Excavator, and excavator control system

Abstract

To provide an excavator capable of reducing the operational burden on an operator.SOLUTION: An excavator relevant to one embodiment of the disclosure includes: an undercarriage; an upper rotating body that is mounted rotatably on the undercarriage; a boom attached to the upper rotating body; an arm attached to the end of the boom; an end attachment attached to the end of the arm; a tilt sensor that detects the tilt of the excavator; and a control unit that is configured to control the height of the end attachment during the rotation of the upper rotating body on the basis of the detection results of the tilt sensor.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Conventionally, when performing shaping work with an excavator, techniques for facilitating operations by an operator have been known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technique described in Patent Document 1 only considers the case of performing a straight pulling operation or a leveling operation along the extending direction of the front attachment. By the way, there is an operation of leveling the side surface of the end attachment during the turning operation of the excavator. When performing the leveling operation, when the excavator is inclined compared to the surface to be worked, it is necessary to adjust the height of the end attachment according to the turning situation of the excavator. The adjustment of the height of the end attachment is a heavy burden on the operator.

[0005] One aspect of the present invention reduces the operation burden on the operator by controlling the height of the end attachment during the turning operation when the excavator is inclined.

Means for Solving the Problems

[0006] An excavator according to one aspect of the present invention includes a lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, a boom attached to the upper slewing body, an arm attached to the tip of the boom, an end attachment attached to the tip of the arm, an inclination sensor that detects the inclination of the excavator, and a control unit configured to control the height of the end attachment during the slewing operation of the upper slewing body based on the detection result of the inclination sensor.

Effect of the Invention

[0007] According to one aspect of the present invention, by controlling the height of the end attachment during the slewing operation, the operation burden on the operator is reduced.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are illustrative and do not limit 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 an excavator is used as an example of a working machine will be described, but the present invention is not limited to the excavator. The present invention may be applied to construction machines, standard machines, application machines, forestry machines, or transport machines based on hydraulic excavators.

[0011] (First Embodiment) First, with reference to FIG. 1, an overview of the excavator 100 according to the present embodiment will be described. FIG. 1 is a side view of the excavator 100 according to the present embodiment.

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

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

[0014] The upper slewing body 3 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) includes a boom 4, an arm 5, and a bucket 6.

[0016] The boom 4 is pivotally attached to the center of the front part 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 a working tool. The bucket 6 is used, for example, for excavation work and 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, other working tools may be attached to the tip of the arm 5 instead of the bucket 6 according to the work content and the like. The other working tools may be, for example, other types of buckets such as a large bucket, a slope bucket, a dredging bucket, etc. Also, the other working tools may be working tools of types other than buckets such as a stirrer, a breaker, a grapple, etc.

[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, 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 left side of the front part 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 slewing 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 slewing 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 slewing 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 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.

[0027] The regulator 13 controls the discharge volume 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 part of the upper swing body 3 in the same way 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, 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 traveling hydraulic motors 2ML and 2MR, and the 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.

[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 have 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 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.

[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 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.

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

[0035] The control system of the excavator 100 according to this embodiment includes a controller 30, an auxiliary storage device 47, a display device D1, an input device D2, a speaker A1, 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 at a location 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] Further, the display device D1 is not limited to the device pre - installed in the cabin 10, and may be a separately - placed monitor. Furthermore, the display device D1 may be any device capable of displaying, for example, a tablet terminal that can communicate with the communication device T1 may be used.

[0039] The input device D2 is provided within the reach of the 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 mounted 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 speaker A1 is provided, for example, in the cabin 10, and converts the sound signal input from the controller 30 into physical sound, in other words, vibration of air, and outputs it. The speaker A1 may be provided at an arbitrary position, for example, near the display device D1, near the input device D2, or near the door of the cabin.

[0041] The auxiliary storage device 47 is a readable and writable non - volatile storage medium, and includes a design data storage unit 47A.

[0042] The design data storage unit 47A stores design data. The design data includes construction data indicating the three - dimensional shape after the excavator 100 has performed construction at the work site. The construction data includes position data of the construction target in the world geodetic system indicated by GNSS and three - dimensional shape data after construction. For example, the design data includes position data and three - dimensional shape data of the work target surface formed after the excavator 100 has dug the earth and sand.

[0043] The position data is expressed in a reference coordinate system similar to the position data obtained by, for example, 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 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, etc. The controller 30 realizes various functions by executing various programs stored in, for example, the ROM or the non-volatile auxiliary storage medium on the CPU.

[0045] For example, the controller 30 sets a target rotation speed based on an operation by an operator or the like 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 necessary 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 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.

[0048] Further, 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 operation device 26 by the operator. Further, the controller 30 performs control related to a machine control function that automatically supports the manual operation of the excavator 100 through the operation device 26 by the operator.

[0049] Note that a part of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a manner distributed by 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 body inclination sensor S4, a swing 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, whereby each actuator can be automatically operated.

[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 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. And the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

[0052] With this configuration, even when an operation on a specific operating device 26 is not performed, the controller 30 can operate the hydraulic actuator corresponding to that specific operating device 26. Also, even when an operation on a specific operating device 26 is being performed, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.

[0053] 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 swing body 3 (hereinafter, "boom angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 with respect to the 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. Also, 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 hereinafter. 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 S2 is attached to the arm 5 and detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter, "arm angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 with respect to the straight line connecting the fulcrums at both ends of the boom 4. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0055] 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, "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] In the present embodiment, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are also referred to as the angle sensors of the attachment AT. And the detection result by the angle sensor of the attachment AT is also referred to as the angle of the attachment AT. The angle of the attachment AT indicates, for example, the boom angle, the arm angle, and the bucket angle.

[0057] 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") around 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.

[0058] The slewing angle sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing angle sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing angle sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0059] This embodiment will describe an example using the turning angle sensor S5, but this embodiment is not limited to the method using the turning angle sensor S5. For example, an IMU (Inertial Measurement Unit) sensor may be used instead of the turning angle sensor S5. Furthermore, instead of the turning angle sensor S5, the positioning device PS described later may be used to detect the orientation of the excavator 100. Furthermore, a geomagnetic sensor may be used instead of the turning angle sensor S5.

[0060] 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.

[0061] The camera S6F is attached, for example, to 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 to 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 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.

[0062] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is each, for example, a monocular 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 image by the imaging device S6 is captured by the controller 30.

[0063] 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.

[0064] The swing hydraulic motor 2A according to this embodiment is equipped with a right swing pressure sensor S10R and a left swing pressure sensor S10L.

[0065] The right swing pressure sensor S10R detects the pressure of the hydraulic oil at the right port of the swing hydraulic motor 2A. The left swing pressure sensor S10L detects the pressure of the hydraulic oil at the left port of the swing hydraulic motor 2A.

[0066] 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 network, etc. 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.

[0067] The excavator 100 operates an actuator (for example, a hydraulic actuator) according to the operation of an operator boarding the cab 10, and drives operating elements (hereinafter, "driven elements") such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6.

[0068] Alternatively, or in addition to being configured to be operable by an operator in the cab 10, the excavator 100 may be configured to be remotely operable from outside the excavator 100. When the excavator 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0069] Also, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 realizes a function of automatically operating at least a part of the driven elements such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, that is, a so-called "automatic driving function" or "machine control function".

[0070] 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 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 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, in accordance with the determination result, the operation content of the driven element (hydraulic actuator) of the automatic driving target is determined autonomously.

[0071] 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 referred to as "MC (Machine Control) switch") arranged at the tip of any one of the lever devices included in the operation device 26.

[0072] [Functional Configuration of the Controller] Next, with reference to FIG. 3, a configuration for the controller 30 to control the height of the end attachment during the turning operation will be described. FIG. 3 is a diagram showing an example of the configuration of the controller 30 according to the present embodiment. As shown in FIG. 3, the controller 30 includes an operation reception unit 301, an acquisition unit 302, a calculation unit 303, a storage unit 304, an operation control unit 305, and an output control unit 306.

[0073] The controller 30 according to the present embodiment may execute a machine control function that automatically supports manual direct operation and manual remote operation of the excavator 100 by the operator. For example, when the operator is manually performing an excavation operation, the controller 30 may automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the target design surface coincides with the tip position of the bucket 6.

[0074] The operation reception unit 301 receives, for example, an operation signal indicating the operation direction and operation amount of the operation device 26 from the operation sensor 29. The operation reception unit 301 also receives information indicating the operation content from the input device D2.

[0075] For example, the operation reception unit 301 receives the pressing of a predetermined switch included in the input device D2. The predetermined switch is, for example, a machine control switch (hereinafter referred to as "MC switch"), and may be arranged at the tip of the operation device 26 as a knob switch. The present embodiment does not limit the position of the switch pressed to start the machine control function, and it may be arranged at a location other than the operation device 26.

[0076] When the controller 30 according to this embodiment receives the pressing of the MC switch, it executes a machine control function that automatically supports manual direct operation and manual remote operation. For example, when the MC switch or the like is pressed, the controller 30 may automatically expand and contract at least one of the boom cylinder 7 and the bucket cylinder 9 in accordance with the operation of the arm cylinder 8 in order to support excavation work and shaping work.

[0077] The acquisition unit 302 acquires detection results from various sensors provided in the excavator 100. For example, the acquisition unit 302 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, the turning angle sensor S5, the imaging device S6, the positioning device PS, the right turning pressure sensor S10R, and the left turning pressure sensor S10L, etc.

[0078] The calculation unit 303 calculates the height of a predetermined part of the bucket 6 from the ground. Specifically, the calculation unit 303 calculates the position coordinates of a predetermined part of the bucket 6 in a relative coordinate system with the origin at a predetermined position of the excavator 100 (for example, the center position of the bottom surface of the excavator 100) and the travelable plane of the excavator 100 as the XY plane, based on the detection results of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, and the dimensions of the attachment AT. In this embodiment, the case where the predetermined part of the bucket 6 is the back surface 6b of the bucket 6 will be described. Note that the predetermined part of the bucket 6 is not limited to the back surface 6b of the bucket 6. The predetermined part of the bucket 6 may be any part that serves as a reference for height control of the bucket 6 during leveling work, for example, the tip 6a.

[0079] After that, the calculation unit 303 converts the position coordinates of the back surface 6b (center) of the bucket 6 in the relative coordinate system into the position coordinates in the above-described reference coordinate system. The calculation unit 303 calculates the tilt angles (front-back tilt angle and left-right tilt angle) of the relative coordinate system with respect to the reference coordinates based on the detection result of the aircraft tilt sensor S4. Then, the calculation unit 303 converts the position coordinates of the back surface 6b (center) of the bucket 6 in the relative coordinate system into the position coordinates in the reference coordinate system based on the tilt angle and the position coordinates of the reference coordinates corresponding to the origin of the relative coordinate system. Thereby, the calculation unit 303 can derive the height of the back surface 6b of the bucket 6 in the reference coordinate system.

[0080] The storage unit 304 stores the current situation of the excavator 100 in the auxiliary storage device 47 as settings for leveling the ground with the bucket 6. For example, the storage unit 304 stores the tilt angle of the excavator 100 and the height of the back surface 6b of the bucket 6 in the auxiliary storage device 47 at the timing when the MC switch is pressed. The height of the back surface 6b of the bucket 6 stored in the auxiliary storage device 47 becomes the height of the reference surface that is the object of leveling the ground with the bucket 6. The reference surface according to the present embodiment is an example of a horizontal plane in the reference coordinate system. That is, the reference surface that is the object of leveling the ground with the bucket 6 is a surface whose height does not change in the reference coordinate system. The height of the reference surface corresponds to the height of the ground after being leveled by the bucket 6 during the turning operation. Note that in the present embodiment, the case where the reference surface to be leveled is a horizontal plane will be described, but it is not limited to the case where the reference surface is a horizontal plane, and it may be inclined in the height direction in the reference coordinate system. That is, in the present embodiment, the ground can be leveled so that the ground reaches the height of the reference.

[0081] The operation control unit 305 controls the operation of the excavator 100. For example, the operation control unit 305 controls the height of the back surface 6b (an example of a predetermined part) of the bucket 6 during the turning operation of the upper swing body 3 based on the detection result by the aircraft tilt sensor S4.

[0082] The output control unit 306 performs control for displaying information on the display device D1. Specific examples of the information to be displayed will be described later.

[0083] Next, a specific example of height control of the rear surface 6b of the bucket 6 by the controller 30 will be described.

[0084] FIG. 4 is a diagram illustrating height control of the rear surface (an example of a predetermined portion) 6b of the bucket 6 during the turning operation of the excavator 100 according to the present embodiment. The excavator 100 shown in FIG. 4 is an example in which, with the rear surface 6b of the bucket 6 in contact with the ground (an example of a predetermined reference surface) 1401 to be leveled, the upper swing body 3 is turned to perform a leveling operation on the ground 1401 with the side surface of the bucket 6.

[0085] In the present embodiment, the operator operates so that the rear surface 6b of the bucket 6 is in contact with the ground 1401 to be leveled. Then, the excavator 100 performs a turning operation of the upper swing body 3 according to the operator's operation. During the turning operation of the excavator 100, the machine control function is executed. Thereby, the side surface of the bucket 6 scrapes the earth and sand above the ground 1401 to be leveled, and the leveling operation is performed.

[0086] In the example shown in FIG. 4, it is assumed that the excavator 100 is inclined by an inclination angle θ as compared with the ground 1401 to be leveled. In this state, the upper swing body 3 of the excavator 100 turns around the turning axis 1402. When the height of the bucket 6 is not controlled, the bucket 6 moves along a plane parallel to the plane 1403. That is, when the excavator 100 is inclined, it is difficult to move the bucket 6 along the ground 1401. In other words, in the state where the excavator 100 is inclined, in order to perform the leveling operation of the ground 1401 by the turning operation, it is necessary to adjust the height of the bucket 6 so that the rear surface 6b of the bucket 6 maintains the state of being in contact with the ground 1401.

[0087] Specifically, at the position of the attachment AT of the excavator 100 shown in FIG. 4, a lowering operation of the boom 4 is required so that the bucket 6 is lower than the travelable plane 1403 of the excavator 100. On the other hand, at the position of the attachment AT, a raising operation of the boom 4 is required so that the bucket 6 is higher than the travelable plane 1403 of the excavator 100.

[0088] Therefore, while the machine control function is being executed, the operation control unit 305 according to the present embodiment controls the operation of the boom 4 so that the height of the bucket 6 is maintained at the height of the ground (an example of a predetermined reference plane) 1401 during the turning operation of the upper swing body 3. In other words, while the machine control function is being executed, the operation control unit 305 suppresses the excavation operation by the bucket 6 and suppresses the compaction operation by the bucket 6 during the turning operation of the upper swing body 3.

[0089] In the present embodiment, when a turning operation is received while the operation reception unit 301 is receiving the pressing of the MC switch (an example of a predetermined switch), the operation control unit 305 controls the operation of the boom 4 so that the height of the bucket 6 is maintained at the height of the ground (an example of a predetermined reference plane) 1401 during the turning operation of the upper swing body 3. More specifically, the storage unit 304 according to the present embodiment stores the height of the bucket 6 when the pressing of the MC switch (an example of a predetermined switch) is received as the height of the ground to be leveled in the auxiliary storage device 47. Then, while the operation control unit 305 is receiving the pressing of the MC switch, during the turning of the upper swing body 3, the boom 4 is operated so that the stored height of the ground and the height of the back surface 6b of the bucket 6 substantially coincide. Thereby, the height of the bucket 6 is adjusted to follow the ground to be leveled. In the present embodiment, since the operation of the boom 4 is controlled by a simple operation by the operator, the operability can be improved.

[0090] This embodiment will describe an example in which the height of the surface to be leveled by the bucket 6 is determined based on the position of the rear surface 6b of the bucket 6 when the MC switch (an example of a predetermined switch) is pressed, in other words, when the machine control function is executed. However, the present invention is not limited to this method. For example, the controller 30 may determine the height of the surface to be leveled as a position that is a predetermined distance (for example, several cm) lower in the height direction from the plane on which the excavator 100 is grounded.

[0091] Note that this embodiment shows one aspect of the operation, and does not limit the case where a predetermined switch is pressed to the period during which the MC switch is pressed. For example, it may be the case where the predetermined switch is pressed once or multiple times.

[0092] During the period when the MC switch is pressed and during the turning operation of the upper slewing body 3, the calculation unit 303 calculates the height of the current rear surface 6b of the bucket 6 in the reference coordinate system based on the turning angle and the inclination angle acquired in each cycle at a predetermined cycle. The predetermined cycle may be, for example, the calculation cycle of the controller 30 or another calculation cycle.

[0093] Then, for each predetermined cycle, the operation control unit 305 performs an upward or downward movement of the boom 4 so that the calculated height of the rear surface 6b substantially matches the height of the rear surface 6b of the bucket 6 stored by the storage unit 304. Further, for each predetermined cycle, the operation control unit 305 performs an opening or closing operation of the bucket 6 so that the rear surface 6b of the bucket 6 is substantially parallel to the ground to be leveled.

[0094] By the above-described control by the operation control unit 305, during the turning operation of the upper slewing body 3, the height of the rear surface 6b of the bucket 6 is controlled so that the sediment existing on the ground to be leveled can be removed from the side surface of the bucket 6. Note that this embodiment does not limit the object to be removed from the side surface of the bucket 6 to sediment, and any object existing on the ground to be leveled may be used. In this embodiment, by enabling leveling during the turning operation, the work load of the operator can be reduced.

[0095] In this embodiment, by performing the above-described control, the controller 30 enables the excavator 100 to perform a turning operation with the back surface of the bucket 6 in contact with the ground even when the excavator 100 is tilted, so that earth and sand on the ground can be removed and the ground can be leveled.

[0096] Furthermore, the operation control unit 305 controls the operation of the boom according to the load generated during the turning operation.

[0097] FIG. 5 is a diagram for explaining the operation of the boom 4 according to the turning load during the turning operation of the excavator 100 according to this embodiment. In the example shown in FIG. 5(A), since the amount of earth and sand 1501 removed by the bucket 6 during the turning operation of the excavator 100 with respect to the turning axis 1402 is small, the turning load becomes small.

[0098] In the example shown in FIG. 5(B), since the amount of earth and sand 1502 removed by the bucket 6 during the turning operation of the excavator 100 is large, the turning load becomes large. In this case, there is a possibility that the turning speed of the upper swing body 3 decreases or the turning stops.

[0099] Therefore, the operation control unit 305 according to this embodiment raises the boom 4 when the turning load is large.

[0100] Specifically, the acquisition unit 302 acquires the detection result of the turning pressure sensor (right turning pressure sensor S10R or left turning pressure sensor S10L) corresponding to the current turning direction.

[0101] During the turning operation, the operation control unit 305 determines whether the turning load based on the detection result from the turning pressure sensor (right turning pressure sensor S10R or left turning pressure sensor S10L) is greater than the first threshold value. When the operation control unit 305 determines that the turning load is greater than the first threshold value, it controls the raising operation of the boom 4 as indicated by the arrow 1503. For example, the operation control unit 305 controls the raising operation of the boom 4 such that the height of the bucket 6 increases by 1 cm to 2 cm. Note that this embodiment shows an example of the raising operation of the boom 4 and is not limited to the raising operation of the boom 4 where the height of the bucket 6 increases by 1 cm to 2 cm. Depending on the embodiment, the raising operation of the boom 4 may be controlled as long as it is controlled.

[0102] Also, the condition for performing the raising operation of the boom 4 is not limited to the determination based on the turning load. For example, it may be a determination based on the operation amount and turning speed of the turning operation, or a determination based on a combination of the operation amount, turning load, and turning speed of the turning operation. For example, when the operation control unit 305 determines that, despite the operation amount of the turning operation being constant, the turning load has increased and the turning speed has decreased, it may determine that the condition for performing the raising operation of the boom 4 is satisfied. As another example, when the operation control unit 305 determines that the turning load is increasing and the turning speed is decreasing, it may determine that the condition for performing the raising operation of the boom 4 is satisfied.

[0103] As described above, the operation control unit 305 according to this embodiment performs the raising operation of the boom 4 based on the current situation such as the turning load generated by the turning operation on the upper slewing body 3 during the turning operation of the upper slewing body 3. By performing the raising operation of the boom 4, the turning load can be reduced, so that the stop of the turning operation or the decrease in the speed of the turning operation can be suppressed.

[0104] Further, after performing the raising operation of the boom 4, when the turning load has decreased, the operation control unit 305 performs the lowering operation of the boom 4 to control the position of the bucket 6 to be returned.

[0105] As a specific example, after the boom 4 performs the raising operation, when the swing load generated by the swing operation on the upper swing body 3 is determined to be smaller than the second threshold value, the operation control unit 305 according to this embodiment performs the lowering operation of the boom 4. The second threshold value is a value smaller than the first threshold value and is a threshold value determined according to the embodiment. In this embodiment, by the operation control unit 305 performing the lowering operation of the boom 4, the bucket 6 can be brought closer to the surface to be shaped, so that the operator can approach the shaping operation desired. Therefore, an improvement in the accuracy of the shaping operation can be realized.

[0106] Furthermore, in this embodiment, the operation reception unit 301 may receive the operation of the arm 5 during the swing operation while the MC switch is pressed.

[0107] FIG. 6 is a diagram for explaining the height control of the bucket 6 when the operation of the arm 5 is received in the controller 30 according to this embodiment. In the example shown in FIG. 6, it is assumed that the bucket 6 is present at the position 1611. When the operation reception unit 301 receives the opening operation of the arm 5, the operation control unit 305 performs the opening operation 1651 of the arm 5 and performs the lowering operation of the boom 4 so that the bucket 6 maintains the height of the ground 1601. Furthermore, the operation control unit 305 performs angle control of the bucket 6 so that the back surface 6b of the bucket 6 becomes substantially parallel to the ground 1601. As a result, the bucket 6 moves to the position 1612 where the back surface 6b of the bucket 6 is in contact with the ground 1601.

[0108] On the other hand, when the operation reception unit 301 receives the closing operation of the arm 5, the operation control unit 305 performs the closing operation 1652 of the arm 5 and performs the raising operation of the boom 4 so that the bucket 6 maintains the height of the ground 1601. Furthermore, the operation control unit 305 performs angle control of the bucket 6 so that the back surface 6b of the bucket 6 becomes substantially parallel to the ground 1601. As a result, the bucket 6 moves to the position 1613 where the back surface 6b of the bucket 6 is in contact with the ground 1601.

[0109] Note that the operation control unit 305 according to the present embodiment does not limit the method of controlling the operation of the boom 4 and the angle control of the bucket 6 when performing the closing or opening operation of the arm 5. Instead, only one of the control of the operation of the boom 4 and the angle control of the bucket 6 may be performed. That is, even if only one of them is performed, the operation burden on the operator can be reduced.

[0110] During the turning operation of the upper swing body 3, when the operation control unit 305 according to the present embodiment performs the closing or opening operation of the arm 5 according to the operation received by the operation device 26, the height of the back surface 6b of the bucket is maintained at the height of the ground (an example of a predetermined reference surface) 1601, and at least one or more of the angle control of the bucket 6 based on the ground 1601 are performed.

[0111] In the present embodiment, the operator can perform the leveling work on a desired location on the ground 1601 by performing the opening or closing operation of the arm 5 during the turning operation. For example, it is possible to control the movement of the bucket 6 to the location where leveling is desired or the movement of the bucket 6 from the location where leveling is not required. Furthermore, the operation control unit 305 can perform extensive leveling on the ground 1601 by making the operation of the arm 5 follow the arm operation. Therefore, the controller 30 according to the present embodiment can improve the work efficiency by performing the above-described control.

[0112] Furthermore, during the slewing operation of the upper slewing body 3, the operation control unit 305 controls the angle of the bucket 6 by opening or closing the bucket 6 based on the relationship between the ground and the back surface 6b of the bucket 6. For example, while the MC switch is pressed, when the back surface 6b of the bucket 6 is tilted from the ground due to the operation of the boom 4 or the arm 5, the operation control unit 305 performs an opening or closing operation of the bucket 6 so that the back surface 6b of the bucket 6 becomes substantially parallel to the ground. Well-known methods may be used for the method of adjusting the angle of the bucket 6. For example, based on the angle of the attachment AT, the tilt angle of the back surface 6b of the bucket 6 with respect to the ground may be detected, and the angle of the bucket 6 may be adjusted based on the detection result. By this operation, the positional relationship between the back surface 6b of the bucket 6 and the ground can be adjusted, so that the ground can be properly leveled with the back surface 6b. Therefore, it is possible to improve the accuracy of the leveling work.

[0113] The output control unit 306 displays the leveled area performed in the slewing operation on the display device D1. Specific display contents will be described later.

[0114] FIG. 7 is a diagram showing an example of a screen displayed by the output control unit 306 according to the present embodiment on the display device D1. In the example shown in FIG. 7, a bucket height display area 1701 and a leveling status display area 1702 are displayed.

[0115] The bucket height display area 1701 is an area that displays the height of the current bucket 6. The target segment 1701f indicates the height of the ground to be leveled. The plurality of icons 1701a to 1701e are icons for indicating the height of the current bucket 6. One of the plurality of icons 1701a to 1701e is displayed in a manner different from the other icons. The icon displayed in a manner different from the other icons indicates the height of the current bucket 6. FIG. 7 shows an example in which the icon 1701b has a different display mode from the other icons 1701a, 1701c to 1701e. In the example shown in FIG. 7, as an example of making the display mode different, an example of making the color different is used, but the method of making the color different is not limited. For example, the shape of the icon may be made different.

[0116] The icon 1701a indicates the position of the bucket 6 that is appropriate for leveling the ground indicated by the target segment 1701f.

[0117] The icon 1701b indicates the height of the bucket 6 when the boom 4 is raised once from the height of the bucket 6 indicated by the icon 1701a. That is, the bucket height display area 1701 shown in FIG. 7 indicates that the boom 4 of the excavator 100 has been raised once.

[0118] The icon 1701c indicates the height of the bucket 6 when the boom 4 is raised once from the height of the bucket 6 indicated by the icon 1701b. The icon 1701d indicates the height of the bucket 6 when the boom 4 is raised once from the height of the bucket 6 indicated by the icon 1701c. That is, it indicates that the distance from the ground increases as it changes from the icon 1701a to 1701d.

[0119] The icon 1701e indicates the height of the bucket 6 when the boom 4 is lowered once from the height of the bucket 6 indicated by the icon 1701a. The icon 1701e indicates that the bucket 6 has moved below the ground to be leveled.

[0120] During the turning operation, the output control unit 306 switches the display modes of icons 1701a to 1701e every time the boom 4 is raised. Further, during the turning operation, the output control unit 306 outputs a warning sound from the speaker A1 every time the boom 4 is raised.

[0121] In this way, the output control unit 306 performs notification when the boom 4 is raised. Therefore, the operator can recognize that the boom 4 has been raised. Further, the operator can recognize the current height of the bucket 6 by referring to the bucket height display area 1701. Therefore, the operator can recognize the current situation in the land leveling operation, so that the convenience can be improved.

[0122] The land leveling status display area 1702 shows the area leveled by the bucket 6 during the turning operation of the excavator 100 while accepting the turning operation while accepting the pressing of the MC switch. The land leveling status display area 1702 shows a display image 1711 indicating the excavator 100 and a leveled display area 1712. Note that the land leveling status display area 1702 may have an area leveled in an overhead image based on the image information captured by the imaging device S6 superimposed thereon. The captured image information may include at least one or a plurality of the image information captured by the camera S6F of the front of the excavator 100, the image information captured by the camera S6L of the left side (specifically, the left front may be sufficient) of the excavator 100, the image information captured by the camera S6R of the right side (specifically, the right front may be sufficient) of the excavator 100, and the image information captured by the camera S6B of the rear of the excavator 100.

[0123] The display image 1711 indicating the excavator 100 displays the current situation of the excavator 100 based on the turning angle, boom angle, arm angle, and bucket angle of the excavator 100. Therefore, the operator can recognize the current situation of the excavator 100 by referring to the display image 1711.

[0124] The finished leveling display area 1712 indicates the area leveled by the side of the bucket 6 of the excavator 100. The finished leveling display area 1712 has different display modes according to the height of the bucket 6 when leveling is performed.

[0125] The first display area 1712a is the area leveled by the bucket 6 at a height indicated by the icon 1701a, in other words, the bucket 6 at a height appropriate for leveling the ground indicated by the target segment 1701f.

[0126] The second display area 1712b is the area leveled by the bucket 6 at the height of the bucket 6 indicated by the icon 1701b, in other words, the area leveled by the bucket 6 when the boom 4 is raised once.

[0127] The third display area 1712c is the area leveled by the bucket 6 at the height of the bucket 6 indicated by the icon 1701c, in other words, the area leveled by the bucket 6 when the boom 4 is raised twice.

[0128] In this way, the output control unit 306 displays the finished leveling display area 1712 leveled by the bucket 6 by means of the slewing operation on the display device D1. The operator can recognize the area leveled by the excavator 100 by referring to the leveling status display area 1702.

[0129] Furthermore, the output control unit 306 varies the color in the finished leveling display area 1712 leveled by the bucket 6 by means of the slewing operation according to the height of the bucket 6 when leveling is performed. The operator can recognize the height of the earth and sand in the surrounding areas by referring to the finished leveling display area 1712. Furthermore, the operator can recognize the area that needs to be leveled again in order to equalize the height of the ground. Since the operator can recognize the result of the leveling operation by referring to the finished leveling display area 1712 and perform operations based on the result, it is possible to suppress the occurrence of construction defects. Therefore, the controller 30 according to the present embodiment can improve the accuracy of the leveling operation and reduce the burden on the operator.

[0130] The screen example shown in FIG. 7 is merely an example and is not intended to limit the screen. For example, the output control unit 306 is not limited to a mode of simultaneously displaying the bucket height display area 1701 and the ground leveling status display area 1702, and may display either the bucket height display area 1701 or the ground leveling status display area 1702. Further, the output control unit 306 may display one or more of the bucket height display area 1701 and the ground leveling status display area 1702 together with peripheral monitoring information such as image information captured by the imaging device S6. Furthermore, the output control unit 306 may display one or more of the bucket height display area 1701 and the ground leveling status display area 1702 together with information indicating the current status of the excavator 100.

[0131] Next, the processing procedure executed by the controller 30 according to the present embodiment will be described. FIG. 8 is a first flowchart showing a processing procedure for ground leveling by a turning operation with the height of the bucket 6 as a reference when the MC switch is pressed by the controller 30 according to the present embodiment.

[0132] First, the operation reception unit 301 determines whether or not the pressing of the MC switch has been received (S1801). If it is determined that the pressing has not been received (S1801: NO), the process ends.

[0133] When the operation reception unit 301 determines that the pressing of the MC switch has been received (S1801: YES), the calculation unit 303 calculates the height of the rear surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment AT (for example, boom angle, arm angle, and bucket angle) acquired from the angle sensor of the attachment AT (S1802).

[0134] The storage unit 304 stores the inclination angle of the excavator 100 and the height of the rear surface 6b of the bucket 6 in the auxiliary storage device 47 (S1803). The height of the bucket 6 stored in the auxiliary storage device 47 becomes the height of the reference plane.

[0135] The operation control unit 305 adjusts the bucket angle so as to be substantially parallel to the ground (e.g., a horizontal plane) (S1804).

[0136] The operation reception unit 301 determines whether or not it has received the start of the turning operation (S1805). If it is determined that the start of the turning operation has not been received (S1805: NO), the process is repeated until the start of the turning operation is received.

[0137] When the operation reception unit 301 determines that it has received the start of the turning operation (S1805: YES), the operation control unit 305 performs the turning operation of the upper swing body 3 (S1806).

[0138] The calculation unit 303 calculates the height of the rear surface 6b of the current bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the machine body inclination sensor S4 and the angle of the attachment AT (e.g., boom angle, arm angle, and bucket angle) acquired from the angle sensor of the attachment AT every predetermined cycle (S1807).

[0139] The operation control unit 305 controls the boom 4 based on the calculated height of the rear surface 6b every predetermined cycle (S1808). Specifically, when the calculated height of the rear surface 6b is different from the height of the rear surface 6b of the bucket 6 stored by the storage unit 304, the operation control unit 305 performs the raising operation or the lowering operation of the boom 4 so that the calculated height of the rear surface 6b substantially matches the height of the rear surface 6b of the bucket 6 stored by the storage unit 304. Further, the operation control unit 305 performs the opening operation or the closing operation of the bucket 6 so that the rear surface 6b of the bucket 6 is substantially parallel to the ground to be leveled every predetermined cycle.

[0140] Then, the operation reception unit 301 determines whether or not it has received the end of the pressing of the MC switch or the end of the turning operation (S1809). When the operation reception unit 301 determines that the pressing of the MC switch continues and the turning operation continues (S1809: NO), the process is performed again from S1806.

[0141] On the other hand, when the operation reception unit 301 determines that it has received the end of the pressing of the MC switch or the end of the turning operation (S1809: YES), the process ends.

[0142] By performing the above-described control, the controller 30 according to the present embodiment enables the leveling work because the back surface 6b of the bucket 6 is controlled to follow the ground to be leveled even when the excavator 100 is tilted.

[0143] However, the controller 30 may perform control according to the condition of the ground to be leveled or the operation of the operator.

[0144] Next, a processing procedure executed by the controller 30 according to the present embodiment will be described. FIG. 9 is a second flowchart showing a processing procedure for leveling by a turning operation with the height of the bucket 6 when the MC switch is pressed as a reference, which is executed by the controller 30 according to the present embodiment.

[0145] First, the operation reception unit 301 determines whether or not it has received the pressing of the MC switch (S1901). If it is determined that the pressing has not been received (S1901: NO), the process ends.

[0146] When the operation reception unit 301 determines that it has received the pressing of the MC switch (S1901: YES), the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment AT acquired from the angle sensor of the attachment AT (for example, boom angle, arm angle, and bucket angle) (S1902).

[0147] The storage unit 304 stores the inclination angle of the excavator 100 and the height of the back surface 6b of the bucket 6 in the auxiliary storage device 47 (S1903). The height of the bucket 6 stored in the auxiliary storage device 47 becomes the height of the reference plane.

[0148] The operation control unit 305 adjusts the bucket angle so as to be substantially parallel to the ground (e.g., a horizontal plane) (S1904).

[0149] The operation reception unit 301 determines whether or not it has received the start of a turning operation (S1905). If it is determined that the start of the turning operation has not been received (S1905: NO), the process is repeated until the start of the turning operation is received.

[0150] When the operation reception unit 301 determines that it has received the start of the turning operation (S1905: YES), the operation control unit 305 performs a turning operation of the upper swing body 3 (S1906).

[0151] The calculation unit 303 calculates the height of the back surface 6b of the current bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the machine body inclination sensor S4 and the angle of the attachment AT (e.g., boom angle, arm angle, and bucket angle) acquired from the angle sensor of the attachment AT every predetermined cycle (S1907).

[0152] The operation control unit 305 controls the boom 4 based on the calculated height of the back surface 6b every predetermined cycle (S1908). Specifically, similar to S1808 in FIG. 8, when the calculated height of the back surface 6b is different from the height of the back surface 6b of the bucket 6 stored by the storage unit 304, the operation control unit 305 performs an upward operation or a downward operation of the boom 4 so that the calculated height of the back surface 6b substantially matches the height of the back surface 6b of the bucket 6 stored by the storage unit 304. However, when the boom 4 is in the upward operation state in S1910 described later, the operation control unit 305 determines whether the turning load detected from the turning pressure sensor (right turning pressure sensor S10R or left turning pressure sensor S10L) corresponding to the current turning direction is smaller than the second threshold value (the second threshold value < the first threshold value). And when the operation control unit 305 determines that the turning load is smaller than the second threshold value, it performs a downward operation of the boom 4 so that the height of the bucket 6 decreases by 1 cm to 2 cm. That is, after the upward operation of the boom 4, when the turning load becomes small, the operation control unit 305 performs a downward operation of the boom 4 to control the height of the back surface 6b to return to the original state.

[0153] The operation control unit 305 determines whether the turning load detected from the turning pressure sensor (right turning pressure sensor S10R or left turning pressure sensor S10L) corresponding to the current turning direction is greater than the first threshold value (S1909). When it is determined that the turning load is less than or equal to the first threshold value (S1909: NO), the process proceeds to the process of S1911. The first threshold value is a threshold value determined according to the embodiment such as the performance of the excavator 100.

[0154] On the other hand, when the operation control unit 305 determines that the turning load is greater than the first threshold value (S1909: YES), it performs an upward operation of the boom 4 so that the height of the bucket 6 increases by 1 cm to 2 cm (S1910).

[0155] The operation reception unit 301 determines whether it has received an opening operation or a closing operation of the arm 5 (S1911). When it is determined that the opening operation or the closing operation of the arm 5 has not been received (S1911: NO), the process proceeds to the process of S1913.

[0156] On the other hand, when the operation reception unit 301 determines that it has received an opening operation or a closing operation of the arm 5 (S1911: YES), the operation control unit 305 controls the boom 4 and the bucket 6 so that the rear surface 6b of the bucket 6 contacts the ground to be leveled, along with the opening or closing operation of the arm 5 according to the operation (S1912).

[0157] Then, the operation reception unit 301 determines whether it has received the end of the pressing of the MC switch or the end of the turning operation (S1913). When the operation reception unit 301 determines that the pressing of the MC switch continues and the turning operation continues (S1913: NO), the process is performed again from S1906.

[0158] On the other hand, when the operation reception unit 301 determines that it has received the end of the pressing of the MC switch or the end of the turning operation (S1913: YES), the process ends.

[0159] In the processing procedure shown in FIG. 9, by performing the raising operation or the lowering operation of the boom 4 according to the change in the ground to be leveled, the turning load generated on the excavator 100 can be reduced. Further, even when the operation reception unit 301 receives a closing operation or an opening operation of the arm 5 by the operator, the state where the rear surface 6b of the bucket 6 contacts the ground to be leveled can be maintained, so that the accuracy of the leveling work can be improved.

[0160] In the present embodiment, an example of controlling the height of the bucket 6 so that the rear surface 6b of the bucket 6 contacts the ground has been described. However, the height control of the bucket 6 according to the present embodiment is not limited to the control such that the rear surface 6b of the bucket 6 contacts the ground, and may be any control according to the work performed by the excavator 100 during turning.

[0161] (Second Embodiment) In the above-described embodiment, an example was described in which, after the operator operates so that the back surface 6b of the bucket 6 contacts the surface to be leveled (an example of a reference surface), the leveling operation is performed during the turning operation by the machine control function. However, the above-described embodiment does not limit the method by which the operator specifies the surface to be leveled. Therefore, in the second embodiment, an example is given in which the leveling operation is performed by causing the back surface 6b of the bucket 6 to follow the work target surface (an example of a predetermined reference surface) indicated by the design data stored in the design data storage unit 47A.

[0162] Next, the processing procedure executed by the controller 30 according to the present embodiment will be described. FIG. 10 is a flowchart showing the processing procedure for leveling the work target surface indicated by the design data by a turning operation by the controller 30 according to the present embodiment.

[0163] First, the operation reception unit 301 determines whether or not it has received the pressing of the MC switch (S2001). If it is determined that the pressing has not been received (S2001: NO), the process ends.

[0164] When the operation reception unit 301 determines that it has received the pressing of the MC switch (S2001: YES), the calculation unit 303 calculates the height of the back surface 6b of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the body inclination sensor S4 and the angle of the attachment AT acquired from the angle sensor of the attachment AT (for example, the boom angle, the arm angle, and the bucket angle) (S2002).

[0165] The storage unit 304 stores the inclination angle of the excavator 100 in the auxiliary storage device 47 (S2003).

[0166] The operation control unit 305 performs control to operate (for example, lower) the boom 4 so that the bucket 6 contacts the work target surface indicated by the design data (S2004).

[0167] Furthermore, the operation control unit 305 adjusts the bucket angle so that the back surface 6b is substantially parallel to the work target surface (S2005).

[0168] The operation reception unit 301 determines whether or not it has received the start of the turning operation (S2006). If it is determined that the start of the turning operation has not been received (S2006: NO), the process is repeated until the start of the turning operation is received.

[0169] When the operation reception unit 301 determines that it has received the start of the turning operation (S2006: YES), the operation control unit 305 performs the turning operation of the upper swing body 3 (S2007).

[0170] The calculation unit 303 calculates the current height of the bucket 6 in the reference coordinate system based on the inclination angle of the excavator 100 acquired from the machine body inclination sensor S4 and the angle of the attachment AT acquired from the angle sensor of the attachment AT (for example, boom angle, arm angle, and bucket angle) for each predetermined cycle (S2008).

[0171] The operation control unit 305 controls the boom 4 based on the calculated height of the back surface 6b for each predetermined cycle (S2009). Specifically, when the calculated height of the back surface 6b is different from the height of the work target surface indicated by the design data, the operation control unit 305 performs the raising operation or lowering operation of the boom 4 so that the calculated height of the back surface 6b substantially matches the height of the work target surface. Furthermore, the operation control unit 305 performs the opening operation or closing operation of the bucket 6 so that the back surface 6b of the bucket 6 is substantially parallel to the work target surface for each predetermined cycle.

[0172] Then, the operation reception unit 301 determines whether or not it has received the end of the pressing of the MC switch or the end of the turning operation (S2010). When the operation reception unit 301 determines that the pressing of the MC switch continues and the turning operation continues (S2010: NO), the process is performed again from S2007.

[0173] On the other hand, when the operation reception unit 301 determines that it has received the end of the pressing of the MC switch or the end of the turning operation (S2010: YES), it ends the process.

[0174] By performing the above-described control, the controller 30 according to the present embodiment controls the back surface 6b of the bucket 6 to follow the work target surface even when the excavator 100 is tilted. Therefore, the ground can be shaped into the shape indicated by the work target surface.

[0175] Also, in the present embodiment, while the boom 4 is raised or lowered so as to follow the work target surface, the opening or closing operation of the bucket 6 is performed so that the back surface 6b of the bucket 6 substantially coincides with the work target surface. That is, by performing the above-described control, the controller 30 according to the present embodiment can follow the back surface 6b of the bucket 6 to the inclined work target surface and perform the leveling work even when the work target surface is inclined with respect to the horizontal plane of the reference coordinate system.

[0176] As described above, the controller 30 according to the present embodiment can perform the leveling work using the back surface 6b of the bucket 6 even when the ground is inclined during the turning operation.

[0177] The excavator 100 according to the present embodiment is controlled so that the back surface 6b of the bucket 6 follows the work target surface indicated by the design data, so that the operation burden on the operator during the shaping work can be reduced.

[0178] (Third Embodiment) In the third embodiment, the case where the operator remotely operates the excavator 100 will be described.

[0179] FIG. 11 is a schematic diagram showing a configuration example of a remote support system SYS (an example of an excavator control system) of the excavator 100 according to the present embodiment. In the example shown in FIG. 11, 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.

[0180] The excavator 100 uses a communication device T1 provided in the excavator 100 to transmit the detection results from various sensors provided in the excavator 100 to the remote operation room RC. For example, the excavator 100 transmits the image information captured by the imaging device S6 to the remote operation room RC.

[0181] In the remote support system SYS according to this 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 operation seat DS, a remote controller R30, and a communication device T2 are provided.

[0182] The display device DR is provided for the operator OP in the remote operation room RC to visually recognize the periphery of the excavator 100.

[0183] The operator OP present at the operation 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 remote controller R30 generates a control signal corresponding to the operation content.

[0184] The remote controller R30 also accepts the pressing of the MC switch provided at the tip of the operation device R26. The remote controller R30 also generates a control signal indicating whether the MC switch is pressed or not.

[0185] Then, the communication device T2 transmits the generated control signal to the excavator 100. By the remote controller R30 transmitting the control signal, the remote operation of the excavator 100 becomes possible.

[0186] Then, the controller 30 of the excavator 100 controls the excavator 100 based on the received control signal. For example, the controller 30 can recognize whether the MC switch is pressed based on the received control signal. Further, the controller 30 can recognize whether a turning operation is being performed based on the received control signal.

[0187] Then, the controller 30 of the excavator 100 performs control similar to that of the above-described embodiment according to the recognition result.

[0188] Accordingly, in the present embodiment, even when the operator OP present in the operator's seat DS is present in the remote control room RC, the excavator 100 can perform the leveling work by the turning operation.

[0189] In the above-described embodiment and modification, an example in which the bucket 6 is attached as an end attachment has been described. However, the above-described embodiment and modification do not limit the end attachment to the bucket 6, and for example, a slope bucket or the like may be applied.

[0190] <Function> In the above-described embodiment, even when the excavator 100 is tilted, in the turning operation of the excavator 100, the leveling work can be performed at a predetermined portion of the bucket 6. Since the operator does not have to adjust the angle of the attachment AT according to the inclination of the excavator 100, the operation burden can be reduced. Therefore, even when the operator has little experience, the leveling work can be easily performed.

[0191] In the excavator 100 according to the above-described embodiment, since the height of a predetermined portion of the bucket 6 is controlled, the leveling work for the surface to be leveled can be appropriately performed. Therefore, an improvement in the accuracy of the leveling work can be realized. Conventionally, when performing the leveling work with the bucket by the turning operation, adjustments such as installing the excavator horizontally were necessary. On the other hand, in the above-described embodiment, since the controller 30 performs the above-described control, adjustments such as installing the excavator 100 horizontally are not required, so that the work burden can be reduced.

[0192] As described above, the embodiments of the excavator and the control system of the excavator according to the present invention have been described, but the present invention is not limited to the above-described embodiments. Various changes, modifications, substitutions, additions, deletions, and combinations are possible within the scope described in the claims. Naturally, they also belong to the technical scope of the present invention.

Explanation of Symbols

[0193] 100 Excavator 1 Lower Travel Body 2 Swing Mechanism 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Machine Body Tilt Sensor S5 Swing Angle Sensor S6 Imaging Device S10R Right Swing Pressure Sensor S10L Left Swing Pressure Sensor T1 Communication Device 30 Controller 301 Operation Reception Unit 302 Acquisition Unit 303 Calculation Unit 304 Storage Unit 305 Operation Control Unit 306 Output Control Unit RC Remote Operation Room R30 Remote Controller T2 Communication Device

Claims

1. A lower traveling body, an upper slewing body that is rotatably mounted on the lower traveling body, a boom attached to the upper slewing body, an arm attached to the tip of the boom, an end attachment attached to the tip of the arm, an inclination sensor that detects the inclination of the excavator, a control unit configured to control the height of the end attachment during the slewing operation of the upper slewing body based on the detection result by the inclination sensor, An excavator comprising the above.

2. The control unit is configured to control the height of the end attachment during the slewing operation of the upper slewing body based on the detection result by the inclination sensor when a predetermined switch is pressed. The excavator according to Claim 1.

3. During the slewing operation of the upper slewing body, the control unit controls the boom so that the height of the end attachment maintains the height of a predetermined reference plane. The excavator according to Claim 1 or 2.

4. The height of the predetermined reference plane corresponds to the height of the ground after leveling by the end attachment during the slewing operation. The excavator according to Claim 3.

5. During the slewing operation of the upper slewing body, the control unit is configured to control the angle of the end attachment based on the reference plane. The excavator according to Claim 3.

6. During the slewing operation of the upper slewing body, when the control unit performs the closing or opening operation of the arm according to the operation received by the operating device, the height of the end attachment maintains the height of a preset reference plane and / or controls the angle of the end attachment based on the reference plane, and performs at least one of them. The excavator according to Claim 3.

7. During the slewing operation of the upper slewing body, the control unit suppresses the excavation operation by the end attachment and suppresses the rolling pressure operation by the end attachment. The excavator according to Claim 1.

8. During the slewing operation of the upper slewing body, the control unit controls the height of the end attachment so as to remove an object existing on the ground on the side surface of the end attachment. The excavator according to Claim 1.

9. During the swinging operation of the upper swing body, the object removed from the side surface of the end attachment is the earth and sand on the ground to be leveled by the end attachment. The excavator according to claim 8.

10. The control unit is configured to perform a raising operation of the boom based on a load generated by the swinging operation of the upper swing body during the swinging operation of the upper swing body. The excavator according to claim 1.

11. After performing the raising operation of the boom, the control unit is configured to perform a lowering operation of the boom based on a load generated by the swinging operation of the upper swing body. The excavator according to claim 10.

12. The control unit is configured to give a notification when performing the raising operation of the boom. The excavator according to claim 10.

13. The control unit is configured to display, on a display device, an area leveled by the end attachment by a swinging operation. The excavator according to claim 1.

14. The control unit is configured to vary a display mode according to the height of the end attachment in an area leveled by the end attachment by a swinging operation. The excavator according to claim 13.

15. An excavator comprising 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 tip of the boom, an end attachment attached to the tip of the arm, and an inclination sensor for detecting the inclination of the excavator. An operating device for receiving depression of a predetermined switch. A control unit configured to control the height of the end attachment during the swinging operation of the upper swing body based on a detection result by the inclination sensor when receiving depression of the predetermined switch. A control system for an excavator comprising the above.

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