shovel

Abstract

To provide a shovel capable of reducing the operational burden of switching on an operator.SOLUTION: A shovel 100 comprises a lower running body 1, an upper rotating body 3 rotatably provided on the lower running body 1, an attachment provided on the upper rotating body 3 and having a bucket 6 performing construction work, and a controller 30 for controlling operation of the attachment. The controller 30 is capable of selectively performing a first mode in which the operation of the attachment is controlled based on a plane with a reference point of the shovel 100 as a reference, and a second mode in which the operation of the attachment is controlled based on a target construction surface WD in three-dimensional coordinates. The controller 30 automatically switches between the first mode and the second mode based on the target construction surface.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to an excavator.

Background Art

[0002] Patent Document 1 discloses an excavator equipped with a machine control function for controlling the operation of an attachment. For example, the excavator is configured to perform semi-automatic construction based on a pre-input design drawing of three-dimensional coordinates by turning on an MC switch for switching the implementation of the machine control function. Also, the excavator is configured to perform semi-automatic construction on a two-dimensional plane based on the intersection of the excavator and the ground by turning on the MC switch.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, at an actual construction site, an excavator may want to perform work by forming a working platform that is not shown in the design drawing of three-dimensional coordinates. For example, when performing deep excavation, a working platform is required. However, the machine control function based on the design drawing of the three-dimensional coordinates of the excavator is not configured to control construction other than the design drawing.

[0005] Although it is conceivable to use the machine control function of the two-dimensional plane when forming the working platform, conventional excavators require various operations when switching from the machine control function of the three-dimensional coordinates to the machine control function of the two-dimensional plane.

[0006] The present disclosure provides an excavator capable of reducing the operation load of switching by an operator.

Means for Solving the Problem

[0007] According to one aspect of the present disclosure, there is provided an excavator including a lower traveling body, an upper revolving body rotatably provided on the lower traveling body, an attachment provided on the upper revolving body and having an end attachment for performing construction work, and a control unit for controlling the operation of the attachment. The control unit can selectively execute a first mode of controlling the operation of the attachment based on a plane with reference to a reference point of the excavator, and a second mode of controlling the operation of the attachment based on a target construction surface of three-dimensional coordinates. Further, the control unit automatically switches between the first mode and the second mode based on the target construction surface.

Advantages of the Invention

[0008] According to one aspect, the excavator can reduce the operation load of switching by the operator.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0010] Hereinafter, modes for carrying out the present disclosure will be described with reference to the drawings. In each drawing, the same reference numerals are given to the same components, and redundant explanations may be omitted.

[0011] [Outline of Excavator] First, with reference to FIG. 1, an outline of an excavator 100 according to an embodiment will be described. FIG. 1 is a side view of the excavator 100 according to the embodiment.

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

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

[0014] The upper revolving body 3 is driven by a slewing hydraulic motor 2A (see FIG. 2), which is a hydraulic actuator, to revolve with respect to the lower traveling body 1. Note that the drive source of the slewing mechanism 2 is not limited to a hydraulic actuator, and an electric motor or the like may be applied.

[0015] The boom 4 is connected to the front center of the upper slewing body 3 so as to be capable of pitching movement. The arm 5 is connected to the tip of the boom 4 so as to be rotatable. The bucket 6 is connected to the tip of the arm 5 so as to be rotatable. The boom 4 is hydraulically driven by a boom cylinder 7 which is a hydraulic actuator. The arm 5 is hydraulically driven by an arm cylinder 8 which is a hydraulic actuator. The bucket 6 which is an end attachment is hydraulically driven by a bucket cylinder 9 which is a hydraulic actuator.

[0016] The cab 10 is a driver's cab where the user (operator) rides and is mounted on the left side of the front part of the upper slewing body 3.

[0017] [Configuration of Excavator] Next, in addition to FIG. 1, the specific configuration of the excavator 100 will be described with reference to FIG. 2. FIG. 2 is a block diagram showing an example of the configuration of the excavator 100 according to the embodiment. In the figure, the mechanical power line is shown by a double line, the high-pressure hydraulic line is shown by a solid line, the pilot line is shown by a broken line, and the electric drive / control line is shown by a dotted line, respectively.

[0018] The hydraulic drive system for hydraulically driving the hydraulic actuators of the excavator 100 according to the embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17. Further, the hydraulic drive system of the excavator 100 according to the embodiment includes hydraulic actuators such as travel hydraulic motors 1L and 1R, slewing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 for hydraulically driving the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, respectively, as described above.

[0019] The engine 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper slewing body 3. The engine 11 rotates at a constant speed at a preset target rotational speed based on direct (or indirect) control by 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 using light oil as fuel.

[0020] Regulator 13 controls the discharge volume of main pump 14. Regulator 13 adjusts the angle (tilt angle) of the swash plate of main pump 14 according to the control command from controller 30.

[0021] Main pump 14 is mounted, for example, at the rear part of upper swing body 3 in the same way as engine 11, and supplies hydraulic oil to control valve 17 through a high-pressure hydraulic line. Main pump 14 is, for example, a variable displacement hydraulic pump. By adjusting the tilt angle of the swash plate by regulator 13, the stroke length of the piston is adjusted, and the discharge volume (discharge pressure) is controlled.

[0022] Control valve 17 is mounted, for example, at the center of upper swing body 3, and is a hydraulic control device that controls the hydraulic drive system according to the operation of operator's operating device 26. Control valve 17 is connected to main pump 14 through a high-pressure hydraulic line, and selectively supplies the hydraulic oil supplied from main pump 14 to hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) according to the operation state of operating device 26. Specifically, control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of the hydraulic oil supplied from main pump 14 to each of the hydraulic actuators. Control valve 171 corresponds to travel hydraulic motor 1L, control valve 172 corresponds to travel hydraulic motor 1R, control valve 173 corresponds to swing hydraulic motor 2A, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0023] The operation system of excavator 100 according to the embodiment includes pilot pump 15 and operating device 26. Further, the operation system of excavator 100 includes shuttle valve 32 as a configuration related to the automatic control function by controller 30.

[0024] The pilot pump 15 is mounted, for example, at the rear of the upper swing body 3 and supplies pilot pressure to the operating device 26 via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.

[0025] The operating device 26 is provided near the driver's seat in the cabin 10 and is an operation input means for the operator to operate various operating elements (lower traveling body 1, upper swing body 3, boom 4, arm 5, bucket 6, etc.). In other words, the operating device 26 is an operation input means for the operator to operate hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) that drive the respective operating elements. The operating device 26 is directly connected to the control valve 17 through its secondary pilot line or indirectly through a shuttle valve 32 provided in the secondary pilot line. Thereby, pilot pressure corresponding to the operating states of the lower traveling body 1, upper swing body 3, boom 4, arm 5, and bucket 6 in the operating device 26 is input to the control valve 17. Therefore, the control valve 17 can drive the respective hydraulic actuators according to the operating state in the operating device 26. The operating device 26 includes a lever device for operating each of the boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), and bucket 6 (bucket cylinder 9) which are attachments. Also, for example, the operating device 26 includes a pedal device for operating each of the left and right lower traveling bodies 1 (travel hydraulic motors 1L, 1R).

[0026] The shuttle valve 32 has two inlet ports and one outlet port, and outputs the hydraulic oil having the higher pilot pressure among the pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the shuttle valve 32 is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve in the control valve 17 through a pilot line. Therefore, the shuttle valve 32 applies the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. That is, the controller 30 can control the corresponding control valve and control the operation of the attachment without depending on the operation of the operating device 26 by the operator, by causing the proportional valve 31 to output a pilot pressure higher than the secondary pilot pressure output from the operating device 26.

[0027] The control system of the excavator 100 according to the embodiment includes a controller 30, a discharge pressure sensor 25, an operation pressure sensor 29, a proportional valve 31, a relief valve 33, a display device 40, an input device 42, an audio output device 43, a storage device 47, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, a swing state sensor S5, an imaging device S6, 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, a positioning device V1, and a communication device T1.

[0028] The controller 30 is provided, for example, inside the cab 10 and functions as a control unit that drives and controls the excavator 100. The functions of the controller 30 may be realized by any hardware or a combination of hardware and software. For example, the controller 30 is mainly configured around a microcomputer including a processor such as a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and various input / output interface devices. The controller 30 realizes various functions by executing various programs stored in the non-volatile auxiliary storage device on the CPU.

[0029] For example, the controller 30 sets a target rotational speed based on a work mode or the like preset by a predetermined operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed. Further, the controller 30 outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14. Furthermore, the controller 30 performs control related to a machine control function that automatically supports the manual operation of the excavator 100 through the operation device 26 by the operator. Alternatively, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the excavator 100 through the operation device 26 by the operator.

[0030] Note that a part of the functions of the controller 30 may be realized by another controller (control unit). That is, the functions of the controller 30 may be realized in a mode distributed among a plurality of controllers. For example, the above-described machine guidance function and machine control function may be realized by a dedicated controller.

[0031] The discharge pressure sensor 25 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 25 is taken into the controller 30.

[0032] The operation pressure sensor 29 detects the pilot pressure on the secondary side of the operating device 26, that is, the pilot pressure corresponding to the operating state of each operating element (hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure of the operation pressure sensor 29 corresponding to the operating states of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc. by the operating device 26 is taken into the controller 30.

[0033] The proportional valve 31 is provided in the pilot line connecting the pilot pump 15 and the shuttle valve 32, 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 being 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 17 via the proportional valve 31 and the shuttle valve 32.

[0034] The relief valve 33 discharges the hydraulic oil in the rod-side oil chamber of the boom cylinder 7 to the tank according to a control signal (control current) from the controller 30, and suppresses the excessive pressure in the rod-side oil chamber of the boom cylinder 7.

[0035] The display device 40 is provided at a location where it is easily visible to the seated operator in the cab 10, and displays various information images based on the control by the controller 30. The display device 40 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.

[0036] The input device 42 is provided within the reach of a seated operator in 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 42 includes a touch panel mounted on the display of the display device 40 that displays various information images, a knob switch provided at the tip of the lever device of the operation device 26, a button switch installed around the display device 40, a lever, a toggle, and the like. A signal corresponding to the operation content for the input device 42 is taken into the controller 30.

[0037] The voice output device 43 is provided, for example, within the cabin 10 and is connected to the controller 30. The voice output device 43 is, for example, a speaker, a buzzer, or the like. The voice output device 43 outputs various information in response to a voice output command from the controller 30.

[0038] The storage device 47 is provided, for example, within the cabin 10 and stores various information under the control of the controller 30. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the excavator 100, or may store information acquired via various devices before the operation of the excavator 100 is started. The storage device 47 may store data related to a target construction surface acquired, for example, via the communication device T1 or the like, or set through the input device 42 or the like. The target construction surface may be set (saved) by the operator of the excavator 100, or may be set by a construction manager or the like.

[0039] The boom angle sensor S1 is attached to the boom 4 and detects the pitching angle (boom angle) of the boom 4 with respect to the upper slewing body 3. The boom angle is, for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3 in a side view. The boom angle sensor S1 may include a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc., and the same applies to the following arm angle sensor S2, bucket angle sensor S3, and machine body inclination sensor S4. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0040] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle (arm angle) of the arm 5 with respect to the boom 4. The arm angle is, for example, the angle formed by a straight line connecting the fulcrums at both ends of the arm 5 with respect to a straight line connecting the fulcrums at both ends of the boom 4 in a side view. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0041] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle (bucket angle) of the bucket 6 with respect to the arm 5. The bucket angle is, for example, the angle formed by a straight line connecting the fulcrum and the tip (cutting edge) of the bucket 6 with respect to a straight line connecting the fulcrums at both ends of the arm 5 in a side view. The detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30.

[0042] The machine body inclination sensor S4 detects the inclination state of the machine body (upper slewing body 3 or lower traveling body 1) with respect to the horizontal plane. The machine body inclination sensor S4 is, for example, attached to the upper slewing body 3 and detects the inclination angles (front-back inclination angle and left-right inclination angle) around two axes in the front-back direction and left-right direction of the upper slewing body 3. The detection signals corresponding to the inclination angles (front-back inclination angle and left-right inclination angle) by the machine body inclination sensor S4 are taken into the controller 30.

[0043] The slewing state sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing state sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing state sensor S5 includes a gyro sensor, a resolver, a rotary encoder, and the like.

[0044] The imaging device S6 images the surroundings of the excavator 100. The imaging device S6 includes a front camera that images the front of the excavator 100, a left camera that images the left side of the excavator 100, a right camera that images the right side of the excavator 100, a rear camera that images the rear of the excavator 100, and the like. Each camera of the imaging device S6 is, for example, a monocular wide-angle camera having a very wide angle of view. Note that the imaging device S6 may be a stereo camera, a distance image camera, or the like. The captured image by the imaging device S6 is taken into the controller 30 via the display device 40. Note that the imaging device S6 may communicate directly with the controller 30.

[0045] Further, the imaging device S6 may function as an object detection device that detects an object existing around the excavator 100. The objects to be detected may include, for example, terrain (slope, hole, etc.), people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or a predetermined mark on the helmet. Further, the imaging device S6 may calculate the distance to an object recognized from the imaging device S6 or the excavator 100. The imaging device S6 as the object detection device may include, for example, an ultrasonic sensor, a millimeter wave radar, a stereo camera, LIDAR (Light Detection and Ranging), a distance image sensor, an infrared sensor, and the like. The object detection device may be configured to be able to identify at least one of the type, position, and shape of the object. For example, the object detection device may be configured to distinguish between a person and an object other than a person.

[0046] 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 (boom rod pressure) and the pressure in the bottom side oil chamber (boom bottom pressure) of the boom cylinder 7. 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.

[0047] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively attached to the arm cylinder 8, and detect the pressure in the rod side oil chamber (arm rod pressure) and the pressure in the bottom side oil chamber (arm bottom pressure) of the arm cylinder 8. 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.

[0048] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively attached to the bucket cylinder 9, and detect the pressure in the rod side oil chamber (bucket rod pressure) and the pressure in the bottom side oil chamber (bucket bottom pressure) of the bucket cylinder 9. 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.

[0049] The positioning device V1 measures the position and orientation of the upper slewing body 3. The positioning device V1 is, for example, a GNSS (Global Navigation Satellite System) compass, detects the position and orientation of the upper slewing body 3, and the detection signal corresponding to the position and orientation of the upper slewing body 3 is taken into the controller 30. Also, the function of detecting the orientation of the upper slewing body 3 among the functions of the positioning device V1 may be replaced by an azimuth sensor attached to the upper slewing body 3.

[0050] 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 compatible with 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.

[0051] In addition, the excavator 100 according to the embodiment has a function (Machine Control (MC) function) that automatically operates various actuators regardless of the content of the operator's operation. With the MC function, the excavator 100 can automatically operate at least a part of the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6, etc.

[0052] The MC function includes a semi-automatic function that drives the actuator according to the operation on the operator's operation device 26 or a remote operation to automatically perform a predetermined operation. In the operation support type MC function, the excavator 100 may automatically operate actuators other than the actuator to be operated, for example. Also, the MC function may include a full-automatic function that automatically operates at least a part of a plurality of actuators on the premise that there is no operation on the operator's operation device 26 or a remote operation. In the excavator 100, when the full-automatic function is effective, the inside of the cabin 10 may be unmanned. Also, the semi-automatic function, the full-automatic function, etc. include a mode in which the operation content of the actuator targeted by the MC function is automatically determined according to a rule defined in advance. Also, the semi-automatic function, the full-automatic function, etc. may include a mode (so-called "autonomous operation") in which the excavator 100 autonomously makes various judgments and, in accordance with the judgment results, the operation content of the actuator targeted by the MC function is determined autonomously.

[0053] [Regarding the configuration for performing the MC function] Next, the configuration for performing the MC function will be described with reference to FIG. 3. FIG. 3 is a diagram showing a first operation lever device 27 having an MC switch 273, a second operation lever device 28 having an MC function switching button 282a, and a controller 30.

[0054] The operating device 26 includes, for example, a first operation lever device 27 and a second operation lever device 28. The first operation lever device 27 is a lever for operating an attachment (at least one of the boom 4, the arm 5, and the bucket 6). As the first operation lever device 27, for example, a left lever (left joystick) installed on the console on the left side of the seat is applied. The second operation lever device 28 is a lever for operating an attachment (at least one of the boom 4, the arm 5, and the bucket 6). As the second operation lever device 28, for example, a right lever (right joystick) installed on the console on the right side of the seat is applied. Note that the operating device 26 may include a lever device and a pedal device in addition to the first operation lever device 27 and the second operation lever device 28.

[0055] The first operation lever device 27 has a lever body 271 and an MC switch 273 arranged in parallel with the lever body 271. The lever body 271 is supported in a form inclined rearward so that it is easy for the operator to grip, and its upper end projects inwardly and is short. The lever body 271 is operated by the operator to tilt in the front-rear direction and the left-right direction. A plurality of buttons 272 for operating the excavator 100 are provided at the upper end of the lever body 271. Although not shown in FIG. 3, the first operation lever device 27 may be provided with buttons for operating the excavator 100 on the side surface of the lever body 271.

[0056] An operation pressure sensor 29 (see FIG. 2) for detecting the operation direction and the operation amount is provided at the base of the lever body 271. The operation pressure sensor 29 transmits detection information on the operation direction and the operation amount of the operator to the controller 30. Also, the first operation lever device 27 transmits information on the operation of each button 272 to the controller 30.

[0057] The MC switch 273 is disposed behind the lever main body 271 and is supported in a form inclined rearward similar to the lever main body 271. The MC switch 273 is operated in the front-rear direction by an operator. The MC switch 273 is formed in a concave shape in a cross-sectional view perpendicular to the longitudinal direction and can cover the rear half circumference of the lever main body 271 when operated forward. The MC switch 273 is disposed rearward during standby by a spring structure (not shown) or the like. In this arrangement, the excavator 100 has the MC function turned off. When the operator pushes the MC switch 273 forward while gripping the middle part of the lever main body 271, the excavator 100 turns on the MC function.

[0058] Furthermore, the MC switch 273 is provided with a plurality of buttons 274 for performing operations related to the MC function on the side surface. Also, the MC switch 273 may be provided with an engaging portion 275 that can be hooked on the lever main body 271 in order to maintain the on state of the MC function without relying on the operator's grip.

[0059] On the other hand, the second operation lever device 28 is supported in a form inclined rearward similar to the lever main body 271 of the first operation lever device 27, and has a lever main body 281 whose upper end portion projects short inward (left side). The lever main body 281 is operated by an operator to incline in the front-rear direction and the left-right direction. A plurality of buttons 282 for operating the excavator 100 are provided on the front side surface of the lever main body 281. One of the plurality of buttons 282 serves as a switching button 282a for switching between two modes (2D mode and 3D mode) of the MC function described later. Although not shown in FIG. 3, the second operation lever device 28 may be provided with buttons for operating the excavator 100 at the upper end portion.

[0060] An operation pressure sensor 29 for detecting the operation direction and operation amount is provided at the base of the lever body 281. The operation pressure sensor 29 transmits detection information on the operation direction and operation amount of the operator to the controller 30. Further, the second operation lever device 28 also transmits information on the operation of each button 282 to the controller 30.

[0061] When the MC function is valid (the MC switch 273 is turned on), the controller 30 performs control related to a semi-automatic function that automatically supports the manual operation of the excavator 100 by the operator. As an example, the controller 30 controls an attachment (at least one of the boom 4, the arm 5, and the bucket 6) so that the working part of the bucket 6 performs a predetermined construction operation according to the operation of the arm 5 by the operator.

[0062] Under the execution of a program by the CPU, the controller 30 constructs, inside thereof, a functional block for executing an MC function as shown in, for example, FIG. 3. Specifically, inside the controller 30, a 2D mode control unit 301, a 3D mode control unit 302, an information acquisition unit 303, a switching determination unit 304, a display control unit 305, and a storage unit 306 are formed.

[0063] The 2D mode control unit 301 is a functional unit that controls the 2D mode (first mode) in which construction is performed by setting design information for a 2D plane, which is two-dimensional coordinates (including horizontal planes, normal planes, etc.), based on a reference point with respect to the cutting edge of the bucket 6 of the excavator 100. In the 2D mode, the construction range (excavation range, etc.) of the plane may be limited based on the target construction surface WD in the 3D mode described later, and the operation of the attachment may be controlled. The 2D mode control unit 301 automatically sets the design information for the 2D plane based on, for example, the information of the imaging device S6 acquired via the information acquisition unit 303 and the excavation depth (the amount of entry of the bucket 6 from the ground) preset by the operator. In other words, the 2D plane in the 2D mode is formed as a design drawing incorporating the construction range of the cutting edge of the attachment according to the actual ground at the work site. The design information for the 2D plane may include the inclination of the 2D plane with respect to the horizontal plane. In other words, the 2D plane may be not only a horizontal plane but also an inclined plane.

[0064] For example, when the operator manually operates the excavation operation (such as hole digging work or trench digging work), the 2D mode control unit 301 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the tip of the bucket 6 coincides with the 2D plane. As a result, the tip of the bucket 6 moves along the 2D plane to perform the excavation operation. Since the tip of the bucket 6 has a pointed shape and the area in contact with the ground is relatively small, it is suitable as a working part for the excavation work of the excavator 100.

[0065] In addition, the 2D mode control unit 301 may reflect the flatness of the ground detected by various sensors in the construction operation of the tip of the bucket 6. For example, the 2D mode control unit 301 generates a target trajectory for making the tip of the bucket 6 parallel according to the flatness of the ground, and automatically controls the operation of the attachment along the target start.

[0066] Furthermore, when the 2D mode control unit 301 performs a compaction operation (leveling work) by manual operation of the operator, at least one of the boom 4, the arm 5, and the bucket 6 is automatically operated so that the back surface of the bucket 6 moves along the ground. In this case, the controller 30 can control the attachment so that the back surface of the bucket 6 applies an appropriate pressing force to the ground, causing the excavator 100 to perform a compaction operation on the ground. Since the back surface of the bucket 6 has a substantially planar shape or a curved surface shape with a relatively gentle curvature and a relatively large contact area with the ground, it is suitable as a working part used for the compaction operation of the excavator 100.

[0067] Also in the case of the compaction operation, the 2D mode control unit 301 may reflect the flatness of the ground detected by various sensors in the construction operation of the back surface of the bucket 6. For example, the 2D mode control unit 301 generates a target trajectory that makes the back surface of the bucket 6 parallel according to the flatness of the ground, and automatically controls the operation of the attachment along the target start.

[0068] On the other hand, the 3D mode control unit 302 is a functional unit that acquires the position information and attitude information of the excavator 100 and controls the 3D mode for construction using the design data of the target construction surface WD (see FIG. 6) in three-dimensional coordinates. In other words, the 3D mode is a second mode that controls the operation of the attachment based on the position information of the excavator 100, the attitude information of the excavator 100, and the target construction surface WD. As an example, CAD data designed for the final shape of the entire work site can be applied to the target construction surface WD in the 3D mode. The design data is stored in the storage unit 306 in advance. For example, the design data can be input by the operator through the input device 42 and registered in the storage unit 306. Alternatively, the design data may be downloaded from an external device (for example, a server device of an operator who manages the work site or a management terminal of the management office of the work site) through the communication device T1 and registered in the storage unit 306.

[0069] The 3D mode control unit 302 may set an operation plan for the excavator 100 based on, for example, the design data of the target construction surface WD in the 3D mode, the position information, attitude information, and imaging information of the excavator 100, and display the operation plan on the display device 40. When the operator performs an excavation operation manually, the 3D mode control unit 302 automatically sets the range and depth of the excavation operation based on the target construction surface WD, and determines the operation content of the bucket 6 from the set content. When actually excavating the ground, the 3D mode control unit 302 can perform the same operations as in the 2D mode. For example, the operation of the attachment is controlled so that the tip of the bucket 6 moves along the target trajectory.

[0070] Also, when the operator performs a compaction operation manually, the 3D mode control unit 302 automatically sets the range and height of the compaction operation based on the target construction surface WD, and determines the operation content of the bucket 6 from the set content. When actually compacting the ground, the 3D mode control unit 302 can perform the same operations as in the 2D mode. For example, the operation of the attachment is controlled so that the back surface of the bucket 6 moves along the target trajectory.

[0071] The information acquisition unit 303 acquires various information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, slewing state sensor S5, imaging device S6, positioning device V1, communication device T1, operation pressure sensor 29, input device 42, etc. when the 2D mode control unit 301 and 3D mode control unit 302 execute the MC function. Based on the information acquired by this information acquisition unit 303, the 2D mode control unit 301 and 3D mode control unit 302 can generate the target trajectory of the working part of the bucket 6 (for example, the trajectory along the target construction surface) as described above.

[0072] The switching determination unit 304 performs processes such as being carried out under the operation of the operator or automatically switching with respect to the 2D mode and 3D mode of the MC function. For example, the excavator 100 according to the embodiment can switch between the 2D mode and 3D mode of the MC function based on the switching operation of the switching button 282a of the second operation lever device 28 by the operator. Note that the position of the switching button 282a for the 2D mode and 3D mode is of course not particularly limited, and for example, the button 274 of the MC switch 273 may be applied.

[0073] The excavator 100 according to the embodiment enables the operator to arbitrarily change the assignment of each button 272, 282 of the operation device 26 (the first operation lever device 27, the second operation lever device 28). The display control unit 305 of the controller 30 displays a layout setting screen 400 as shown in FIG. 4 on the display device 40 based on the operation of the input device 42 by the operator (for example, the operation of the home screen of the touch panel). FIG. 4 is a diagram showing an example of the layout setting screen 400 for changing the assignment of each button 272, 282.

[0074] The layout setting screen 400 has a main display image 401 that displays each lever constituting the operation device 26, and an operation display image 402 that is arranged below the main display image 401 and can be touched by the operator.

[0075] The main display image 401 displays images indicating each button 272 of the first operation lever device 27, each button 282 of the second operation lever device 28, or each button of other levers. In addition, the main display image 401 is provided with a plurality of blowout window images 403 for each button 272, 282. In the blowout window image 403, the operation content of the corresponding button is schematically drawn by a pictogram, characters, or the like.

[0076] For example, when a switching button 282a for switching between the 2D mode and the 3D mode is set on the button 282 of the second operation lever device 28, the characters "2D / 3D" are indicated on the blowing window image 403 attached to the image of the button. Thereby, an operator who has visually recognized the main display image 401 can easily recognize the current assignment of the switching button 282a for switching between the 2D mode and the 3D mode.

[0077] When changing the assignment of the switching button 282a, by operating the operation display image 402, selecting the button before the change, and then selecting the button at the destination of the change, it can be changed to another button. The operation display image 402 has, for example, a cursor button for moving a selection frame, a confirmation button for confirming the selection, a cancel button for canceling the selection, a home button for moving to the home screen, etc. (both not shown). When the display device 40 and the input device 42 are touch panels, the layout setting screen 400 may be configured to change the assignment of the buttons by the operator touching each button of the main display image 401.

[0078] In this way, by making it possible to change the assignment of each button 272, 282 using the layout setting screen 400, an arrangement according to the preference of the operator of the excavator 100 can be realized. As a result, the excavator 100 can improve its operability.

[0079] In addition, the display control unit 305 displays a display screen for the 2D mode (hereinafter referred to as the 2D mode screen 410) when the 2D mode is executed, while displaying a display screen for the 3D mode (hereinafter referred to as the 3D mode screen 450) when the 3D mode is executed. FIG. 5(A) is a diagram showing an example of the 2D mode screen 410 displayed on the display device 40. FIG. 5(B) is a diagram showing an example of the 3D mode screen 450 displayed on the display device 40.

[0080] As shown in FIG. 5(A), the 2D mode screen 410 includes a time display section 411, a rotation speed mode display section 412, a travel mode display section 413, an engine control state display section 415, an aqueous urea remaining amount display section 416, a fuel remaining amount display section 417, a coolant temperature display section 418, an engine operation time display section 419, a camera image display section 420, and a work guidance display section 430. The rotation speed mode display section 412, the travel mode display section 413, the attachment display section 414, and the engine control state display section 415 are display sections that display information regarding the setting state of the excavator. The aqueous urea remaining amount display section 416, the fuel remaining amount display section 417, the coolant temperature display section 418, and the engine operation time display section 419 are display sections that display information regarding the operation state of the excavator. The images displayed on each section are generated by the display device 40 using the data transmitted from the controller 30 and the camera images transmitted from the imaging device S6.

[0081] The time display section 411 displays the current time. The rotation speed mode display section 412 displays the rotation speed mode set by an engine rotation speed adjustment dial (not shown) of the operation device 26. The travel mode display section 413 displays the travel mode of the lower travel body 1. The travel mode displays the setting state of the travel hydraulic motor using a variable displacement motor (e.g., "turtle" for the low speed mode, "rabbit" for the high speed mode). The engine control state display section 415 displays the control state of the engine 11 (e.g., "automatic deceleration / automatic stop mode", "automatic deceleration mode", "automatic stop mode", "manual deceleration mode").

[0082] The aqueous urea remaining amount display section 416 displays the remaining amount state of the aqueous urea stored in the aqueous urea tank in the form of a bar gauge. The fuel remaining amount display section 417 displays the remaining amount state of the fuel stored in the fuel tank in the form of a bar gauge. The coolant temperature display section 418 displays the temperature state of the engine coolant in the form of a bar gauge. The engine operation time display section 419 displays the cumulative operation time of the engine 11.

[0083] The camera image display unit 420 displays the image captured by the imaging device S6. The camera image display unit 420 may selectively display a camera image captured by a front camera, a left camera, a right camera, or a rear camera, or may display images of a plurality of cameras arranged side by side. A camera icon 421 indicating the orientation of the image being displayed may be displayed on the camera image display unit 420. The camera icon 421 is composed of a shovel icon 421a representing the shape of the shovel and a direction display icon 421b representing the orientation of the camera that captured the image being displayed. The operator can switch to the images of each camera, for example, by pressing an image switching switch (not shown).

[0084] The work guidance display unit 430 displays guidance information when performing the MC function. The work guidance display unit 430 includes a position display image 431, a first target construction surface display image 432, a second target construction surface display image 433, a bucket left end information image 434, a bucket right end information image 435, a side view numerical information image 436, a front view numerical information image 437, an attachment image 438, a distance display format image 439, and a target setting image 440.

[0085] The position display image 431 represents the change in the magnitude of the relative distance from the working part of the bucket 6 to the target construction surface by the change in the display position of a figure related to the working part (for example, the tip) of the bucket 6. The first target construction surface display image 432 schematically displays the relationship in the pitch direction between the bucket 6 and the target construction surface. The second target construction surface display image 433 schematically displays the relationship in the yaw direction between the bucket 6 and the target construction surface.

[0086] The bucket left-end information image 434 displays the distance between the leading left end of the bucket 6 and the target construction surface. The bucket right-end information image 435 displays the distance between the leading right end of the bucket 6 and the target construction surface. The side-view numerical information image 436 displays the relationship between the bucket 6 and the target construction surface when viewed from the side. The front-view numerical information image 437 displays the relationship between the bucket 6 and the target construction surface when the operator is sitting inside the cab 10 and looking ahead at the shovel. Also, the attachment image 438 is an image representing the attached attachment. The distance display format image 439 is an image representing the display format of the left-end distance displayed on the bucket left-end information image 434 and the right-end distance displayed on the bucket right-end information image 435. The target setting image 440 is an image indicating whether the target value and the target construction surface have been set or not.

[0087] On the other hand, as shown in Fig. 5(B), the 3D mode screen 450 basically performs a display following the 2D mode screen 410. However, instead of the camera image display section 420, a 3D image display section 460 simulating the three-dimensional coordinates of the work site is displayed. Therefore, the description of the time display section 411, the rotation speed mode display section 412, the traveling mode display section 413, the engine control state display section 415, the urea water remaining amount display section 416, the fuel remaining amount display section 417, the coolant water temperature display section 418, the engine operation time display section 419, the camera image display section 420, and the work guidance display section 430 in the 3D mode screen 450 is omitted.

[0088] The 3D image display section 460 displays, for example, a shovel image 461 simulating the shovel 100 and also displays a work site image 462 obtained by synthesizing the images of the work site captured by each camera of the imaging device S6. Based on the positioning information, the attitude information, etc. of the shovel 100, the 3D image display section 460 can arrange the shovel image 461 on the work site image 462, enabling the operator to recognize information on substantially the entire work site.

[0089] In addition, the 3D image display unit 460 may display the target construction surface image 463 based on the design data of the target construction surface stored in the storage unit 306. The target construction surface image 463 may be displayed, for example, by overlapping it on the work site image 462, or may be displayed in place of the work site image 462. By checking the target construction surface image 463, the operator can compare the target construction surface to be constructed by the excavator 100 with the actual work site.

[0090] As described above, the excavator 100 can perform work while checking the situation of the work site by displaying the 2D mode screen 410 in the 2D mode, while in the 3D mode, it can perform work while checking the target construction surface image 463 of the three-dimensional coordinates by displaying the 3D mode screen 450.

[0091] [Regarding the switching between 2D mode and 3D mode] By the way, at the work site where the excavator 100 is used, in order to perform efficient construction, horizontal pulling may be performed to create a work platform, and the excavator 100 may be placed on the work platform to perform work. However, in the 3D mode, since the operation content of the attachment is set based on the design data of the target construction surface WD stored in advance as described above, construction such as creating a work platform according to the situation of the work site cannot be performed. On the other hand, in the 2D mode, since a two-dimensional plane can be created based on information such as sensor information and excavation depth, and the operation of the attachment can be controlled, a work platform can be formed. Therefore, when creating a work platform, it is preferable for the excavator 100 to switch from the 3D mode to the 2D mode to perform work.

[0092] When switching from the 3D mode to the 2D mode in a conventional excavator, for example, the operator operates the display screen of the display device to display an image for switching between the 2D mode and the 3D mode, and performs a switching operation along this switching image. Such an operation is complicated and becomes a factor in reducing the construction efficiency.

[0093] In contrast, the excavator 100 according to the embodiment can switch between the 2D mode and the 3D mode by the operator's operation of the switching button 282a. For this reason, when it is desired to create a working base during the execution of the 3D mode, the operator can easily switch from the 3D mode to the 2D mode by the first switching operation of the switching button 282a. And when the working base is completed, the operator can easily switch back from the 2D mode to the 3D mode by the second switching operation of the switching button 282a.

[0094] Furthermore, the excavator 100 according to the embodiment can automatically switch between the 2D mode and the 3D mode. Next, the control for automatically switching between the 2D mode and the 3D mode will be described. Specifically, the switching determination unit 304 of the controller 30 monitors the distance between the bucket 6 of the excavator 100 and the target construction surface WD in the 3D mode during the execution of the 3D mode, and is configured to switch between the 2D mode and the 3D mode according to this distance.

[0095] FIG. 6 is a diagram schematically showing the relationship between the target construction surface WD in the 3D mode and the distance of the bucket 6. As shown in FIG. 6, the controller 30 of the excavator 100 recognizes the position of the tip of the bucket 6 based on the detection information of various sensors in the execution of the 3D mode. For example, the excavator 100 calculates the position of the bucket 6 based on the detection information of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, etc. The position of the bucket 6 can be recognized as the relative height with respect to the ground where the excavator 100 is located. Alternatively, the excavator 100 may recognize the position of the bucket 6 using the information (distance image, object detection, etc.) of the imaging device S6.

[0096] In addition, in the execution of the 3D mode, the controller 30 applies the target construction surface WD to the ground of the work target. As described above, the target construction surface WD is design data of three-dimensional coordinates including the horizontal direction (X-axis - Y-axis direction) and the vertical direction (Z-axis direction). Therefore, the controller 30 can calculate the distance between the target construction surface WD on the lower side in the vertical direction of the bucket 6 and the bucket 6 (hereinafter referred to as the "calculated distance").

[0097] The controller 30 stores in advance in the storage unit 306 a threshold value corresponding to the distance between the target construction surface WD and the bucket 6 for switching from the 3D mode to the 2D mode. The threshold value may be set to a value according to the ability of the attachment (for example, the distance that the bucket 6 can reach). As an example, the threshold value may be an appropriate value within the range of about 300 mm to 1000 mm. The switching determination unit 304 compares the calculated distance with the threshold value, and determines to maintain the 3D mode when the calculated distance is less than the threshold value, while determines to shift from the 3D mode to the 2D mode when the calculated distance is greater than or equal to the threshold value. This is because when the calculated distance is greater than or equal to the threshold value, it is necessary to create a working base and perform the work.

[0098] That is, when the calculated distance is greater than or equal to the threshold value, the switching determination unit 304 automatically switches from the 3D mode to the 2D mode. Thereby, the controller 30 comes to perform control by the 2D mode control unit 301, and for example, can form a working base by a horizontal pulling excavation operation. In addition, the display control unit 305 of the controller 30 preferably maintains the 3D mode screen 450 without switching to the 2D mode screen 410 when automatically switching to the 2D mode during the execution of the 3D mode with respect to the screen displayed on the display device 40. That is, the excavator 100 performs the construction in the 2D mode while continuing to display the 3D mode screen 450 in FIG. 5(B) on the display device 40. Thereby, the excavator 100 can perform horizontal pulling etc. in the 2D mode while confirming the target construction surface WD in the 3D mode, and can avoid excavation at a position deviated from the target construction surface WD or over-excavation by the bucket 6.

[0099] In addition, even after automatically switching from the 3D mode to the 2D mode, the switching determination unit 304 continues to compare the calculated distance with the threshold value. When the calculated distance becomes less than the threshold value, it automatically returns from the 2D mode to the 3D mode. The case where the calculated distance becomes less than the threshold value means that the bucket 6 is in a position close to the target construction surface WD, and it is in a state where it is desirable to perform construction along the target construction surface WD. Therefore, the excavator 100 can accurately operate the bucket 6 so as to become the target construction surface WD by automatically returning from the 2D mode to the 3D mode.

[0100] The excavator 100 according to the embodiment is basically configured as described above, and its operation will be described below with reference to FIG. 7. FIG. 7 is a flowchart showing an example of a processing flow when automatically switching to the 2D mode during the execution of the 3D mode.

[0101] The switching determination unit 304 of the controller 30 receives a signal from the switch button 282a and recognizes that the 3D mode has been selected by the operator's operation, thereby determining to execute the 3D mode under the control of the 3D mode control unit 302 (step S101).

[0102] Thereby, after performing preprocessing such as reading the target construction surface WD, the 3D mode control unit 302 executes the 3D mode by the excavator 100 (step S102). At this time, the display control unit 305 displays the 3D mode screen 450 on the display device 40. The operator can perform necessary inputs and the like in the preprocessing of the 3D mode via the 3D mode screen 450. In the execution of the 3D mode, the 3D mode control unit 302 performs semi-automatic control to appropriately operate the attachment while recognizing the operator's operation. In addition, the controller 30 acquires the information of each sensor via the information acquisition unit 303, recognizes the position of the bucket 6, and appropriately operates the bucket 6.

[0103] Then, as described above, in the implementation of the 3D mode, the switching determination unit 304 calculates the calculated distance between the target construction surface WD and the bucket 6, compares the calculated distance with the threshold value, and determines whether the calculated distance is greater than or equal to the threshold value (step S103). If the calculated distance is less than the threshold value (step S103: NO), the process proceeds to step S104. On the other hand, if the calculated distance is greater than or equal to the threshold value (step S103: YES), the process proceeds to step S106.

[0104] In step S104, the controller 30 continues the implementation of the 3D mode by the 3D mode control unit 302. Also, when the 3D mode is executed, the controller 30 determines whether to stop the construction of the excavator 100 or stop the MC function (3D mode) based on the operator's operation (step S105). If the construction of the excavator 100 continues (step S105: NO), the process returns to step S102, and the following similar processing flow is repeated. On the other hand, if the construction (or MC function) of the excavator 100 is stopped, this processing flow is terminated.

[0105] On the other hand, when the calculated distance is greater than or equal to the threshold value, the controller 30 switches from the 3D mode control unit 302 to the implementation of the 2D mode by the 2D mode control unit 301 (step S106). Thereby, the excavator 100 can perform construction in the 2D mode. Also, at this time, the display control unit 305 continues to display the 3D mode screen 450.

[0106] Also, when the 2D mode is executed, the controller 30 determines whether to stop the construction of the excavator 100 or stop the MC function (2D mode) based on the operator's operation (step S107). If the construction of the excavator 100 continues (step S107: NO), the process returns to step S106, and the following similar processing flow is repeated. On the other hand, if the construction (or MC function) of the excavator 100 is stopped, this processing flow is terminated.

[0107] Furthermore, even when the 2D mode is executed, the controller 30 calculates the calculated distance between the target construction surface WD and the bucket 6, and determines whether the calculated distance is equal to or greater than a threshold value (step S108). When the calculated distance is equal to or greater than the threshold value (step S108: YES), the process returns to step S106, while when the calculated distance is less than the threshold value (step S107: NO), the process returns to step S102. Thereby, the excavator 100 can smoothly switch between continuing the 2D mode or returning to the 3D mode.

[0108] Next, an example of the excavation operation of the excavator 100 along the above processing flow will be described with reference to FIGS. 8(A) to 9(B). FIG. 8(A) is a schematic side view showing the state of the excavator 100 before construction. FIG. 8(B) is a schematic side view showing the formation of the work platform GS by the excavator 100. FIG. 9(A) is a schematic side view showing the excavation of the excavator 100 that has moved to the work platform. FIG. 9(B) is a schematic side view showing the completed state of the construction by the excavator 100.

[0109] As shown in FIG. 8(A), the excavator 100 selected by the operator to execute the 3D mode applies the target construction surface WD of the three-dimensional coordinates to the ground at the work site before construction. Further, the excavator 100 recognizes the position of the bucket 6 by various sensors as described above, and further calculates the calculated distance between the target construction surface WD and the bucket 6. FIG. 8(A) shows a case where the calculated distance between the target construction surface WD and the bucket 6 is equal to or greater than the threshold value. In this case, the controller 30 of the excavator 100 automatically switches from the 3D mode to the 2D mode. The switch from the 3D mode to the 2D mode may be performed, for example, based on the operation of the switch button 282a.

[0110] The excavator 100 performs excavation operations such as horizontal pulling in 2D mode, thereby excavating the ground at the work site shallower than the target construction surface WD. As a result, the excavator 100 forms a working platform GS as shown in Fig. 8(B). The excavation depth at this time may be a preset depth or may be set each time an excavation operation is performed. Also, the excavation range, which is the construction range at this time, may be limited based on the target construction surface WD so as not to excavate in 2D mode beyond the target construction surface WD in three-dimensional coordinates.

[0111] Then, as shown in Fig. 9(A), the excavator 100 moves onto the formed working platform GS. The calculated distance between the target construction surface WD and the bucket 6 for the excavator 100 on the working platform GS becomes less than the threshold value. Therefore, the excavator 100 automatically returns from 2D mode to 3D mode and performs the excavation operation in 3D mode. In this case, the excavator 100 performs the excavation operation along the target construction surface WD with respect to the working platform GS and the like.

[0112] As a result, as shown in Fig. 9(B), the excavator 100 can accurately form the construction state along the target construction surface WD.

[0113] As described above, the excavator 100 according to the embodiment can efficiently and accurately perform the construction work along the target construction surface WD by automatically switching from 3D mode to 2D mode based on the calculated distance between the target construction surface WD and the bucket 6. In particular, when the excavator 100 automatically switches from 3D mode to 2D mode, it maintains the 3D mode screen 450. For this reason, the operator can perform the operation in 2D mode while referring to the target construction surface WD in 3D mode.

[0114] Note that the excavator 100 according to the present disclosure is not limited to the above-described embodiments and can take various modifications. For example, in the embodiment, an example in which an operator rides in the cab 10 of the excavator 100 to perform work has been described. However, the excavator 100 may be configured such that an operator performs operations in a remote operation room (not shown). Even in this case, appropriate construction work can be performed by automatically switching between the 2D mode and the 3D mode.

[0115] Furthermore, in the embodiment, an example has been described in which when the 3D mode set by the switching button 282a is executed, the mode is switched from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD and the bucket 6, and then returns from the 2D mode to the 3D mode. However, the excavator 100 may be configured to switch from the 2D mode to the 3D mode when the 2D mode set by the switching button 282a is executed. Also in this case, the excavator 100 can perform construction work efficiently and accurately by automatically switching from the 2D mode to the 3D mode, for example, based on the calculated distance between the target construction surface WD and the bucket 6.

[0116] Also, the excavator 100 according to the embodiment is configured to automatically switch from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD in the 3D mode and the bucket 6. However, the controller 30 may switch from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD in the 3D mode and the ground of the work target. Alternatively, the controller 30 may switch from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD in the 3D mode and the target two-dimensional plane in the 2D mode. In short, the controller 30 can automatically switch between the 2D mode and the 3D mode using the target construction surface WD in the 3D mode.

[0117] The technical idea and effects of the present disclosure described in the above embodiments will be described below.

[0118] A first aspect of the present disclosure is an excavator 100 including a lower traveling body 1, an upper swing body 3 rotatably provided on the lower traveling body 1, an attachment provided on the upper swing body 3 and having an end attachment (bucket 6) for performing a construction operation, and a control unit (controller 30) for controlling the operation of the attachment. The control unit can selectively execute a first mode of controlling the operation of the attachment based on a plane with respect to a reference point of the excavator, and a second mode of controlling the operation of the attachment based on a target construction surface WD in three-dimensional coordinates, and the control unit automatically switches between the first mode and the second mode based on the target construction surface WD.

[0119] According to the above, the excavator 100 can reduce the operation load of switching by the operator by automatically switching between the first mode and the second mode based on the target construction surface WD. Moreover, the excavator 100 can appropriately use the first mode and the second mode according to the position with reference to the target construction surface WD, and can perform the construction operation efficiently and accurately.

[0120] Also, in the second mode, the operation of the attachment is controlled based on the position information of the excavator 100, the attitude information of the excavator 100, and the target construction surface WD. In the first mode, the construction range on the plane is limited based on the target construction surface WD, and the operation of the attachment is controlled. Thereby, the excavator 100 can appropriately perform the construction along the plane in the first mode, while appropriately performing the construction along the target construction surface in the second mode.

[0121] Also, the control unit (controller 30) automatically switches between the first mode and the second mode based on the distance between the target construction surface WD and the end attachment (bucket 6). Thereby, the excavator 100 can appropriately switch between the first mode and the second mode according to the position of the end attachment.

[0122] Further, when the distance between the target construction surface WD and the end attachment (bucket 6) becomes equal to or greater than the threshold value during the execution of the second mode, the control unit (controller 30) switches from the second mode to the first mode. Thereby, for example, when performing operations such as forming the work platform GS during the execution of the second mode, the excavator 100 can smoothly switch from the second mode to the first mode.

[0123] Further, when the distance between the target construction surface WD and the end attachment (bucket 6) becomes less than the threshold value during the execution of the first mode, the control unit (controller 30) switches from the first mode to the second mode. Thereby, for example, when the distance between the bucket 6 and the target construction surface WD becomes short during the execution of the first mode, the excavator 100 can smoothly switch from the first mode to the second mode and perform construction operations along the target construction surface WD.

[0124] Also, it has a plurality of physical operation parts (buttons 272, 282) for the operator to perform physical operations, and the control unit (controller 30) executes either the first mode or the second mode based on the operation of the set physical operation part among the plurality of physical operation parts. Thereby, the operator can easily execute either the first mode or the second mode by operating the set physical operation part.

[0125] Further, the control unit (controller 30) can change the assignment of the physical operation part for switching between the first mode and the second mode among the plurality of physical operation parts. Thereby, the excavator 100 can be set according to the operator's preference, and the operation of the physical operation part by the user can be facilitated.

[0126] In addition, when the control unit (controller 30) automatically switches between the first mode and the second mode, the display device 40 continuously displays the display screens (2D mode screen 410, 3D mode screen 450) related to the mode before the switch. Thereby, the excavator 100 can eliminate the trouble of switching the display screen associated with the switching between the first mode and the second mode. Also, for example, when switching to the first mode during the execution of the second mode, the operation of the first mode can be performed while checking the target construction surface WD.

[0127] The excavator 100 according to the embodiment disclosed this time is illustrative in all respects and not restrictive. The embodiment can be modified and improved in various forms without departing from the scope and gist of the appended claims. The matters described in the above plurality of embodiments can also adopt other configurations within a non - conflicting range, and can be combined within a non - conflicting range.

Explanation of Reference Numerals

[0128] 1 Lower Travel Body 3 Upper Swing Body 6 Bucket 30 Controller 100 Excavator 272, 282 Buttons 282a Switching Button WD Target Construction Surface

Claims

1. A lower traveling body, an upper slewing body rotatably provided on the lower traveling body, an attachment provided on the upper slewing body and having an end attachment for performing construction work, and a control unit for controlling the operation of the attachment, wherein the control unit is capable of selectively executing a first mode of controlling the operation of the attachment based on a plane based on a reference point of the excavator, and a second mode of controlling the operation of the attachment based on a target construction surface of three-dimensional coordinates, and the control unit automatically switches between the first mode and the second mode based on the target construction surface. An excavator.

2. In the second mode, the operation of the attachment is controlled based on the position information of the excavator, the attitude information of the excavator, and the target construction surface, and in the first mode, the operation range of the plane is limited based on the target construction surface to control the operation of the attachment. The excavator according to claim 1.

3. The control unit automatically switches between the first mode and the second mode based on the distance between the target construction surface and the end attachment. The excavator according to claim 1 or 2.

4. When the distance between the target construction surface and the end attachment becomes equal to or greater than a threshold value during the execution of the second mode, the control unit switches from the second mode to the first mode. The excavator according to claim 3.

5. When the distance between the target construction surface and the end attachment becomes less than a threshold value during the execution of the first mode, the control unit switches from the first mode to the second mode. The excavator according to claim 3.

6. Having a plurality of physical operation parts for the operator to perform physical operations, and the control unit executes either the first mode or the second mode based on the operation of a set physical operation part among the plurality of physical operation parts. The excavator according to claim 1 or 2.

7. The control unit can change the assignment of the physical operation part for switching between the first mode and the second mode in the plurality of physical operation parts. The excavator according to claim 6.

8. When the control unit automatically switches between the first mode and the second mode, the control unit continuously displays on the display device a display screen related to the mode before the switch. ​ The excavator according to claim 1 or 2.

Images