Shovel and shovel control system

Abstract

To improve work efficiency.SOLUTION: A shovel comprises: a lower traveling body; an upper revolving body that is rotatably mounted on the lower traveling body; a boom fitted to the upper revolving body; an arm fitted to the boom; an end attachment disposed on a tip of the arm; a detection device for detecting postures of the boom, the arm, and the end attachment; a storage device for storing surface information indicating a shape of a surface after being constructed; a display device; and a control device having a function of automatically operating at least some of a plurality of actuators for operating the boom, the arm, and the end attachment, respectively, and constituted to display a position of the end attachment specified based on a detection result by the detection device, the surface having the shape after being constructed and indicated in the surface information, and a virtual surface that is extended from the surface and guides the end attachment when the function is executed, on the display device.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] Conventionally, there is known an excavator that performs control to move a predetermined part of a working tool along a surface that is predetermined as the shape after construction when receiving an operation from an operator (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conventional excavator, when performing construction to form a combination of a plurality of surfaces, it is difficult to move a predetermined part of the end attachment along a region that changes from one surface to another among the plurality of surfaces.

[0005] One aspect of the present invention provides a technique for improving work efficiency by moving an end attachment along a surface as intended by an operator.

Means for Solving the Problems

[0006] An excavator according to an aspect of the present invention includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, a boom attached to the upper swing body, an arm attached to the boom, an end attachment provided at the tip of the arm, a detection device that detects the postures of the boom, the arm, and the end attachment, a storage device that stores surface information representing the shape of the surface after construction, a display device, and a function of automatically operating at least a part of a plurality of actuators that operate each of the boom, the arm, and the end attachment. The position of the end attachment specified based on the detection result by the detection device, the surface of the shape after construction represented by the surface information, and a virtual surface obtained by extending the surface, the virtual surface guiding the end attachment when the function is executed, are displayed on the display device, and a control device configured to do so.

Advantages of the Invention

[0007] According to an aspect of the present invention, an operator can recognize the work content by the function of the excavator, so that an improvement in work efficiency by the function can be realized.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Also, the embodiments described below are illustrative and not limiting of the invention, and not all 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] (Outline of the working machine) In this embodiment, an example in which an excavator is used 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, the outline 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 revolving body 3 mounted on the lower traveling body 1 so as to be revolvable 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 and 2MR (see FIG. 2) to make the excavator 100 travel.

[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 slewing body 3 so as to be able to pitch. An arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate vertically, 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 an end attachment. 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] Also, at the tip of the arm 5, another end attachment may be attached instead of the bucket 6 according to the work content or the like. The other end attachment may be, for example, other types of buckets such as a large bucket, a slope bucket, or a dredging bucket.

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

[0020] The cab 10 is an operator's cab and is mounted on the front left side of the upper slewing 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 revolving 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 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.

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

[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 revolving body 3. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under the 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 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, similar to the engine 11, and supplies hydraulic oil to the control valve unit 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, the stroke length of the piston is adjusted by adjusting the tilt angle of the swash plate by the regulator 13 under the control of the controller 30, and the discharge flow rate (discharge pressure) can be controlled.

[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 and 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 also be provided with the 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 the operator for operating the 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 disposed 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, 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 machine body inclination sensor S4, a swing angle sensor S5, an imaging device S6, and a positioning device PS.

[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 pilot port 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 display device D1 is provided in a place where it is easily visible to the seated operator in 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.

[0038] Also, the display device D1 is not limited to the device provided in the cabin 10 in advance, and may be a separately placed monitor. Furthermore, the display device D1 may be any device that can display, for example, a tablet terminal or the like that can communicate with the communication device T1 may be used.

[0039] The input device D2 is provided within the reach of the hands 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 D2 includes a touch panel implemented on the display of a display device 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 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 into the controller 30.

[0040] The auxiliary storage device 47 is a readable and writable non-volatile storage medium and includes a design data storage unit 47A.

[0041] The design data storage unit 47A stores design data. The design data includes construction data (an example of surface information) indicating the three-dimensional shape of the target construction surface after the excavator 100 has performed construction at the work site. The construction data includes position data of the construction target in the world coordinate system indicated by GNSS and three-dimensional shape data indicating the shape of the object after construction. For example, the design data includes position data and three-dimensional shape data of the target construction surface formed after the excavator 100 has excavated earth and sand. Construction includes, for example, excavation work, compaction work, or leveling work, etc.

[0042] The design data is stored in the design data storage unit 47A, for example, based on setting inputs through an information input device (not shown) by the operator or by being downloaded from an external source (for example, a predetermined management server).

[0043] The position data is expressed in a reference coordinate system similar to the position data acquired by GNSS. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin at the center of gravity of the Earth, the X-axis in the direction of the intersection of the Greenwich meridian and the equator, the Y-axis in the direction of 90 degrees east longitude, and the Z-axis in the direction of the North Pole.

[0044] 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, etc. The controller 30 realizes various functions by executing various programs stored in the ROM or the non-volatile auxiliary storage medium on the CPU.

[0045] 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.

[0046] 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.

[0047] Also, for example, the controller 30 controls the regulator 13 and adjusts the discharge amount of the main pump 14 based on the detected value of the 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.

[0048] 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 an 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 an operator.

[0049] Note that part 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).

[0050] 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 calculates, for example, the distance between the bucket 6 and the design surface shown in the design data stored in the design data storage unit 47A based on the acquired information. Then, the controller 30 appropriately controls the proportional valve 31 according to the calculated distance between the bucket 6 and the design surface, etc., and individually and automatically adjusts the pilot pressure acting on the control valve corresponding to the hydraulic actuator, thereby automatically operating each actuator.

[0051] 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 make the pilot pressure generated by the proportional valve 31 act on the pilot port of the corresponding control valve.

[0052] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on the specific operating device 26. Further, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to a specific operating device 26 even when an operation is being performed on the specific operating device 26.

[0053] 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 swing body 3 (hereinafter, "boom angle"), for example, in a side view, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 with respect to the turning plane of the upper swing 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 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 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.

[0054] 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 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. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0055] 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, the "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.

[0056] The body tilt sensor S4 detects the tilt state of the body (the upper swing body 3 or the lower traveling body 1) with respect to the horizontal plane. The body tilt sensor S4 is attached to, for example, the upper swing body 3 and detects the tilt angles (hereinafter, the "front-back tilt angle" and the "left-right tilt angle") around two axes in the front-back direction and the left-right direction of the excavator 100 (i.e., the upper swing body 3). The detection signals corresponding to the tilt angles (the front-back tilt angle and the left-right tilt angle) by the body tilt sensor S4 are taken into the controller 30.

[0057] The swing angle sensor S5 outputs detection information regarding the swing state of the upper swing body 3. The swing angle sensor S5 detects, for example, the swing angular velocity and the swing angle of the upper swing body 3. The swing angle sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0058] This embodiment will describe an example using the swing angle sensor S5, but this embodiment is not limited to the method using the swing angle sensor S5. For example, an IMU (Inertial Measurement Unit) sensor may be used instead of the swing angle sensor S5. Furthermore, instead of the swing angle sensor S5, the positioning device PS described later may be used to detect the direction of the excavator 100. Furthermore, a geomagnetic sensor may be used instead of the swing angle sensor S5.

[0059] 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.

[0060] The camera S6F is attached, for example, to the ceiling of the cabin 10, that is, inside the cabin 10. Further, the camera S6F may be attached outside the cabin 10, such as to the roof of the cabin 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 swing body 3, the camera S6R is attached to the right end of the upper surface of the upper swing body 3, and the camera S6B is attached to the rear end of the upper surface of the upper swing body 3.

[0061] Each of the imaging devices S6 (cameras S6F, S6B, S6L, S6R) is, for example, a single-eye wide-angle camera having a very wide angle of view. Further, 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.

[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, which measures the latitude, longitude, and altitude of the current position of the excavator 100 and also 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 with a base station as an end point, a satellite communication network, the Internet, and the like. 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.

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

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

[0066] Further, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the controller 30 of the excavator 100 has a function of automatically operating at least a part of a plurality of actuators that operate each 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".

[0067] 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 operation device 26 of the operator 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 operation device 26 of the operator 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.

[0068] 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 a predefined operation to be performed on the attachment by the operation of the operating device 26 by the operator. 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. In the present embodiment, as the MC switch, a paddle switch in which the machine control function is executed while being pressed may be employed.

[0069] [Description of the Function of the Machine Control Function Unit] While the controller 30 according to the present embodiment is receiving the pressing of the MC switch and receives the operation of the arm 5, the machine control function controls the operations of the boom 4 and the bucket 6 so that the tip or the back surface of the bucket 6 follows the target construction surface as the arm 5 moves.

[0070] FIG. 3 is a conceptual diagram showing an example of a target construction surface on which the excavator 100 according to the present embodiment performs construction. In the example shown in FIG. 3, the target construction surface on which the excavator 100 performs construction includes a first target construction surface 1301 and a second target construction surface 1302. The first target construction surface 1301 and the second target construction surface 1302 intersect at a predetermined angle at the boundary 1303.

[0071] In such a situation, it is difficult to move the bucket along the second target construction surface 1302 after moving the bucket along the first target construction surface 1301 by the machine control function of a conventional excavator.

[0072] In the machine control function of a conventional excavator, when controlling the bucket 6 to form the second target construction surface 1302 after forming the first target construction surface 1301 from the first position 6a1, the bucket moves along the track 1304. For this reason, it is difficult to sharply form an edge at the boundary 1303 between the first target construction surface 1301 and the second target construction surface 1302.

[0073] Normally, when an excavator performs construction on a slope surface, the first target construction surface 1301 and the second target construction surface 1302 are often constructed separately. For example, after the construction of the first target construction surface 1301 is completed, the construction of the second target construction surface 1302 is carried out. That is, by performing construction for each target construction surface, an edge can be sharply formed.

[0074] Even in a conventional excavator, when starting the construction of the second target construction surface 1302 using the machine control function, if the tip of the bucket is aligned with the boundary 1303, the tip of the bucket can be moved along the second target construction surface 1302. However, when the bucket is located even slightly deeper (towards the first target construction surface 1301 side) than the boundary 1303, the tip of the bucket is controlled to move along the first target construction surface 1301 by the machine control function.

[0075] Thus, in a situation where a plurality of target construction surfaces intersect, when using the machine control function for each target construction surface, it is difficult for the operator to align the position of the tip of the bucket or the like so that the construction of the desired target construction surface can be carried out.

[0076] Therefore, the controller 30 according to this embodiment sets a virtual construction surface (an example of a virtual surface), which is a virtual surface obtained by extending the target construction surface, and guides a predetermined part (for example, the tip 6a or the back surface 6b) of the bucket 6 when the machine control function is executed.

[0077] In the example shown in FIG. 3, when constructing the second target construction surface 1302, the controller 30 sets a region obtained by extending the second target construction surface 1302 as the virtual construction surface 1310. Then, when the bucket 6 is at the second position 6a2 and the controller 30 receives an operation from the operator to start the machine control function, in response to the operation from the operator, the controller 30 controls the operation of one or more of the bucket 6 and the boom 4 to move the bucket 6 to the third position 6a3 where a predetermined part (for example, the tip 6a) of the bucket 6 contacts the virtual construction surface 1310, and then stops the operations of the bucket 6 and the boom 4.

[0078] In a situation where the bucket 6 is at a position (for example, the third position 6a3) in contact with the virtual construction surface 1310, when the controller 30 receives a closing operation of the arm 5 from the operator, the controller 30 performs control to move the tip of the bucket 6 along the virtual construction surface 1310 and the second target construction surface 1302. Thereby, the tip 6a of the bucket 6 can move while maintaining the state of being in contact with the second target construction surface 1302 from the boundary 1303.

[0079] Therefore, it becomes easy for the operator to move the bucket 6 to a position where the second target construction surface 1302 can be constructed without aligning the tip of the bucket 6 with the construction start position (for example, the boundary 1303) of the second target construction surface 1302. Further, since the tip of the bucket 6 can maintain the state of being in contact with the end of the second target construction surface 1302, an appropriate edge can be formed at the boundary 1303 between the first target construction surface 1301 and the second target construction surface 1302. Therefore, an improvement in construction accuracy can be achieved.

[0080] Such a virtual construction surface can be considered to be set by the operator as needed. However, manually setting the virtual construction surface by the operator via the input device D2 has the problem of a large operation burden. Therefore, it is also conceivable that the controller 30 automatically sets the virtual construction surface.

[0081] However, when the bucket 6 is in the second position 6a2, it is difficult for the controller 30 to determine whether the next construction destination is the first target construction surface 1301 or the second target construction surface 1302. In other words, since it is difficult for the controller 30 to determine whether to move the bucket 6 along the virtual construction surface 1310 or along the first target construction surface 1301, it is difficult to decide whether the virtual construction surface 1310 can be set.

[0082] Therefore, when the controller 30 according to the present embodiment receives a predetermined operation for starting the machine control function, based on the position of the bucket 6 when the predetermined operation is received, the controller 30 determines whether to move a predetermined part of the bucket 6 along either one of the construction surface (for example, the first target construction surface 1301) and the virtual construction surface (for example, the virtual construction surface 1310). Then, when it is determined to move along the virtual construction surface, the controller 30 sets the virtual construction surface (for example, the virtual construction surface 1310). Specific determination methods will be described later.

[0083] <Block Configuration of the Excavator Controller> FIG. 4 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. 4, the block configuration of the controller 30 of the excavator 100 is shown.

[0084] The controller 30 receives information output from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine inclination sensor S4, swing angle sensor S5, imaging device S6, positioning device PS, input device D2, operation sensor 29, etc. Then, the controller 30 executes various calculations based on the received information, and outputs information based on the calculation results to the display device D1, proportional valve 31, etc.

[0085] In addition, although this embodiment will describe an example in which the controller 30 controls the excavator 100, 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.

[0086] For example, based on the detection results of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine inclination sensor S4, and the slewing angle sensor S5, the controller 30 can grasp (estimate) the position of the tip of the attachment AT (bucket 6). Therefore, while grasping the position of the tip of the attachment AT, the controller 30 can control the operation of the excavator 100 by the automatic driving function.

[0087] The controller 30 includes an acquisition unit 301, a display control unit 302, an operation reception unit 303, and an automatic control unit 304 as a configuration for realizing the machine control function. The controller 30 according to this embodiment executes a machine control function of operating the boom 4, the arm 5, and the bucket 6 so that the tip of the bucket 6 moves along the target construction surface. Data regarding the target construction surface is stored in advance, for example, in the design data storage unit 47A of the auxiliary storage device 47.

[0088] 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).

[0089] The acquisition unit 301 acquires the detection information detected by each of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine inclination sensor S4, and the slewing angle sensor S5. Further, the current position and orientation of the excavator 100 are acquired from the positioning device PS.

[0090] The display control unit 302 displays the image information on the display device D1. For example, based on the detection information detected by the angle sensors S1 to S3 and the current position and orientation of the excavator 100 acquired by the positioning device PS, the display control unit 302 determines the position of the bucket 6 in the reference coordinate system, and the target construction surface (in the reference coordinate system) showing the shape after construction, which is stored in the design data storage unit 47A, and the virtual construction surface, and displays them on the display device D1.

[0091] The display control unit 302 according to the present embodiment switches the area to be displayed as the virtual construction surface among a plurality of areas where the target construction surface is extended, according to the position of the main body of the excavator 100. That is, a virtual construction surface suitable for the current position of the excavator 100 is displayed. Then, the excavator 100 can move the bucket 6 along the virtual construction surface corresponding to the current position. In other words, the display of the virtual construction surface not corresponding to the current position is suppressed. That is, only the necessary information can be presented to the operator, so that the convenience can be improved. Next, the relationship between the position of the excavator 100 and the displayed virtual construction surface will be described.

[0092] FIG. 5 is a diagram for explaining the virtual construction surface displayed when the excavator 100 according to the present embodiment performs construction. In the example shown in FIG. 5, a first target construction surface 1501, a second target construction surface 1502, and a third target construction surface 1503 are set.

[0093] In the example shown in FIG. 5, as candidates for the virtual construction surface, there are an area 1511 obtained by extending the first target construction surface 1501, areas 1521 and 1522 obtained by extending the second target construction surface 1502, and an area 1531 obtained by extending the third target construction surface 1503.

[0094] The virtual construction surface according to the present embodiment is set so that the target construction surface can be constructed from the end. That is, the virtual construction surface is provided to guide a predetermined part of the bucket 6 to the start position of the target construction surface.

[0095] In the example shown in FIG. 5, the excavator 100 is at position 1551. In the example shown in FIG. 5, the bucket 6 moves in the direction of arrow 1552 (positive X-axis direction) during construction.

[0096] Therefore, the display control unit 302 displays, as a virtual construction surface, the area 1521 for constructing the second target construction surface 1502 from position 1525, and also displays, as a virtual construction surface, the area 1531 for constructing the third target construction surface 1503 from position 1535.

[0097] That is, the display control unit 302 displays, as a virtual construction surface, the area extended in the direction (negative X-axis direction) in which the attachment AT opens among the areas obtained by extending the target construction surface.

[0098] Thereby, for example, the controller 30 can guide the tip 6a of the bucket 6 along the virtual construction surface 1521 and then move it from position 1525 along the second target construction surface 1502.

[0099] As another example, the controller 30 can guide the tip 6a of the bucket 6 along the virtual construction surface 1531 and then move it from position 1535 along the third target construction surface 1503.

[0100] FIG. 6 is a diagram for explaining the virtual construction surface displayed when the excavator 100 according to the present embodiment performs construction. In the example shown in FIG. 6, similar to FIG. 5, the first target construction surface 1501, the second target construction surface 1502, and the third target construction surface 1503 are set.

[0101] In the example shown in FIG. 6, as candidates for the virtual construction surface, there are an area 1611 obtained by extending the first target construction surface 1501, areas 1621 and 1622 obtained by extending the second target construction surface 1502, and an area 1631 obtained by extending the third target construction surface 1503.

[0102] In the example shown in FIG. 6, the excavator 100 is at position 1651. In the example shown in FIG. 6, the bucket 6 moves in the direction of arrow 1652 (negative X-axis direction) during construction.

[0103] Therefore, the display control unit 302 displays the area 1611 for constructing the first target construction surface 1501 from position 1615 as a virtual construction surface, and also displays the area 1622 for constructing the second target construction surface 1502 from position 1625 as a virtual construction surface.

[0104] That is, the display control unit 302 displays, as a virtual construction surface, the area extended in the direction (positive X-axis direction) in which the attachment AT opens among the areas obtained by extending the target construction surface.

[0105] Thereby, for example, the controller 30 can guide the tip 6a of the bucket 6 along the virtual construction surface 1611 and then move it from position 1615 along the first target construction surface 1501.

[0106] As another example, the controller 30 can guide the tip 6a of the bucket 6 along the virtual construction surface 1522 and then move it from position 1625 along the second target construction surface 1502.

[0107] As shown in FIGS. 5 and 6, even when the target construction surfaces 1501, 1502, and 1503 are the same, the virtual construction surface displayed by the display control unit 302 switches according to the positions of the excavator 100 and the attachment AT.

[0108] In the examples shown in FIGS. 5 and 6, an example of the virtual construction surface for guiding the bucket 6 to the start position of construction (for example, leveling work or excavation work) among the target construction surfaces is shown. As another example, when the bucket 6 is a tilt rotator, the tip 6a of the bucket 6 can be rotated 180 degrees. In this case, depending on the direction in which the bucket 6 can perform construction, the area set as the virtual construction surface among the areas obtained by extending the target construction surfaces shown in FIGS. 5 and 6 may be switched.

[0109] Furthermore, the area set as the virtual construction surface may be switched according to the operation direction of the arm 5 from the operator. For example, when performing the final finishing in construction, the excavator 100 may perform the opening operation of the arm 5 according to the operation of the operator while rolling the target construction surface with the back surface 6b of the bucket 6.

[0110] In the example shown in FIG. 5, in order to perform the final finishing in construction, after closing the arm 5, when the moving direction of the bucket 6 becomes the direction opposite to the direction of the arrow 1552 (positive X-axis direction) by the opening operation of the arm 5, the display control unit 302 displays the areas 1511 and 1522 as the virtual construction surface among the areas obtained by extending the target construction surface.

[0111] Similarly, in the example shown in FIG. 6, in order to perform the final finishing in construction, after closing the arm 5, when the moving direction of the bucket 6 becomes the direction opposite to the direction of the arrow 1652 (negative X-axis direction) by the opening operation of the arm 5, the display control unit 302 displays the areas 1621 and 1631 as the virtual construction surface among the areas obtained by extending the target construction surface.

[0112] By performing the above-described control, the controller 30 according to the present embodiment can form an edge even in the area that is the boundary of the target construction surface, so that the improvement of the construction accuracy can be realized.

[0113] Next, the screen displayed by the display control unit 302 will be described. FIG. 7 is a diagram showing an example of a screen displayed by the display control unit 302 according to the present embodiment on the display device D1.

[0114] The image display unit 41 of the display device D1 includes an upper display area 41A, a main display area 41B, and a lower display area 41C. The upper display area 41A is arranged in a part of the upper side of the image display unit 41. The lower display area 41C is arranged in a part of the lower side of the image display unit 41. The main display area 41B is arranged in the central part of the image display unit 41. The main display area 41B is arranged between the upper display area 41A and the lower display area 41C. The area of the main display area 41B is, for example, larger than the total area of the upper display area 41A and the lower display area 41C.

[0115] The upper display area 41A includes a date and time display area 41a, an operation mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, a coolant water temperature display area 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, and an operating oil temperature display area 41k.

[0116] The main display area 41B includes an image display area 41n. The image display area 41n includes an overhead image display area 41n1, a rear image display area 41n2, and a right-side image display area 41n3. These image display areas 41n1, 41n2, 41n3 occupy most of the image display unit 41. The image display areas 41n1, 41n2, 41n3 are arranged below the upper display area 41A.

[0117] The date and time display area 41a is an area for displaying the current date and time. The operation mode display area 41b is an area for displaying the current driving mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 for displaying the lifetime average fuel consumption or the interval average fuel consumption, and an instantaneous fuel consumption display area 41d2 for displaying the instantaneous fuel consumption.

[0118] The coolant temperature display area 41g is an area that displays the current temperature state of the engine coolant. The fuel remaining amount display area 41h is an area that displays the remaining amount state of the fuel stored in the fuel tank. The urea water remaining amount display area 41j is an area that displays, in an image, the remaining amount state of the urea water stored in the urea water tank. The operating oil temperature display area 41k is an area that displays the temperature state of the operating oil in the operating oil tank.

[0119] The image display area 41n is an area that displays the image captured by the imaging device S6. The image display area 41n displays an overhead view image FV, a rear image BM, and a right-side image RM. The overhead view image FV is a virtual viewpoint image generated by the display control unit 302 and is generated based on the images acquired by each of the cameras S6F, S6B, S6L, and S6R. Also, a shovel graphic GE corresponding to the shovel 100 is arranged in the central portion of the overhead view image FV. This is to enable the operator to intuitively grasp the positional relationship between the shovel 100 and the objects existing around the shovel 100.

[0120] The rear image BM is an image that shows the space behind the shovel 100 and includes an image GC of the counterweight. The rear image BM is a real viewpoint image generated by the display control unit 302 and is generated based on the image acquired by the camera S6B provided at the rear.

[0121] The right-side image RM is an image that shows the space to the right of the shovel 100 and includes an image RF of the right-side frame of the shovel 100. The right-side image RM is a real viewpoint image generated by the display control unit 302 and is generated based on the image acquired by the camera S6R arranged on the right side.

[0122] The display device D1 displays the overhead view image FV in the overhead view image display area 41n1, the rear image BM in the rear image display area 41n2, and the right-side image RM in the right-side image display area 41n3.

[0123] The lower display area 41C includes a side construction surface display area 42a and a front construction surface display area 42b.

[0124] The side construction surface display area 42a is an area where an image 42a1 showing the current position of the bucket 6, target construction surfaces 42a2, 42a3, and a virtual construction surface 42a4 are displayed from the side view point of the excavator 100.

[0125] The front construction surface display area 42b is an area where an image 42b1 showing the current position of the bucket 6, a target construction surface 42b2, and a virtual construction surface 42b3, which exist in the opening direction (extension direction) of the attachment AT, are displayed from the view point on the cab 10 side of the excavator 100. Specifically, the front construction surface display area 42b represents the display content when the area indicated by the line 42a5 of the side construction surface display area 42a is viewed from the arrow 42a6.

[0126] The contours of the virtual construction surface 42a4 and the virtual construction surface 42b3 are represented so that the operator and the like can recognize that they are virtually set, and are represented by, for example, dotted lines or the like.

[0127] In the present embodiment, the operator can recognize the positional relationship between the bucket 6, the virtual construction surface, and the target construction surface by referring to the screen displayed on the display device D1.

[0128] In the present embodiment, when the controller 30 receives a predetermined operation for starting the machine control function, based on the position of the bucket 6 when the predetermined operation is received, the controller 30 determines whether to align the tip 6a of the bucket 6 along either one of the target construction surface (for example, the target construction surface 42a2) and the virtual construction surface (for example, the virtual construction surface 42a4). In other words, the operator can select whether to align the tip 6a of the bucket 6 along either one of the target construction surface (for example, the target construction surface 42a2) and the virtual construction surface (for example, the virtual construction surface 42a4) by referring to the screen displayed on the display device D1 and performing a predetermined operation according to the position of the bucket 6.

[0129] Returning to FIG. 4, the operation reception unit 303 receives information input to the operation device 26 from the operation sensor 29. Further, the operation reception unit 303 receives information input to the input device D2 from the input device D2.

[0130] For example, the operation reception unit 303 receives the pressing of the MC switch. In the present embodiment, the case where the operation for executing the machine control function is the pressing of the MC switch will be described. Note that the present embodiment shows an example of the operation for executing the machine control function, and is not limited to the pressing of the MC switch, and other operations may be used.

[0131] The automatic control unit 304 automatically supports the manual operation of the excavator 100 by the operator through the operation device 26 by automatically operating the actuator. Specifically, the automatic control unit 304 can individually and automatically adjust the pilot pressure acting on the control valves (specifically, the control valve 173, the control valves 175L and 175R, and the control valve 174) corresponding to a plurality of hydraulic actuators (specifically, the swing hydraulic motor 2A, the boom cylinder 7, and the bucket cylinder 9). 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 is performed while the MC switch is pressed.

[0132] As a machine control function, the automatic control unit 304 controls one or more of the boom 4 and the bucket 6 so that the tip 6a of the bucket 6 contacts the target construction surface, for example. Specifically, when the operation reception unit 303 receives the closing operation or the opening operation of the arm 5, the automatic control unit 304 controls one or more of the boom 4 and the bucket 6 so that the tip 6a of the bucket 6 contacts the target construction surface together with the closing operation or the opening operation of the arm 5.

[0133] Further, as a machine control function, the automatic control unit 304 controls one or more of the boom 4 and the bucket 6 so that the tip 6a of the bucket 6 contacts the virtual construction surface, for example.

[0134] The automatic control unit 304 determines whether to move the bucket 6 along the virtual construction surface based on the positional relationship between the position of the bucket 6 when the operation reception unit 303 receives the pressing of the MC switch and the virtual construction surface.

[0135] FIG. 8 is an explanatory diagram showing the control of the bucket 6 based on the positional relationship between the position of the bucket 6 and the virtual construction surface by the automatic control unit 304 according to the present embodiment. In the example shown in FIG. 8, target construction surfaces 1801 and 1802 are set. The main body of the excavator 100 exists in the direction indicated by the arrow 1811.

[0136] In this case, an area 1821 obtained by extending the target construction surface 1802 is displayed on the display device D1 as the virtual construction surface. However, if the bucket 6 is moved along the virtual construction surface 1821, it becomes difficult to construct the target construction surface 1801. In the present embodiment, the automatic control unit 304 controls the bucket 6 so that a surface actually exists on the virtual construction surface 1821. In this case, after the bucket 6 moves along the virtual construction surface 1821, it reaches the construction start position of the target construction surface 1802 and then moves along the target construction surface 1802 as it is. That is, when the bucket 6 moves along the virtual construction surface 1821, the bucket 6 does not reach the target construction surface 1801. In this way, the virtual construction surface 1821 functions as a surface that guides the bucket 6 to the target construction surface 1802, while functioning as a surface that blocks the bucket 6 from moving to the target construction surface 1801.

[0137] The virtual construction surface 1821 preferably functions as if it were an actually existing surface when the bucket 6 is used to construct the target construction surface 1802, and functions as a non-existing surface, in other words, a surface that does not block the movement of the bucket 6, when the bucket 6 is used to construct the target construction surface 1801.

[0138] Therefore, in the present embodiment, the automatic control unit 304 determines whether to move the bucket 6 along the virtual construction surface 1821 based on the position of the bucket 6 when the operation reception unit 303 receives the pressing of the MC switch.

[0139] When the automatic control unit 304 according to the present embodiment receives the pressing of the MC switch, if the bucket 6 is closer to the main body of the excavator 100 than the virtual construction surface 1821, in other words, if it exists on the area 1851 side with respect to the virtual construction surface 1821, it is determined to move it along the virtual construction surface 1821.

[0140] On the other hand, when the automatic control unit 304 receives the pressing of the MC switch, if the bucket 6 is farther from the main body of the excavator 100 than the virtual construction surface 1821, in other words, if it exists on the area 1852 side with respect to the virtual construction surface 1821, it is determined not to move it along the virtual construction surface 1821.

[0141] Any method may be used to determine whether the bucket 6 is farther from the main body of the excavator 100 than the virtual construction surface 1821. In the present embodiment, an example is given in which the control reference point Pa of the tip 6a of the bucket 6 and the control reference point Pb of the back surface 6b of the bucket 6 are used. The positions of the control reference point Pa and the control reference point Pb can be calculated based on the current position and orientation of the excavator 100, the boom angle, the arm angle, the bucket angle, and the dimensions of the attachment AT (the shape of the bucket 6).

[0142] When the machine control function is executed, the automatic control unit 304 determines to move it along the virtual construction surface 1821 when at least one of the control reference point Pa and the control reference point Pb exists in the area 1852.

[0143] However, even when the automatic control unit 304 determines that at least one of the control reference point Pa and the control reference point Pb exists in the area 1852, if the control reference points Pa and Pb exist in the vicinity of the virtual construction surface 1821, it may be determined to move it along the virtual construction surface 1821.

[0144] For example, if at least one of the control reference points Pa and Pb is within a predetermined range 1831 with respect to the virtual construction surface 1821, the automatic control unit 304 determines to align a predetermined portion of the bucket 6 along the virtual construction surface 1821. The predetermined range 1831 is, for example, within ±400 mm with respect to the virtual construction surface 1821, but may be determined according to the embodiment.

[0145] Specifically, when the machine control function is executed, if the bucket 6 is at the first position 6a1, in other words, if the bucket 6 is closer to the main body of the excavator 100 than the virtual construction surface 1821, the automatic control unit 304 determines to align the tip 6a of the bucket 6 along the virtual construction surface 1821. In this embodiment, since no setting is required to align the tip 6a of the bucket 6 along the virtual construction surface 1821, the operation burden can be reduced.

[0146] Furthermore, when the machine control function is executed, if the bucket 6 is at the second position 6a2, although the control reference point Pa is farther from the main body of the excavator 100 than the virtual construction surface 1821, the control reference point Pa is within the predetermined range 1831, and the control reference point Pa is closer to the virtual construction surface 1821 than the control reference point Pb, the automatic control unit 304 determines to align the tip 6a of the bucket 6 along the virtual construction surface 1821. In this embodiment, depending on which of the control reference points Pa and Pb is closer to the virtual construction surface 1821, the portion to be aligned along the virtual construction surface 1821 may be different. For example, if the control reference point Pa is closer to the virtual construction surface 1821, the automatic control unit 304 aligns the tip 6a of the bucket 6 along the virtual construction surface 1821, and if the control reference point Pb is closer to the virtual construction surface 1821, the automatic control unit 304 controls to align the back surface 6b of the bucket 6 along the virtual construction surface 1821.

[0147] Furthermore, when the machine control function is executed, if the bucket 6 is at the third position 6a3, the automatic control unit 304 determines not to align a predetermined part (the tip 6a or the back surface 6b) of the bucket 6 along the virtual construction surface 1821 because the control reference points Pa and Pb are farther from the main body of the shovel 100 than the virtual construction surface 1821 and are outside the predetermined range 1831.

[0148] In this embodiment, whether to move along the target construction surface is determined based on whether the bucket 6 exists within a predetermined range from the target construction surface. The predetermined range 1832 shown in FIG. 8 is, for example, within ±400 mm with respect to the target construction surface 1801, but it may be determined according to the implementation mode.

[0149] That is, when the machine control function is executed, if the bucket 6 is at the fourth position 6a4, the automatic control unit 304 determines to align the tip 6a of the bucket 6 along the target construction surface 1801 because the control reference point Pa is closer to the target construction surface 1801 than the control reference point Pb and the control reference point Pa is within the predetermined range 1832.

[0150] In this way, when the machine control function is executed, the automatic control unit 304 determines whether to align the bucket 6 along either the target construction surface or the virtual construction surface based on the position of the bucket 6 (an example of an end attachment). In this embodiment, it is assumed that the machine control function is executed by pressing the MC switch. However, this embodiment does not limit the execution of the machine control function to the case of pressing the MC switch, and it may be based on other conditions.

[0151] Next, the processing procedure executed by the controller 30 according to this embodiment will be described. FIG. 9 is a flowchart showing the processing procedure regarding the construction of the target construction surface by the controller 30 according to this embodiment.

[0152] The display control unit 302 causes the display device D1 to display the positional relationship between the bucket 6, the target construction surface, and the virtual construction surface (S1901). For example, the display screen shown in FIG. 7 is displayed.

[0153] The operation reception unit 303 receives an operation related to the alignment of the bucket 6 with respect to the operating device 26 from the operation sensor 29, and the controller 30 operates the attachment AT according to the operation (S1902).

[0154] The operation reception unit 303 determines whether or not the pressing of the MC switch has been received before the control reference points Pa and Pb of the bucket 6 exceed the virtual construction surface (S1903).

[0155] When the operation reception unit 303 determines that the pressing of the MC switch has been received after the control reference points Pa and Pb of the bucket 6 have exceeded the virtual construction surface (S1903: NO), the automatic control unit 304 determines whether or not the control reference points Pa and Pb that have exceeded the virtual construction surface are within a predetermined range from the virtual construction surface (S1904).

[0156] When the automatic control unit 304 determines that the control reference points Pa and Pb that have exceeded the virtual construction surface are within a predetermined range from the virtual construction surface (S1904: YES), the process proceeds to the process of S1906.

[0157] When the automatic control unit 304 determines that the control reference points Pa and Pb that have exceeded the virtual construction surface are not within a predetermined range from the virtual construction surface (S1904: NO), it determines whether or not the control reference points Pa and Pb exist within a predetermined range from the target construction surface at the timing when the MC switch is pressed (S1905).

[0158] When the automatic control unit 304 determines that the control reference points Pa and Pb exist within a predetermined range from the target construction surface at the timing when the MC switch in S1903 is pressed (S1905: YES), it executes the machine control function so that a predetermined part of the bucket 6 moves along the target construction surface (S1909).

[0159] On the other hand, when the automatic control unit 304 determines that the control reference points Pa and Pb do not exist within a predetermined range from the target construction surface at the timing when the MC switch is pressed (S1905: NO), it ends without performing any particular processing.

[0160] In S1903, when the operation reception unit 303 determines that it has received the pressing of the MC switch before the control reference points Pa and Pb of the bucket 6 exceed the virtual construction surface (S1903: YES), or in S1904, when it determines that the control reference points Pa and Pb that have exceeded the virtual construction surface are within a predetermined range from the virtual construction surface (S1904: YES), the display control unit 302 changes the display mode of the virtual construction surface displayed in the side construction surface display area 42a and the front construction surface display area 42b of the display screen (S1906). That is, when it is determined that the bucket 6 will be moved along the virtual construction surface, the display control unit 302 changes the outline of the virtual construction surface displayed in the side construction surface display area 42a and the front construction surface display area 42b of the display device D1 from a dotted line to a solid line. By changing to such a display mode, the operator can recognize that the bucket 6 moves along the virtual construction surface, thus realizing an improvement in convenience. Note that this embodiment shows an example of changing from a dotted line to a solid line, but the control for changing such a display mode is not limited thereto. For example, when it is determined that the bucket 6 will be moved along the virtual construction surface, the display control unit 302 may continue to display the outline of the virtual construction surface in the side construction surface display area 42a and the front construction surface display area 42b of the display device D1 in a dotted line state.

[0161] Then, the automatic control unit 304 executes the machine control function so that a predetermined part of the bucket 6 moves along the virtual construction surface (S1907).

[0162] Then, the automatic control unit 304 determines whether a predetermined part of the bucket 6 has reached the target construction surface (S1908). When it determines that the predetermined part of the bucket 6 has not reached the target construction surface (S1908: NO), the processing is performed again from S1907.

[0163] On the one hand, when the automatic control unit 304 determines that a predetermined part of the bucket 6 has reached the target construction surface (S1908: YES), it executes the machine control function so that the predetermined part of the bucket 6 moves along the target construction surface (S1909).

[0164] By performing the above-described control, the controller 30 according to the present embodiment can determine whether to move a predetermined part of the bucket 6 along the target construction surface or along the virtual construction surface according to the position of the bucket 6.

[0165] (Second Embodiment) In the above-described embodiment, the case where construction is performed with the excavator 100 on which the operator is riding has been described. However, the above-described embodiment is not limited to the method of performing construction when the operator is riding on the excavator 100. For example, when the excavator 100 performs construction 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.

[0166] Therefore, referring to FIG. 10, the outline of the remote operation system SYS according to the second embodiment will be described. FIG. 10 is a schematic diagram showing an example of the remote operation system SYS according to the second embodiment.

[0167] As shown in FIG. 10, the remote operation system SYS according to the second embodiment includes an excavator 100 and a remote operation room RC.

[0168] The excavator 100 and the remote operation room RC are connected so as to be able to transmit and receive data via the communication line NW.

[0169] The excavator 100 enables wireless communication by using the communication device T1. Then, the excavator 100 can transmit and receive data to and from a device (for example, the remote operation room RC) connected to the communication line NW.

[0170] 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 the user may be used.

[0171] 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.

[0172] The excavator 100 included in the remote operation system SYS may be one or a plurality of units. 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.

[0173] <Configuration example of remote operation room> The remote operation room RC is provided 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.

[0174] The communication device T2 is configured to control communication with the communication device T1 attached to the excavator 100.

[0175] The remote controller (an example of a remote operation device) R30 is an arithmetic device that executes various operations. In this 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.

[0176] 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 check the surroundings of the excavator 100. Even though the operator is in the remote operation room RC, the display device DR can confirm the situation of the work site including the surroundings of the excavator 100.

[0177] Furthermore, similar to the first embodiment, the display device DR displays an image indicating the current position of the bucket 6, the target construction surface, and the virtual construction surface. For example, on the display screen shown in FIG. 8, a side construction surface display area 42a and a front construction surface display area 42b are displayed on the display device DR.

[0178] 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 the operation lever, or an angle sensor that detects the swing angle around the swing axis of the operation lever. 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.

[0179] Also, an MC switch is provided in the operation device R26. Then, the remote controller R30 outputs a signal indicating the presence or absence of pressing the MC switch to the communication device T2. And the communication device T2 transmits the signal to the communication device T1 of the excavator 100.

[0180] Then, the communication device T1 of the excavator 100 receives the operation signal and the signal indicating the presence or absence of pressing the MC switch from the communication device T2 of the remote controller R30.

[0181] Then, the controller 30 of the excavator 100 performs the same control as in the above-described embodiment based on the received operation signal and the signal indicating whether or not the MC switch is pressed.

[0182] That is, while the automatic control unit 304 of the controller 30 receives an operation signal indicating that the MC control switch is pressed from the communication device T2, it determines whether to move the bucket 6 along the virtual construction surface based on the position of the bucket 6.

[0183] Thereafter, the automatic control unit 304 moves the bucket 6 along the virtual construction surface or moves the bucket 6 along the target construction surface based on the determination result.

[0184] In this embodiment, when performing remote operation, in the screen shown on the display device DR, it may be difficult to perform construction operations with the bucket 6.

[0185] Therefore, in this embodiment, the controller 30 performs the same control as in the above-described embodiment based on the received signal, thereby facilitating the construction of moving a predetermined portion of the bucket 6 along the target construction surface by the excavator 100. Therefore, the same effects as in the above-described embodiment can be obtained.

[0186] <Operation> In the above-described embodiment, the display control unit 302 is configured to display on the display device D1 the position of the end attachment, the target construction surface indicating the shape after construction represented by the design data, and the virtual construction surface extending the target construction surface. Therefore, when the operator enables the machine control function, the operator can recognize how the end attachment moves. Therefore, since the operator can recognize the work content by the machine control function, the operator can grasp the work content and execute the machine control function, thereby realizing an improvement in work efficiency.

[0187] In the above-described embodiment, when the machine control function is executed, the automatic control unit 304 determines whether to move the end attachment along either the target construction surface or the virtual construction surface based on the position of the end attachment. That is, even if the operator does not preset the virtual construction surface in advance, the end attachment can be moved along the virtual construction surface, thus reducing the operation burden.

[0188] In the above-described embodiment, when the machine control function is executed, in other words, when the operation of the MC switch is received, the automatic control unit 304 determines whether to move the end attachment along either the target construction surface or the virtual construction surface according to the position of the end attachment. In other words, the operator can select the object along which the end attachment is to be moved from the target construction surface and the virtual construction surface at the timing of pressing the MC switch. Therefore, the bucket 6 can be moved as intended by the operator, thus improving the work efficiency.

[0189] The above-described embodiment has described an example 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 embodiment and the modified example show an example of the control system of the excavator, and the control system of the excavator may be used in various modes.

[0190] 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 embodiments. 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

[0191] 100 Excavator 1 Lower Traveling Body 2 Slewing Mechanism 3 Upper Slewing Body 4 Boom 5 Arm 6 Buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 26, R26 Operating Device 29, R29 Operating Sensor 30 Controller 301 Acquisition Unit 302 Display Control Unit 303 Operation Reception Unit 304 Automatic Control Unit 47 Auxiliary Memory Device 47A Design Data Storage Unit S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Aircraft Inclination Sensor S5 Swivel Angle Sensor D1 Display Device D2 Input Device T1, T2 Communication Device RC Remote Operating Room R30 Remote Controller

Claims

1. 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, an end attachment provided at the tip of the arm, a detection device for detecting the postures of the boom, the arm, and the end attachment, a storage device for storing surface information representing the shape of the surface after construction, a display device, and a control device having a function of automatically operating at least a part of a plurality of actuators for operating each of the boom, the arm, and the end attachment, and displaying, on the display device, the position of the end attachment specified based on the detection result by the detection device, the surface having the shape after construction represented by the surface information, and a virtual surface obtained by extending the surface and guiding the end attachment when the function is executed. An excavator comprising the above.

2. When the function is executed, the control device determines whether to move the end attachment along either the surface or the virtual surface based on the position of the end attachment. The excavator according to Claim 1.

3. When receiving a predetermined operation for starting the function, the control device determines whether to move the end attachment along either the surface or the virtual surface based on the position of the end attachment at the time of receiving the predetermined operation. The excavator according to Claim 2.

4. When receiving the predetermined operation, if the end attachment is closer to the main body of the excavator than the virtual surface, the control device determines to move it along the virtual surface. The excavator according to Claim 3.

5. When it is determined that the end attachment is to be moved along the virtual surface, the control device changes the display mode of the virtual surface displayed on the display device. The excavator according to Claim 2.

6. Among a plurality of regions in which the surface can be extended, the control device switches the region displayed as the virtual surface according to the position of the excavator. The excavator according to Claim 1.

7. An excavator comprising: 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; an end attachment provided at the tip of the arm; a detection device for detecting the postures of the boom, the arm, and the end attachment; and a control device having a function of automatically operating at least a part of a plurality of actuators for operating each of the boom, the arm, and the end attachment. A storage device for storing surface information representing the shape of the surface after construction. A display device for displaying the position of the end attachment specified based on the detection result by the detection device, the surface having the shape after construction represented by the surface information, and a virtual surface obtained by extending the surface and guiding the end attachment when the function is executed. An excavator control system comprising the above.

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