality of display devices D1.

[0165] Next, the processing procedure executed by the controller 30 according to the present embodiment will be described. FIG. 8 is a flowchart showing the processing procedure for the controller 30 according to the present embodiment to control the soil throwing operation.

[0166] The operation reception unit 302 receives the start of pressing the rolling control switch (S1801). At this time, the automatic control unit 304 controls the bucket 6 to reach a predetermined height h1. The predetermined height h1 is set on the setting screen.

[0167] The angle calculation unit 303 calculates the bucket angle when the back surface 6b of the bucket 6 contacts the ground surface (S1802).

[0168] The automatic control unit 304 adjusts the bucket angle based on the bucket angle calculated by the angle calculation unit 303 (S1803).

[0169] The automatic control unit 304 performs an operation of lowering the boom 4 (first operation) from the predetermined height h1 (S1804).

[0170] The automatic control unit 304 performs a rolling operation for a predetermined rolling pressure and a predetermined rolling time by the back surface 6b of the bucket 6 (S1805). The predetermined rolling pressure and the predetermined rolling time are set on the setting screen.

[0171] The automatic control unit 304 performs an operation of raising the boom 4 (second operation) to a predetermined height h2 (S1806).

[0172] The automatic control unit 304 determines whether the soil throwing operation has been performed the predetermined number of rolling times (S1807). If it is determined that the soil throwing operation has not been performed the predetermined number of rolling times (S1807: NO), the process proceeds from S1804.

[0173] When the automatic control unit 304 determines that the soil throwing operation has been performed the predetermined number of rolling times (S1807: YES), the operation reception unit 302 determines whether a turning operation has been received (S1808).

[0174] When the operation reception unit 302 determines that a turning operation has been received (S1808: YES), the automatic control unit 304 moves the bucket 6 by the second movement amount L2 by the turning operation of the upper slewing body 3, and then stops the turning operation of the upper slewing body 3 (S1809). Thereafter, the process is performed from S1804.

[0175] On the other hand, when the operation reception unit 302 determines that a turning operation has not been received (S1808: NO), the operation reception unit 302 determines whether a closing operation or an opening operation of the arm 5 has been received (S1810). When it is determined that a closing operation or an opening operation has been received (S1810: YES), the automatic control unit 304 moves the bucket 6 by the first movement amount L1 by the closing operation or the opening operation of the arm 5, and then stops the closing operation and the opening operation of the arm 5 (S1811). Thereafter, the process is performed from S1802.

[0176] On the other hand, when the operation reception unit 302 determines that a closing operation or an opening operation of the arm 5 has not been received (S1810: NO), it is determined whether the pressing of the rolling pressure control switch has ended (S1812).

[0177] On the other hand, when the operation reception unit 302 determines that the pressing of the rolling pressure control switch has not ended, in other words, the pressing of the rolling pressure control switch is continuing (S1812: NO), the process is performed again from S1808.

[0178] On the other hand, when the operation reception unit 302 determines that the pressing of the rolling pressure control switch has ended (S1812: YES), the process ends.

[0179] Note that, in this embodiment, an example in which the automatic control unit 304 controls the rolling pressure operation after the first operation has been described. However, this embodiment does not limit the method in which the automatic control unit 304 controls the rolling pressure operation after the first operation, and the rolling pressure operation may be performed according to the operation of the operator. That is, the automatic control unit 304 can reduce the operation burden of the operator even by only performing the first operation and the second operation.

[0180] (Modification Example 1) In the above-described embodiment, the case where the operator performs the operation of the arm or the turning operation after pressing the rolling pressure control switch has been described. However, the above-described embodiment is not limited to the case where the operator performs the above-described operations.

[0181] Therefore, in this modification example, the case where the operator performs the traveling operation after pressing the rolling pressure control switch will be described.

[0182] First, when the automatic control unit 304 according to this modification example receives the pressing of the rolling pressure control switch, based on the detection result by the cylinder pressure sensor, it performs a first operation of lowering the boom 4, and at a predetermined rolling pressure, it performs a rolling operation of rolling the ground surface with the back surface 6b of the bucket 6, and then performs a second operation of raising the boom 4. The automatic control unit 304 repeats the first operation, the rolling operation, and the second operation a predetermined number of times.

[0183] After that, the automatic control unit 304 finishes the rolling a number of times equal to the rolling count, and after performing the last second operation, when it receives the traveling operation (forward operation or backward operation) of the lower traveling body 1 in addition to the pressing of the rolling pressure control switch, when the lower traveling body 1 moves a third movement amount based on the length in the traveling direction of the back surface 6b of the bucket 6 by the movement (forward movement or backward movement) of the lower traveling body 1, it stops the movement by the operation of the lower traveling body 1. The third movement amount is determined according to the traveling direction. For example, when the upper swing body 3 moves forward or backward, the third movement amount is determined as how many in the depth direction of the above-described bucket 6 (for example, 0.5 to 1.0).

[0184] Also, depending on the turning angle between the lower traveling body 1 and the upper swing body 3, the upper swing body 3 may move in the left-right direction due to the traveling of the lower traveling body 1. In this case, the third movement amount is determined as how many in the width direction of the bucket 6 (for example, 0.5 to 1.0).

[0185] Note that the third movement amount may be determined on the setting screen in the same manner as in the above-described embodiment. Note that the third movement amount according to the present embodiment is not limited to the movement amount based on the size of the bucket 6, and may be a specific movement amount. As the specific movement amount (an example of a predetermined amount), for example, it may be determined by a length in the SI unit system such as cm.

[0186] By performing the above-described control, this modification can achieve the same effects as those of the first embodiment.

[0187] (Modification 2) In the above-described embodiment and modification, the case where the operator performs the arm operation, the turning operation, or the traveling operation after pressing the rolling pressure control switch has been described. However, the above-described embodiment is not limited to the case where the operator performs the above-described operations.

[0188] Therefore, a mode in which the controller 30 according to this modification performs rolling pressure using the fully automatic driving function will be described. In this modification, the controller 30 receives settings for performing rolling pressure on the setting screen shown in FIG. 6, in the same manner as in the above-described embodiment. Further, in this modification, the controller 30 receives settings for the area where rolling pressure is to be performed.

[0189] When the automatic control unit 304 receives the pressing of the rolling pressure control switch, it performs a first operation of lowering the boom 4 from a predetermined height h1 after adjusting the bucket angle according to the received settings, performs a rolling pressure operation on the ground surface, and performs a second operation of raising the boom 4 to a predetermined height. The automatic control unit 304 repeats the operation the number of rolling pressure times.

[0190] After that, after performing the second operation when the automatic control unit 304 has operated the number of times of rolling pressure, in order to perform rolling pressure within the set area, the automatic control unit 304 controls the bucket 6 to move by an amount of movement (first movement amount L1 or second movement amount L2) based on the size of the bucket 6 by performing an opening operation or a closing operation of the arm 5 or a turning operation of the upper swing body 3. After controlling the movement of the bucket, the automatic control unit 304 repeats the first operation, the rolling pressure operation, and the second operation. Whether the automatic control unit 304 preferentially controls the opening operation or the closing operation of the arm 5 or the turning operation of the upper swing body 3 may be determined according to the embodiment.

[0191] The automatic control unit 304 repeatedly performs the above-described control until rolling pressure is performed on all of the set areas. In this modification, since the operator does not need to perform a turning operation or an operation of the arm 5, it is possible to further reduce the operation burden.

[0192] (Second Embodiment) In the above-described embodiment, the case where rolling pressure is performed on the excavator 100 on which the operator is riding has been described. However, the above-described embodiment does not limit the method of performing rolling pressure when the operator is riding on the excavator 100. For example, when the excavator 100 performs rolling pressure according to remote control, the same processing as in the above-described embodiment may be performed. Therefore, in the second embodiment, the case of remotely operating the excavator 100 will be described.

[0193] Therefore, referring to FIG. 9, the outline of the remote control system SYS according to the second embodiment will be described. FIG. 9 is a schematic diagram showing an example of the remote control system SYS according to the second embodiment.

[0194] As shown in FIG. 9, the remote control system SYS according to the second embodiment includes an excavator 100 and a remote control room RC.

[0195] The excavator 100 and the remote control room RC are connected so as to be able to transmit and receive data via a communication line NT.

[0196] The excavator 100 enables wireless communication by using the communication device T1. Then, the excavator 100 enables data transmission and reception with devices (for example, the remote operation room RC) connected to the communication line NT.

[0197] And the excavator 100 can transmit information about the work site to the remote operation room RC. Thereby, the remote operation room RC can check the work site according to the information from the excavator 100. Note that in this embodiment, the device for measuring the work site is not limited to the excavator 100, and other devices such as a drone flying over the work site, a fixed-point camera, or an imaging device that can be carried by a user may be used.

[0198] For example, the excavator 100 is provided with an imaging device S6. The excavator 100 transmits an imaging image showing the imaging result of the work site by the imaging device S6 to the remote operation room RC.

[0199] The excavator 100 included in the remote operation system SYS may be one or a plurality. Thereby, the remote operation system SYS can provide information about the work site to the remote operation room RC through a plurality of excavators 100.

[0200] <Configuration example of remote operation room> The remote operation room RC is equipped with a communication device T2, a remote controller R30, an operation device R26, an operation sensor R29, and a display device DR. Also, an operation seat DS on which an operator OP who remotely operates the excavator 100 sits is installed in the remote operation room RC.

[0201] The communication device T2 is configured to control communication with the communication device T1 attached to the excavator 100.

[0202] The remote controller (an example of a remote operation device) R30 is an arithmetic unit that executes various operations. In the present embodiment, the remote controller R30 is composed of a microcomputer including a CPU and a memory. And various functions of the remote controller R30 are realized by the CPU executing a program stored in the memory.

[0203] The display device DR displays a screen based on the information transmitted from the excavator 100 so that the operator OP in the remote operation room RC can visually recognize the surroundings of the excavator 100. Despite the operator being in the remote operation room RC, the display device DR enables the operator to check the situation of the work site including the surroundings of the excavator 100.

[0204] An operation sensor R29 for detecting the operation content of the operation device R26 is installed in the operation device R26. The operation sensor R29 is, for example, an inclination sensor that detects the inclination angle of an operation lever, or an angle sensor that detects the swing angle around the swing axis of the operation lever, etc. The operation sensor R29 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor R29 outputs information regarding the detected operation content of the operation device R26 to the remote controller R30. The remote controller R30 generates an operation signal based on the received information and transmits the generated operation signal toward the excavator 100. The operation sensor R29 may be configured to generate an operation signal. In this case, the operation sensor R29 may output the operation signal to the communication device T2 without going through the remote controller R30. Thereby, remote operation of the excavator 100 can be realized from the remote operation room RC.

[0205] Also, a swing pressure control switch is provided in the operation device R26. And the remote controller R30 outputs a signal indicating the presence or absence of pressing of the swing pressure control switch to the communication device T2. And the communication device T2 transmits the signal to the communication device T1 of the excavator 100.

[0206] Then, the communication device T1 of the excavator 100 receives an operation signal and a signal indicating whether or not the pressure conversion control switch is pressed from the communication device T2 of the remote controller R30.

[0207] And then, the controller 30 of the excavator 100 performs the same control as in the above-described embodiment or modification based on the received operation signal and the signal indicating whether or not the pressure conversion control switch is pressed.

[0208] That is, while the automatic control unit 304 of the controller 30 receives an operation signal indicating that the pressure conversion control switch is pressed from the communication device T2, the first operation, the pressure conversion operation, and the second operation are repeated a preset number of times of pressure conversion.

[0209] After that, after the automatic control unit 304 performs the operation the number of times of pressure conversion, it moves a movement amount (the first movement amount L1 or the second movement amount L2) based on the size of the bucket 6 by an opening operation or a closing operation of the arm 5, or a turning operation of the upper swing body 3, and then repeats the first operation, the pressure conversion operation, and the second operation. The opening operation or the closing operation of the arm 5, or the turning operation of the upper swing body 3 may be an operation corresponding to an operation by the operator OP or an operation by a fully automatic operation function.

[0210] In this embodiment, when performing remote operation, it may be difficult to perform an operation for controlling the posture of the bucket 6, the turning operation of the upper swing body 3, or the opening operation or the closing operation of the arm 5 only with the screen shown on the display device DR.

[0211] Therefore, in this embodiment, the controller 30 performs the same control as in the above-described embodiment or modification based on the received signal, thereby enabling the excavation of the excavator 100. Therefore, the same effects as in the above-described embodiment or modification can be obtained.

[0212] <Function> In the above-described embodiments and modifications, when a predetermined operation is received, control can be performed in which the lowering operation of the boom 4, the compaction operation, and the raising operation of the boom 4 are repeated. That is, in the above-described embodiments and modifications, the operator does not need to perform a repeated operation for compacting the ground surface, thus reducing the operation burden.

[0213] The above-described embodiments and modifications have been described with respect to examples in which the control system of the excavator is applied to the excavator 100 main body or the remote operation system SYS. However, the above-described embodiments and modifications show an example of the control system of the excavator, and the control system of the excavator may be used in various modes.

[0214] As described above, embodiments of the excavator and the control system of the excavator according to the present invention have been described. However, the present invention is not limited to the above-described embodiments and the like. Within the scope described in the claims, various changes, modifications, substitutions, additions, deletions, and combinations are possible. Naturally, they also belong to the technical scope of the present invention.

Explanation of Reference Numerals

[0215] 100 Excavator 1 Lower Travel Body 2 Swing Mechanism 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 6b Rear Surface 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 26, R26 Operating Device 29, R29 Operation Sensor 30 Controller 301 Acquisition Unit 302 Operation Reception Unit 303 Angle Calculation Unit 304 Automatic Control Unit 305 Display Control Unit 306 Setting Unit S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Aircraft Inclination Sensor S5 Turning Angle Sensor S7R Boom Rod Pressure Sensor S7B Boom Bottom Pressure Sensor S8R Boom Rod Pressure Sensor S8B Boom Bottom Pressure Sensor S9R Bucket Rod Pressure Sensor S9B Bucket Bottom Pressure Sensor T1, T2 Communication Device RC Remote Operation Room R30 Remote Controller

Claims

1. A lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, a boom attached to the upper slewing body, an arm attached to the boom, a bucket provided at the tip of the arm, a detection device for detecting the postures of the boom, the arm, and the bucket, a control unit configured to perform a first operation of lowering the boom based on a detection result by the detection device when a predetermined operation is received, and after the first operation, perform a second operation of raising the boom; An excavator comprising the above.

2. While the control unit is receiving the pressing of a switch, it is configured to perform the first operation of lowering the boom based on a detection result by the detection device, and after the first operation, perform the second operation of raising the boom. The excavator according to Claim 1.

3. After performing the second operation, when the control unit receives an operation of the arm or an operation for slewing the upper slewing body in addition to the predetermined operation, the control unit stops the movement when the bucket has moved a predetermined amount by the operation of the arm or the slewing operation of the upper slewing body. The excavator according to Claim 1.

4. After performing the second operation, the control unit is configured to perform the first operation and the second operation after the bucket has moved a predetermined amount by the operation of the arm or the slewing operation of the upper slewing body. The excavator according to Claim 1.

5. Based on the detection result by the detection device, when the surface formed in the bucket by the first operation contacts the ground surface, the posture of the bucket is controlled so that the surface and the ground surface form a predetermined angle. The excavator according to Claim 1.

6. The control unit is configured to receive an input of any one or more settings among the force when the bucket compacts the ground surface by the first operation, the speed at which the bucket moves by the first operation, and the number of times the first operation and the second operation are repeated for a predetermined area, and perform the first operation and the second operation based on the settings. The excavator according to Claim 1.

7. While the first operation or the second operation is being performed, when, in addition to the predetermined operation, an operation of the arm or an operation for turning the upper slewing body is received, the control unit suppresses the operation of the arm and the turning operation of the upper slewing body. The excavator according to claim 1.

8. An operating device that transmits an operation signal indicating the received operation, An excavator comprising a lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, a boom attached to the upper slewing body, an arm attached to the boom, a bucket provided at the tip of the arm, and a detection device that detects the postures of the boom, the arm, and the bucket. A control unit configured to perform a first operation of lowering the boom based on the detection result by the detection device when it is determined that a predetermined operation has been received based on the operation signal indicated by the operating device, and to perform a second operation of raising the boom after the first operation. An excavator control system comprising the same.

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