Shovel and shovel system

Abstract

To provide a shovel and a shovel system capable of improving operability.SOLUTION: A shovel includes an undercarriage, a revolving super structure revolving with respect to the undercarriage, an attachment attached to the revolving super structure, an operation lever for operating the attachment, a display device, and a control unit, in which the control unit operates the display device by an inclination of the operation lever.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a work machine such as a hydraulic excavator provided with a touch panel type display device.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the work machine disclosed in Patent Document 1, when operating the touch panel type display device, the operator needs to raise the upper body and touch the touch panel type display device.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide an excavator and an excavator system that improve operability.

Means for Solving the Problems

[0006] In order to achieve the above object, an excavator according to an embodiment of the present invention includes a lower traveling body, an upper slewing body that slews with respect to the lower traveling body, an attachment attached to the upper slewing body, an operation lever for operating the attachment, a display device, and a control unit, and the control unit operates the display device based on the inclination of the operation lever.

Effects of the Invention

[0007] According to the above embodiment, it is possible to provide an excavator and an excavator system that improve operability.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

MODE 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 restrictive 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] Hereinafter, in the embodiments of the present invention, an example in which a hydraulic excavator is used as an example of a working machine will be described, but the present invention is not limited to a hydraulic excavator. It may be applied to construction machinery, standard machines, application machines, forestry machinery, or transport machinery based on hydraulic excavators.

[0011] (First Embodiment) Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[0012] [Overview of the Excavator] First, with reference to FIG. 1, an overview of the excavator 100 according to the first embodiment will be described.

[0013] FIG. 1 is a side view of the excavator 100 according to the first embodiment.

[0014] The excavator 100 according to the first embodiment includes a lower traveling body 1, an upper slewing body 3 that is mounted on the lower traveling body 1 so as to be slewing freely via a slewing mechanism 2, a boom 4, an arm 5, and a bucket 6 as an attachment (working device), and a cabin 10.

[0015] The lower traveling body 1 (an example of a traveling body) includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by traveling hydraulic motors 2ML, 2MR (see FIG. 2) to make the excavator 100 travel.

[0016] 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.

[0017] The attachment AT (an example of an attachment) includes a boom 4, an arm 5, and a bucket 6.

[0018] The boom 4 is attached to the front center of the upper slewing body 3 so as to be able to pitch, an arm 5 is attached to the tip of the boom 4 so as to be able to rotate vertically, and a bucket 6 is attached to the tip of the arm 5 so as to be able to rotate vertically.

[0019] The bucket 6 is an example of a working tool. The bucket 6 is used, for example, in excavation work or the like. The bucket 6 according to the first embodiment includes a tip 6a and a bottom surface 6b as parts for forming a horizontal plane.

[0020] Also, other working tools may be attached to the tip of the arm 5 instead of the bucket 6 according to the work content or the like.

[0021] The boom 4, arm 5, and bucket 6 are each hydraulically driven by hydraulic cylinders 7, 8, and 9 serving as hydraulic actuators with hydraulic oil discharged from a main pump 14 (see FIG. 2).

[0022] The cab 10 is an operator's cab (hereinafter also referred to as an operator) on which an operator rides, and is mounted on the front left side of the upper swing body 3.

[0023] Note that the excavator 100 may be configured such that some of the driven elements such as the lower traveling body 1, upper swing body 3, boom 4, arm 5, and 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.

[0024] [Configuration of Excavator] Next, in addition to FIG. 1, with reference to FIG. 2, the specific configuration of the excavator 100 will be described.

[0025] FIG. 2 is a block diagram showing an example of the configuration of the excavator 100 according to the first embodiment.

[0026] In the drawings, 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. The same applies to FIGS. 3 and 4 below.

[0027] The hydraulic drive system that hydraulically drives the hydraulic actuators of the excavator 100 according to the first 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 first embodiment includes hydraulic actuators such as traveling hydraulic motors 2ML, 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, upper swing body 3, boom 4, arm 5, and bucket 6, respectively.

[0028] 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. 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 to be 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.

[0029] 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 according to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R as will be described later.

[0030] The main pump 14 (an example of a hydraulic pump) is mounted, for example, at the rear of the upper slewing body 3 in the same manner as the engine 11, and supplies hydraulic oil to the control valve unit 17 through the high-pressure hydraulic line 16. 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. As described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, so that the stroke length of the piston is adjusted and the discharge flow rate (discharge pressure) can be controlled. The main pump 14 includes, for example, main pumps 14L and 14R as will be described later. The high-pressure hydraulic line 16 is a pipe for converting the power from the engine 11 into hydraulic pressure by the main pump 14 and conducting the hydraulic pressure to the control valve unit 17.

[0031] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the first 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 a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, traveling hydraulic motors 2ML and 2MR, and a swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling 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.

[0032] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In the first 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 have the function of supplying hydraulic oil to various hydraulic control devices via the pilot line. In this case, the pilot pump 15 may be omitted.

[0033] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the first embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0034] The operating device 26 is a device used by an 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.

[0035] 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 first 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 from 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.

[0036] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when an operation on the specific operating device 26 is not being performed.

[0037] Also, the cab 10 is provided with an operating device 26 (see FIG. 2 etc.) and a gate lock lever (not shown) etc.

[0038] The gate lock lever is configured to be able to switch between the effective state and the invalid state of the operating device 26. The effective state of the operating device 26 means a state in which the corresponding hydraulic actuator operates when the operator operates the operating device 26. The invalid state of the operating device 26 means a state in which the corresponding hydraulic actuator does not operate even when the operator operates the operating device 26.

[0039] In this embodiment, the gate lock lever is installed at the front left end of the driver's seat. The operator can set the operating device 26 to the effective state by pulling up the gate lock lever to the unlocked state. Also, the operator can set the operating device 26 to the invalid state by pushing down the gate lock lever to the locked state.

[0040] Also, a gate lock valve 50 is provided in the pipeline connecting the pilot pump 15 and the proportional valve 31. The gate lock valve 50 is, for example, a normally closed on-off valve, which communicates the pipeline when a lock release signal is input, and shuts off the pipeline when no lock release signal is input.

[0041] The gate lock switch 51 is configured to output a lock release signal to the controller 30 and the gate lock valve 50 when the gate lock lever (not shown) is in the lock release state, and not to output a lock release signal when the gate lock lever is in the locked state.

[0042] With such a configuration, by pulling up the gate lock lever to the lock release state, the gate lock valve 50 opens, and the hydraulic oil supplied from the pilot pump 15 is supplied to the proportional valve 31 and the control valve unit 17 (control valves 171 - 176), and the operating device 26 becomes effective. Also, by pushing down the gate lock lever to the locked state, the gate lock valve 50 closes, and the hydraulic oil supplied from the pilot pump 15 to the proportional valve 31 and the control valve unit 17 (control valves 171 - 176) is shut off, and the operating device 26 becomes ineffective. Note that when the gate lock valve 50 is closed, the operation of the excavator 100 by machine control also becomes ineffective.

[0043] The control system of the excavator 100 according to the first embodiment includes a controller 30, a display device D1, an input device D2, and a communication device T1. Also, 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 inclination sensor S4, a swing angle 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, and a bucket bottom pressure sensor S9B.

[0044] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the first 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 the first 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.

[0045] The display device D1 is provided at a location that 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 dedicated one-to-one line.

[0046] Also, the display device D1 is not limited to the device pre-provided in the cabin 10, and may be a separately placed monitor. Furthermore, the display device D1 may be any device that can display, and for example, a tablet terminal or the like that can communicate with the communication device T1 may be used.

[0047] The input device D2 is provided within the reach of the hands of the seated operator within the cabin 10, receives various operation inputs from the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device D2 includes a touch panel implemented on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operation device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, and the like. A signal corresponding to the operation content for the input device D2 is taken into the controller 30.

[0048] The controller 30 (an example of a control device) is provided, for example, within the cabin 10 and performs drive control of the excavator 100. The function of the controller 30 may be realized by arbitrary hardware, software, or a combination thereof. For example, the controller 30 is mainly configured by a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage medium, various input / output interfaces, and the like. The controller 30 realizes various functions by executing various programs stored in the ROM or the non-volatile auxiliary storage medium on the CPU.

[0049] For example, the controller 30 sets a target rotational speed based on an operation by the operator or the like and performs drive control to rotate the engine 11 at a constant speed.

[0050] Also, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0051] Also, for example, the controller 30 controls the regulator 13 and adjusts the discharge amount of the main pump 14 based on the detection value of the pilot pressure corresponding to the operation state of various operation elements (i.e., various hydraulic actuators) in the operation device 26 input from the operation sensor 29.

[0052] Further, for example, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the excavator 100 by the operator through the operation device 26. Further, the controller 30 performs control related to a machine control function that automatically supports the manual operation of the excavator 100 by the operator through the operation device 26.

[0053] Note that a 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 dedicated controllers (control devices).

[0054] More specifically, the controller 30 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the slewing angle sensor S5, the imaging device S6, the communication device T1, the input device D2, and the like. Further, the controller 30 calculates, for example, the distance between the bucket 6 and the design surface 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 and the like, and individually and automatically adjusts the pilot pressure acting on the control valve corresponding to the hydraulic actuator, so that each actuator can be automatically operated.

[0055] The proportional valve 31 is provided in a pilot line that connects the pilot pump 15 and a pilot port of any one 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 in response 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. Then, the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve. The proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, and 31DR as described later.

[0056] 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. Also, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when an operation on the specific operating device 26 is being performed.

[0057] The boom angle sensor S1 is attached to the boom 4 and detects the pitching angle of the boom 4 with respect to the upper slewing body 3 (hereinafter referred to as the "boom angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 may 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. Hereinafter, the same applies to the arm angle sensor S2, the bucket angle sensor S3, and the 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.

[0058] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as the "arm angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 with respect to the straight line connecting the fulcrums at both ends of the boom 4. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0059] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as 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.

[0060] The body tilt sensor S4 detects the tilt state of the body (the upper slewing 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 slewing body 3 and detects the tilt angles (hereinafter, "front-back tilt angle" and "left-right tilt angle") about two axes in the front-back direction and the left-right direction of the excavator 100 (i.e., the upper slewing body 3). The detection signals corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) by the body tilt sensor S4 are taken into the controller 30.

[0061] The slewing angle sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing angle sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing angle sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, and the like.

[0062] 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.

[0063] The camera S6F is attached to, for example, the ceiling of the cab 10, that is, inside the cab 10. Also, the camera S6F may be attached outside the cab 10, such as the roof of the cab 10 or the side surface of the boom 4. The camera S6L is attached to the left end of the upper surface of the upper slewing body 3, the camera S6R is attached to the right end of the upper surface of the upper slewing body 3, and the camera S6B is attached to the rear end of the upper surface of the upper slewing body 3.

[0064] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is, for example, a single-eye wide-angle camera having a very wide angle of view. Also, the imaging device S6 may be a stereo camera, a distance image camera, or the like. The captured images by the imaging device S6 are taken into the controller 30.

[0065] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively attached to the boom cylinder 7, and detect the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "boom bottom pressure"). The detection signals corresponding to the boom rod pressure and the boom bottom pressure by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively taken into the controller 30.

[0066] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B respectively detect the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "arm bottom pressure"). The detection signals corresponding to the arm rod pressure and the arm bottom pressure by the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively taken into the controller 30.

[0067] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B respectively detect the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "bucket bottom pressure"). The detection signals corresponding to the bucket rod pressure and the bucket bottom pressure by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively taken into the controller 30.

[0068] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc. with a base station as an end. The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0069] The excavator 100 drives operating elements (hereinafter referred to as "driven elements"), such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, by operating an actuator (for example, a hydraulic actuator) according to the operation of an operator boarding the cab 10.

[0070] Alternatively, or in addition to being configured to be operable by the operator in the cab 10, the excavator 100 may be configured to be remotely operated (remote-controlled) from outside the excavator 100. When the excavator 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0071] Further, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 realizes a function of automatically operating at least a part of the driven elements, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, that is, a so-called "automatic operation function" or "machine control function".

[0072] The automatic driving function may include a function of automatically operating a driven element (actuator) other than the driven element (actuator) of the operation target in response to an operation on the operation device 26 of the operator or a remote operation, that is, a so-called "semiautomatic operation function" or an "operation support type machine control function". Further, the automatic driving 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 driving function" or a "fully automatic type machine control function". In the excavator 100, when the fully automatic driving function is valid, the inside of the cabin 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 driving 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 driving function") in which the excavator 100 autonomously makes various determinations, and the operation content of the driven element (hydraulic actuator) of the automatic driving target is determined autonomously according to the determination result.

[0073] Specifically, when the arm 5 is being operated by the operator through the operation device 26, the controller 30 may automatically operate at least one of the boom 4 and the bucket 6 so that a preset target design surface (hereinafter simply referred to as "design surface") coincides with the tip position of the bucket 6. Further, the controller 30 may also automatically operate the arm 5 regardless of the operation state of the operation device 26 that operates the arm 5. That is, the controller 30 may cause the attachment to perform a preset operation by using the operation of the operation device 26 by the operator as a trigger. 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 in response to the operation of the operation device 26 corresponding to the arm 5 is referred to as a "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 (26L, 26R) included in the operation device 26.

[0074] [Hydraulic System of Excavator] Next, referring to FIG. 3, a configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 3 is a diagram showing a configuration example of the hydraulic system mounted on the excavator 100. In FIG. 3, the mechanical power transmission system, the hydraulic oil line, the pilot line, and the electric control system are indicated by double lines, solid lines, broken lines, and dotted lines, respectively.

[0075] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operation sensor 29, and a controller 30, etc.

[0076] In FIG. 3, the hydraulic system is configured such that hydraulic oil can be circulated from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass pipeline 40 or the parallel pipeline 42.

[0077] The main pump (hydraulic pump) 14 is configured to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In the first embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0078] In the first embodiment, the control valve unit 17 includes control valves (direction control valves) 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply the hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176.

[0079] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipeline 40L or the left parallel pipeline 42L, and the right main pump 14R circulates the hydraulic oil to the hydraulic oil tank through the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0080] The left center bypass pipeline 40L is a hydraulic oil line passing through the control valves 171, 173, 175L and 176L arranged in the control valve unit 17. The right center bypass pipeline 40R is a hydraulic oil line passing through the control valves 172, 174, 175R and 176R arranged in the control valve unit 17.

[0081] The control valve 171 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and to discharge the hydraulic oil discharged from the left travel hydraulic motor 2ML to the hydraulic oil tank.

[0082] The control valve 172 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and to discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR to the hydraulic oil tank.

[0083] The control valve 173 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

[0084] The control valve 174 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0085] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0086] The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0087] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0088] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0089] The left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass pipeline 40L is restricted or blocked by any one of the control valves 171, 173, and 175L. The right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass pipeline 40R is restricted or blocked by any one of the control valves 172, 174, and 175R.

[0090] Also, a left turning pressure sensor S10L and a right turning pressure sensor S10R are attached to the slewing hydraulic motor 2A. The left turning pressure sensor S10L detects the pressure of the hydraulic oil at the left port of the slewing hydraulic motor 2A. The right turning pressure sensor S10R detects the pressure of the hydraulic oil at the right port of the slewing hydraulic motor 2A.

[0091] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to reduce the discharge amount. The same applies to the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output power (output horsepower) of the engine 11.

[0092] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0093] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0094] The left operating lever 26L is used for turning operations and for operating the arm 5. When the left operating lever 26L is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When it is operated in the left-right direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0095] The operation sensor 29LA detects the content of the front-rear direction operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.

[0096] The operation sensor 29LB detects the content of the left-right direction operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.

[0097] When the left operation lever 26L is operated in the arm closing direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LA, introduces hydraulic oil into the right pilot port of the control valve 176L, and introduces hydraulic oil into the left pilot port of the control valve 176R. When the left operation lever 26L is operated in the arm opening direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LA, introduces hydraulic oil into the left pilot port of the control valve 176L, and introduces hydraulic oil into the right pilot port of the control valve 176R.

[0098] When the left operation lever 26L is operated in the left turning direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LB, introduces hydraulic oil into the left pilot port of the control valve 173. When the left operation lever 26L is operated in the right turning direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LB, introduces hydraulic oil into the right pilot port of the control valve 173.

[0099] A switch NS is provided on the left operation lever 26L. In the first embodiment, the switch NS is a push button switch provided at the tip of the left operation lever 26L. The operator can operate the left operation lever 26L while pressing the switch NS. The switch NS may be provided on the right operation lever 26R or at other positions within the cab 10.

[0100] The right operation lever 26R is used for the operation of the boom 4 and the operation of the bucket 6. When the right operation lever 26R is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When the right operation lever 26R is operated in the left-right direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0101] The operation sensor 29RA detects the content of the operation in the front-rear direction on the right operation lever 26R by the operator, and outputs the detected value to the controller 30.

[0102] The operation sensor 29RB detects the content of the operation in the left-right direction on the right operation lever 26R by the operator, and outputs the detected value to the controller 30.

[0103] Specifically, when the right operation lever 26R is operated in the boom lowering direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RA, and introduces hydraulic oil into the left pilot port of the control valve 175L and also introduces hydraulic oil into the right pilot port of the control valve 175R. Also, when the right operation lever 26R is operated in the boom raising direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RA, and introduces hydraulic oil into the right pilot port of the control valve 175L and also introduces hydraulic oil into the left pilot port of the control valve 175R.

[0104] Also, when the right operation lever 26R is operated in the bucket closing direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RB, and introduces hydraulic oil into the right pilot port of the control valve 174. When it is operated in the bucket opening direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RB, and introduces hydraulic oil into the left pilot port of the control valve 174.

[0105] The traveling lever 26D is used for the operation of the crawler. Specifically, the left traveling lever 26DL is used for the operation of the left crawler. It may be configured to be interlocked with the left traveling pedal.

[0106] The operation sensor 29DL detects the content of the operation in the front-rear direction on the left traveling lever 26DL by the operator, and outputs the detected value to the controller 30.

[0107] When the left travel lever 26DL is operated in the front-rear direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29DL, uses the hydraulic oil discharged from the pilot pump 15, and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171.

[0108] The right travel lever 26DR is used to operate the right crawler. It may be configured to be interlocked with the right travel pedal.

[0109] The operation sensor 29DR detects the content of the front-rear direction operation of the right travel lever 26DR by the operator, and outputs the detected value to the controller 30.

[0110] When the right travel lever 26DR is operated in the front-rear direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29DR, uses the hydraulic oil discharged from the pilot pump 15, and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0111] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L, and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0112] The controller 30 receives the output of the operation sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. In addition, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle (negative control throttle) 18, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0113] In the left center bypass pipeline 40L, a left throttle valve 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle valve 18L. And the left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same way.

[0114] Specifically, as shown in FIG. 3, in the case of the standby state where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the left main pump 14L reaches the left throttle valve 18L through the left center bypass pipeline 40L. And the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 decreases the discharge amount of the left main pump 14L to the allowable minimum discharge amount and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipeline 40L. On the other hand, when any of the hydraulic actuators are operated, the hydraulic oil discharged by the left main pump 14L flows into the operated hydraulic actuator through the control valve corresponding to the operated hydraulic actuator. And the flow of the hydraulic oil discharged by the left main pump 14L decreases or disappears the amount reaching the left throttle valve 18L and decreases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic oil to the operated hydraulic actuator, and ensures the driving of the operated hydraulic actuator. Note that the controller 30 controls the discharge amount of the right main pump 14R in the same way.

[0115] With the above configuration, in the standby state, the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14. The wasteful energy consumption includes the pumping loss generated by the hydraulic oil discharged from the main pump 14 in the center bypass pipeline 40. Further, when operating the hydraulic actuator, the hydraulic system of FIG. 3 can surely supply sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0116] That is, the controller 30 controls the regulator 13 so that the first discharge amount calculated so that the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge amount does not exceed the output power (output horsepower) of the engine 11, and the second discharge amount calculated based on the control pressure detected by the control pressure sensor 19, takes the smaller of the two discharge amounts.

[0117] [Touch panel type display device] Next, a hydraulic excavator 100 including a touch panel type display device D12 will be described as an example of the display device D1 and the input device D2. The display device included in the touch panel type display device D12 corresponds to an example of the display device D1. Also, the touch panel included in the touch panel type display device D12 corresponds to an example of the input device D2. The touch panel type display device D12 is provided at a position within the cab 10 that is visible to the operator sitting in the driver's seat and is arranged at a position that does not interfere with the operation of the operating device 26 by the operator. In other words, as viewed from the operator sitting in the driver's seat, the touch panel type display device D12 is arranged at a position that is more difficult to operate than the operating device 26.

[0118] FIG. 4 is an example of a block diagram for explaining the operation of the hydraulic excavator 100 according to the first embodiment.

[0119] The touch panel display device D12 is connected to the controller 30 via an in-vehicle communication network 35 such as CAN. Note that the touch panel display device D12 has a self-diagnosis function, and when the touch panel (an example of the input device D2) malfunctions, it outputs failure information to the controller 30 via the in-vehicle communication network 35.

[0120] The construction machine 100 is provided with an operation mode changeover switch 34. The operation mode changeover switch 34 is a switch used when switching the operation target of the operation device 26. In other words, the operation mode changeover switch 34 is a switch capable of switching between an ON state and an OFF state. The ON state of the operation mode changeover switch 34 is a state (first operation mode) that permits the operation device 26 to operate the display device D1 (touch panel display device D12). The OFF state of the operation mode changeover switch 34 is a state (second operation mode) that does not permit the operation device 26 to operate the display device D1 (touch panel display device D12). The operation mode changeover switch 34 may be provided at a position where accidental operation, such as in a fuse box, is prevented. Also, it may be determined that the operation mode changeover switch 34 has been operated by simultaneously pressing a plurality of switches or the like. The operation mode changeover switch 34 may be a momentary switch that becomes ON only while the operation mode changeover switch 34 is being pressed and becomes OFF when the operation mode changeover switch 34 is released. Also, the operation mode changeover switch 34 may be an alternate switch that switches between ON and OFF each time the operation mode changeover switch 34 is pressed. The signal (ON / OFF) of the operation mode changeover switch 34 is output to the controller 30 and the touch panel display device D12.

[0121] Also, the operation device 26 outputs the operation amounts of the operation levers (left operation lever 26L, right operation lever 26R) detected by the operation sensor 29 (see FIG. 3) to the controller 30. Also, the controller 30 outputs a control signal for controlling the opening area of the proportional valve 31 to the proportional valve 31 according to the output of the operation sensor 29.

[0122] FIG. 5 is a flowchart showing an example of operation control of the display device D1.

[0123] In step S101, the controller 30 determines whether the gate lock lever is in the locked state. In other words, the controller 30 determines whether the gate lock valve 50 is closed and the operating device 26 is in the invalid state. Specifically, the controller 30 determines that it is in the locked state when no unlocking signal is output from the gate lock switch 51. If the gate lock lever is in the unlocked state (the gate lock valve 50 is open and the operating device 26 is in the valid state) (S101·NO), the process shown in FIG. 5 ends. In this case, the operating device 26 is in the valid state, and when the operator operates the operating device 26, the corresponding hydraulic actuator operates.

[0124] On the other hand, if the gate lock lever is in the locked state (the gate lock valve 50 is closed and the operating device 26 is in the invalid state) (S101·YES), the process of the controller 30 proceeds to step S102.

[0125] In step S102, the controller 30 determines whether the operation mode switching switch 34 is in the ON state (operation mode switching state) or the OFF state (non-operation mode switching state). If the operation mode switching switch 34 is in the OFF state (non-operation mode switching state) (S102·NO), the process of the controller 30 proceeds to step S103. On the other hand, if the operation mode switching switch 34 is in the ON state (operation mode switching state) (S102·YES), the process of the controller 30 proceeds to step S104.

[0126] In step S103, the controller 30 determines whether the touch panel (the input device D2 of the touch panel type display device D12) is malfunctioning. Here, when the controller 30 receives failure information from the touch panel type display device D12 via the in-vehicle communication network 35, it determines whether the touch panel (the input device D2 of the touch panel type display device D12) is malfunctioning. If the touch panel is not malfunctioning (S103·NO), the process shown in FIG. 5 ends. In this case, the operating device 26 is in an invalid state, and even if the operator operates the operating device 26, the corresponding hydraulic actuator does not operate.

[0127] On the other hand, if the touch panel is malfunctioning (S103·YES), the process of the controller 30 proceeds to step S104.

[0128] In step S104, the controller 30 operates the touch panel type display device D12 using the operation levers (left operation lever 26L, right operation lever 26R) of the operating device 26. In this case, the operating device 26 is in an invalid state, and even if the operator operates the operating device 26, the corresponding hydraulic actuator does not operate. On the other hand, by the operator operating the operating device 26, the touch panel type display device D12 is operated. That is, the operating device 26 functions as the input device D2 of the touch panel type display device D12. In this mode, the controller 30 outputs the operation information 35a of the operating device 26 to the touch panel type display device D12.

[0129] Note that the touch panel type display device D12 may be configured to receive the input of the operation information 35a via the in-vehicle communication network 35 when the signal input from the operation mode changeover switch 34 is ON (switching state), or when it is determined that the touch panel (an example of the input device D2) is malfunctioning. Thereby, it is possible to prevent an unintended input from being made to the touch panel type display device D12 via the in-vehicle communication network 35.

[0130] Thus, when the hydraulic actuator does not operate by operating the operation levers (left operation lever 26L and right operation lever 26R) of the operation device 26, the touch panel display device D12 is operated by the inclination of the operation lever of the operation device 26.

[0131] In other words, the controller 30 includes a first operation mode in which the hydraulic actuator is operated by operating the operation levers (left operation lever 26L and right operation lever 26R) of the operation device 26, and a second operation mode in which the touch panel display device D12 is operated by operating the operation levers (left operation lever 26L and right operation lever 26R) of the operation device 26. Further, the controller 30 determines and switches which operation mode to use based on the state of the gate lock lever (locked state, unlocked state), the state of the operation mode changeover switch 34 (ON, OFF), the failure state of the touch panel, etc.

[0132] Next, an example of a screen displayed on the touch panel display device D12 will be described. FIG. 6 is a diagram showing an example of a screen displayed on the touch panel display device D12.

[0133] 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.

[0134] 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.

[0135] The main display area 41B includes an image display area 41n. The image display area 41n includes an aerial view 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.

[0136] The date and time display area 41a is an area for displaying the current date and time. The driving 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.

[0137] The coolant water temperature display area 41g is an area for displaying the current temperature state of the engine coolant water. The fuel remaining amount display area 41h is an area for displaying the remaining amount state of the fuel stored in the fuel tank. The urea water remaining amount display area 41j is an area for displaying, in an image, the remaining amount state of the urea water stored in the urea water tank. The operating oil temperature display area 41k is an area for displaying the temperature state of the operating oil in the operating oil tank.

[0138] The air conditioner operating state display area 41m includes an air outlet display area 41m1 for displaying the current position of the air outlet, a driving mode display area 41m2 for displaying the current driving mode, a temperature display area 41m3 for displaying the current set temperature, and an air volume display area 41m4 for displaying the current set air volume.

[0139] The image display area 41n is an area for displaying the image captured by the imaging device S6. The image display area 41n displays an overhead image FV, a rear image BM, and a right-side image RM. The overhead image FV is a virtual viewpoint image generated by the display control unit of the controller 30, 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 image FV. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and the objects existing around the shovel 100.

[0140] The rear image BM is an image showing 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 of the controller 30, and is generated based on the image acquired by the camera S6B provided at the rear.

[0141] The right-side image RM is an image showing 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 of the controller 30, and is generated based on the image acquired by the camera S6R arranged on the right side.

[0142] The display device D1 displays the overhead image FV in the overhead image display area 41n1, the rear image BM in the rear image display area 41n2, and the right-side image RM in the right-side image display area 41n3.

[0143] The lower display area 41C includes an engine operation time display area 41f, an air conditioner operation state display area 41m, and a menu display area 41p.

[0144] The engine operation time display area 41f is an area for displaying the cumulative operation time of the engine 11.

[0145] The air conditioner operation state display area 41m includes an air outlet display area 41m1 that displays the position of the current air outlet, an operation mode display area 41m2 that displays the current operation mode, a temperature display area 41m3 that displays the current set temperature, and an air volume display area 41m4 that displays the current set air volume.

[0146] The menu display area 41p has tabs 41p1 to 41p7. In the example of FIG. 6, the tabs 41p1 to 41p7 are arranged horizontally at intervals from each other at the lowermost part of the image display unit 41. Icons for displaying various information are displayed on the tabs 41p1 to 41p7.

[0147] A menu detail item icon for displaying menu detail items is displayed on the tab 41p1. When the tab 41p1 is selected by the operator, the icons displayed on the tabs 41p2 to 41p7 are switched to icons associated with the menu detail items.

[0148] An icon for displaying information related to the digital level is displayed on the tab 41p4. When the tab 41p4 is selected by the operator, the rear image BM is switched to a screen showing information related to the digital level. However, a screen showing information related to the digital level may be displayed by overlapping the rear image BM or reducing the rear image BM. Also, the bird's-eye view image FV may be switched to a screen showing information related to the digital level, and a screen showing information related to the digital level may be displayed by overlapping the bird's-eye view image FV or reducing the bird's-eye view image FV.

[0149] An icon for displaying information related to informatized construction is displayed on the tab 41p6. When the tab 41p6 is selected by the operator, the rear image BM is switched to a screen showing information related to informatized construction. However, a screen showing information related to informatized construction may be displayed by overlapping the rear image BM or reducing the rear image BM. Also, the bird's-eye view image FV may be switched to a screen showing information related to informatized construction, and a screen showing information related to informatized construction may be displayed by overlapping the bird's-eye view image FV or reducing the bird's-eye view image FV.

[0150] On tab 41p7, an icon for displaying information regarding the crane mode is shown. When tab 41p7 is selected by the operator, the rear image BM switches to a screen showing information regarding the crane mode. However, a screen showing information regarding the crane mode may be displayed by superimposing it on the rear image BM or by reducing the rear image BM. Also, the bird's-eye view image FV may switch to a screen showing information regarding the crane mode, and a screen showing information regarding the crane mode may be displayed by superimposing it on the bird's-eye view image FV or by reducing the bird's-eye view image FV.

[0151] Icons are not shown on tabs 41p2, 41p3, and 41p5. For this reason, even if tabs 41p2, 41p3, and 41p5 are operated by the operator, there is no change in the image displayed on the image display unit 41.

[0152] Note that the icons displayed on tabs 41p1 to 41p7 are not limited to the above examples, and icons for displaying other information may be shown.

[0153] Also, an icon of the pointer PT is superimposed and displayed on the image display unit 41. When one operation lever of the operation device 26 (for example, the left operation lever 26L) is tilted, the pointer PT of the image display unit 41 moves.

[0154] FIG. 7 is a diagram for explaining an example of the relationship between the operation of the operation lever and the position of the pointer PT. FIG. 7(a) shows the operable range 700 of the operation lever (for example, the left operation lever 26L). FIG. 7(b) is an example of the image display unit 41. Here, when the operation lever is tilted from the neutral position in a certain direction 710 (here, the forward right direction), the icon of the pointer PT displayed on the image display unit 41 moves in the direction 720. For example, by tilting the operation lever forward from the neutral position, the icon of the pointer PT displayed on the image display unit 41 moves upward. By tilting the operation lever backward from the neutral position, the icon of the pointer PT displayed on the image display unit 41 moves downward. By tilting the operation lever leftward from the neutral position, the icon of the pointer PT displayed on the image display unit 41 moves leftward. By tilting the operation lever rightward from the neutral position, the icon of the pointer PT displayed on the image display unit 41 moves rightward. When the operation lever returns to the neutral position, the icon of the pointer PT displayed on the image display unit 41 stops at that position.

[0155] Note that the relationship between the operation of the operation lever and the position of the pointer PT is not limited to this. For example, the coordinates of the operable range 700 of the operation lever (for example, the left operation lever 26L) and the coordinates of the image display unit 41 may be made to correspond. Here, when the operation lever is in the neutral position, the icon of the pointer PT displayed on the image display unit 41 stops at the center position of the image display unit 41. When the operation lever is tilted from the neutral position in a certain direction, the icon of the pointer PT moves to a position on the image display unit 41 corresponding to the amount of tilt in the left-right direction and the amount of tilt in the front-back direction. Then, when the operation lever returns to the neutral position, the icon of the pointer PT returns to the center position of the image display unit 41.

[0156] Also, by pressing a switch (for example, switch NS) provided on an operation lever (for example, left operation lever 26L), the position of the pointer PT can be selected (equivalent to a tap operation on a touch panel or a click operation on a mouse). Further, by tilting the operation lever (for example, left operation lever 26L) while pressing the switch (for example, switch NS), a swipe operation can be performed.

[0157] Also, when the operation lever is in the neutral position for a certain period of time, in other words, when the operation lever has not been operated for a certain period of time, the pointer PT may be made non-displayed. When the pointer PT is non-displayed, if the operation lever is operated thereafter, the pointer PT is redisplayed.

[0158] Note that a configuration may be adopted in which a first pointer corresponding to the left operation lever 26L and a second pointer corresponding to the right operation lever 26R are superimposed and displayed on the image display unit 41. The position of the first pointer is operated by operating (tilting) the left operation lever 26L. By pressing the switch NS provided on the left operation lever 26L, the position of the first pointer can be selected. The position of the second pointer is operated by operating (tilting) the right operation lever 26R. By pressing a switch (not shown) provided on the right operation lever 26R, the position of the second pointer can be selected. According to this configuration, since two pointers can be operated, for example, by operating the left operation lever 26L and the right operation lever 26R, composite operations such as a pinch-in operation and a pinch-out operation can be performed. The enlarged display may be performed by the pinch-in operation, or the reduced display may be performed by the pinch-out operation.

[0159] Note that the configuration in which the operation device 26 (left operation lever 26L, right operation lever 26R) is used as a pointing device for designating the coordinates of the operation position in the image display unit 41 of the touch panel type display device D12 has been described as an example, but the operation method is not limited to this.

[0160] For example, an icon indicating the selected tab may be displayed on one of the plurality of tabs 41p1 to 41p7 in the menu display area 41p, and the icon indicating the selected tab may move to the next tab in the tilting direction by tilting the operation lever. For example, in a state where tab 41p3 is selected (a state where an icon indicating selection is displayed superimposed on tab 41p3), by tilting the operation lever to the right, the state where tab 41p4 is selected (a state where an icon indicating selection is displayed superimposed on tab 41p4) is obtained. Also, in a state where tab 41p3 is selected (a state where an icon indicating selection is displayed superimposed on tab 41p3), by tilting the operation lever to the left, the state where tab 41p2 is selected (a state where an icon indicating selection is displayed superimposed on tab 41p2) is obtained.

[0161] As described above, the pointer PT can be moved by operating the operation lever. Thereby, the operator can operate the touch panel display device D12 by operating the operation lever while sitting without raising the upper body and touching the touch panel display device D12. Thereby, the operability is improved.

[0162] Also, in the unlocked state, the hydraulic actuator corresponding to the operation lever is operated. Thereby, the excavator 100 can be preferably operated.

[0163] (Second Embodiment) In the second embodiment, the case where the operator remotely operates the excavator 100 will be described.

[0164] FIG. 8 is a schematic diagram showing a configuration example of a remote support system SYS for an excavator 100 according to the second embodiment. In the example shown in FIG. 8, the excavator 100 and the remote operation room RC are connected via a communication network NW. Thereby, transmission and reception of information can be realized between the excavator 100 and the remote operation room RC.

[0165] The excavator 100 transmits the detection results from various sensors provided in the excavator 100 to the remote operation room RC using the communication device T1 provided in the excavator 100. For example, the excavator 100 transmits the image information captured by the imaging device S6, the turning angle, and the detection results of various sensors to the remote operation room RC.

[0166] In the remote support system SYS according to the second embodiment, a remote operation room RC is provided. In the remote operation room RC, a display device DR, an operation device R26, an operation sensor R29, an operator's seat DS, a remote controller R30, and a communication device T2 are provided.

[0167] The remote controller R30 displays, on the display device DR, a display screen based on the image information captured by the imaging device S6, the turning angle, and the detection results of various sensors. Thereby, the operator OP present at the operator's seat DS can confirm the situation around the excavator 100 even when present in the remote operation room RC.

[0168] The operator OP present at the operator's seat DS in the remote operation room RC operates the operation device R26. Then, the operation sensor R29 detects the operation content received by the operation device R26. Then, the controller 30 generates a control signal corresponding to the operation content. Then, the communication device T2 transmits the generated control signal to the excavator 100. By the remote controller R30 transmitting the control signal, remote operation of the excavator 100 becomes possible.

[0169] When the operation device R26 receives a predetermined operation, the remote controller R30 displays, on the display device DR, a pop-up screen regarding automatic formation of land leveling. The pop-up screen is the same as that in the above-described embodiment. Further, when the operation device R26 receives a predetermined operation, the remote controller R30 transmits an operation signal indicating that the operation has been received to the controller 30.

[0170] The display device DR includes a display device corresponding to the touch panel type display device D12 of the excavator 100 according to the first embodiment. The operating device R26 includes an operating device corresponding to the operating device 26 of the excavator 100 according to the first embodiment. The remote operation cab RC is provided with a gate lock lever for switching between the enabled state and the disabled state of the operating device R26, and a changeover switch corresponding to the operation mode changeover switch 34 of the excavator 100 according to the first embodiment.

[0171] Accordingly, also in the excavator system having the excavator 100 according to the second embodiment, the display device DR can be operated by the operating device R26.

[0172] As described above, the embodiments of the excavator according to the present invention have been described, but the present invention is not limited to the above embodiments. Various changes, modifications, substitutions, additions, deletions, and combinations are possible within the scope described in the claims. Naturally, those also belong to the technical scope of the present invention.

Description of Signs

[0173] 100 Excavator 1 Lower Travel Body 2 Swing Mechanism 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 26 Operating Device 26L Left Operating Lever 26R Right Operating Lever 30 Controller 34 Operation Mode Changeover Switch 50 Gate Lock Valve 51 Gate Lock Switch D1 Display Device D2 Input Device D12 Touch Panel Type Display Device

Claims

1. A lower traveling body, an upper slewing body that slews with respect to the lower traveling body, an attachment attached to the upper slewing body, an operation lever for operating the attachment, a display device, and a control unit, wherein the control unit operates the display device by the tilt of the operation lever, a hydraulic excavator.

2. When the hydraulic actuator does not operate by the operation of the operation lever, the display device is operated by the tilt of the operation lever, the hydraulic excavator according to Claim 1.

3. further comprising a gate lock lever for switching between an effective state and an ineffective state of the operation lever, wherein the effective state of the operation lever is a state in which a corresponding hydraulic actuator operates when the operation lever is operated, the ineffective state of the operation lever is a state in which the corresponding hydraulic actuator does not operate even when the operation lever is operated, and the control unit operates the display device by the tilt of the operation lever when the operation lever is in the ineffective state, the hydraulic excavator according to Claim 1.

4. further comprising an operation mode changeover switch capable of selecting between a switched state and a non-switched state of the operation mode, wherein the control unit operates the display device by the tilt of the operation lever when the operation lever is in the ineffective state and the operation mode changeover switch is in the switched state, the hydraulic excavator according to Claim 3.

5. the display device is a touch panel type display device, and the control unit operates the display device by the tilt of the operation lever when the operation lever is in the ineffective state and the touch panel of the touch panel type display device is in a failure state, the hydraulic excavator according to Claim 3.

6. a pointer is superimposed on the display device, and the position of the pointer is operated by the tilt of the operation lever, the hydraulic excavator according to any one of Claims 1 to 5.

7. the operation lever has a switch, and when the switch is operated, the position of the pointer is selected, the hydraulic excavator according to Claim 6.

8. when the operation lever has been in the neutral position for a certain period of time, the pointer is made non-displayed, the hydraulic excavator according to Claim 6.

9. the operation lever has a first and a second operation lever, the pointer has a first pointer corresponding to the first operation lever and a second pointer corresponding to the second operation lever, the hydraulic excavator according to Claim 6.

10. The display device displays a plurality of selectable tabs and an icon indicating the tab being selected. The tab being selected is switched by the tilt of the operation lever. The excavator according to any one of claims 1 to 5. **Claim 11** An excavator system having an excavator and a remote operation cab, wherein the excavator has a lower traveling body, an upper slewing body that slews with respect to the lower traveling body, and an attachment attached to the upper slewing body, and the remote operation cab has an operation lever for operating the attachment, a display device, and a control unit, wherein the control unit operates the display device according to the tilt of the operation lever. An excavator system.

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