Shovel, display device, and remote operation support device

Abstract

To provide a technique enabling a user to easily switch a plurality of control modes of a shovel.SOLUTION: A shovel 100 according to one embodiment of the present disclosure includes a controller 30 for performing control related to the operation of the shovel 100, a touch panel 80 for receiving the input of a user, and a display device 50A for displaying an operable screen in response to the input of the touch panel 80, wherein the controller 30 has a plurality of control modes for control related to the operation of the shovel 100, and the display device 50A displays one screen 41 capable of selecting one arbitrary control mode among the plurality of control modes, by operation using the touch panel 80 by a user.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to a hydraulic excavator and the like.

Background Art

[0002] Conventionally, hydraulic excavators are equipped with various functions, and control may be performed on the operation of the hydraulic excavator according to the various functions (see, for example, Patent Document 1).

[0003] In Patent Document 1, functions such as a machine guidance and machine control function, a function for crane work, and a function for detecting the load of earth and sand for loading earth and sand onto a dump truck are mounted.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in order for the user to use the various functions mounted on the hydraulic excavator, it is necessary to operate the hydraulic excavator while switching between a plurality of control modes including control modes corresponding to the respective functions.

[0006] Therefore, in view of the above problems, an object of the present disclosure is to provide a technique that enables a user to easily switch between a plurality of control modes of a hydraulic excavator.

Means for Solving the Problems

[0007] To achieve the above object, in one embodiment of the present disclosure, a lower traveling body; an upper swing body rotatably mounted on the lower traveling body; an attachment attached to the upper swing body; A control device that controls the operation of an excavator, a first input device that receives user input, and a display device that displays an operable screen in response to an input from the first input device. The control device has a plurality of control modes for controlling the operation of the excavator. The display device displays a predetermined screen on which the user can select any one of the plurality of control modes by operating the first input device. An excavator is provided.

[0008] Also, in another embodiment of the present disclosure, a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an attachment attached to the upper revolving body, and a control device that controls the operation of the excavator and has a plurality of control modes for controlling the operation of the excavator. A display device for assisting the operation of the excavator, displays a predetermined screen on which the user can select any one of the plurality of control modes by operating an input device. A display device is provided.

[0009] Also, in still another embodiment of the present disclosure, the above-described display device, the input device, an operating device for the user to remotely operate the excavator, and a communication device that transmits the operation content of the operating device and the operation content of the one predetermined screen to the excavator. A remote operation support device is provided.

Advantages of the Invention

[0010] According to the above-described embodiment, the user can easily switch between a plurality of control modes of the excavator.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments will be described with reference to the drawings.

[0013] [Outline of Excavator] With reference to FIGS. 1 and 2, the outline of the excavator 100 according to this embodiment will be described.

[0014] FIG. 1 is a side view showing an example of the excavator 100. FIG. 2 is a top view showing an example of the excavator 100. Hereinafter, when describing the direction in the excavator 100 or the direction seen from the excavator 100, the direction in which the attachment AT extends in the top view of the excavator 100 may be defined as "front".

[0015] As shown in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper slewing body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

[0016] The lower traveling body 1 uses a pair of left and right crawlers 1C to move the excavator 100. The crawlers 1C include the left crawler 1C and the right crawler 1C. The left crawler 1C and the right crawler 1C are hydraulically driven by traveling hydraulic motors 1ML and 1MR respectively. Thereby, the lower traveling body 1 can move by itself.

[0017] The upper slewing body 3 is slewingly mounted on the lower traveling body 1 via a slewing mechanism 2. For example, the upper slewing body 3 can slew with respect to the lower traveling body 1 when the slewing mechanism 2 is hydraulically driven by a slewing hydraulic motor 2M.

[0018] The boom 4 is attached to the center of the front part of the upper slewing body 3 so as to be able to pitch about a rotation axis along the left - right direction. The arm 5 is attached to the tip of the boom 4 so as to be able to rotate about a rotation axis along the left - right direction. The bucket 6 is attached to the tip of the arm 5 so as to be able to rotate about a rotation axis along the left - right direction.

[0019] The bucket 6 is an example of an end attachment and is used, for example, in excavation work, slope work, leveling work, etc.

[0020] The bucket 6 is attached to the tip of the arm 5 in a mode that can be appropriately replaced according to the work content of the excavator 100. That is, instead of the bucket 6, a bucket of a different type from the bucket 6, for example, a large bucket relatively larger than the bucket 6, a slope bucket, a dredging bucket, etc. may be attached to the tip of the arm 5. Also, an end attachment of a type other than the bucket, for example, a stirrer, a breaker, a crusher, etc. may be attached to the tip of the arm 5. Further, a preliminary attachment such as a quick coupler or a tilt - rotator may be provided between the arm 5 and the end attachment.

[0021] In addition, for example, a hook HK is attached to the bucket 6. Thereby, the excavator 100 can move the suspended load by suspending the suspended load on the hook HK and operating at least one of the lower traveling body 1, the upper slewing body 3, and the attachment AT.

[0022] The base end of the hook HK is rotatably connected to a bucket pin that connects between the arm 5 and the bucket 6. Thereby, when operations other than lifting operations such as excavation work (also referred to as "crane work") are performed, the hook HK can be stored in the space formed between the two bucket links.

[0023] The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0024] The cab 10 is a cab (also referred to as an "operator's cab") for an operator to board and operate the excavator 100. The cab 10 is mounted, for example, on the front left side of the upper slewing body 3.

[0025] For example, the excavator 100 operates driven elements such as the lower traveling body 1 (that is, a pair of left and right crawlers 1CL, 1CR), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 according to the operation of an operator boarding the cab 10.

[0026] In addition, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 can realize a function of automatically operating at least a part of driven elements such as the lower traveling body 1, the upper slewing body 3, and the attachment AT, that is, a so-called "automatic operation function" or "Machine Control (MC) function".

[0027] The automatic driving function includes, for example, a semi-automatic driving function (operation support type MC function). The semi-automatic driving function is a function that automatically operates a driven element (actuator) other than the driven element (actuator) of the operation target in response to the operation of the operator. In addition, the automatic driving function may include a fully automatic driving function (fully automatic type MC function). The fully automatic driving function is a function that automatically operates at least a part of a plurality of driven elements (actuators) on the premise that there is no operation by the operator. In the excavator 100, when the fully automatic driving function is effective, the inside of the cab 10 may be unmanned. Further, the semi-automatic driving function, the fully automatic driving function, etc. include, for example, a rule-based automatic driving function. The rule-based automatic driving function is an automatic driving function in 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. In addition, the semi-automatic driving function, the fully automatic driving function, etc. may include an autonomous driving function. The autonomous driving function is an automatic driving function in a mode in which the excavator 100 autonomously makes various determinations, and the operation content of the driven element (actuator) of the automatic driving target is determined according to the determination result.

[0028] [Configuration of Excavator] Next, in addition to FIGS. 1 and 2, with reference to FIGS. 3 and 4, the configuration of the excavator 100 will be described.

[0029] FIG. 3 is a diagram showing an example of the configuration of the excavator 100. FIG. 4 is a top view showing an example of the inside of the cab 10.

[0030] In addition, in FIG. 3, the path through which mechanical power is transmitted is shown by a double line, the path through which high-pressure hydraulic oil for driving a hydraulic actuator flows is shown by a thick solid line, the path through which pilot pressure is transmitted is shown by a broken line, the path of fuel is shown by a one-dot chain line, and the path through which an electric signal is transmitted is shown by a dotted line, respectively.

[0031] The excavator 100 includes respective components such as a hydraulic drive system, an operation system, a user interface system, and a control system.

[0032] [Hydraulic Drive System] The hydraulic drive system of the excavator 100 is a group of components related to the hydraulic drive of the driven elements of the excavator 100.

[0033] As shown in FIG. 3, the hydraulic drive system of the excavator 100 includes, as described above, hydraulic actuators HA that hydraulically drive each of the driven elements such as the lower traveling body 1 (that is, the left and right crawlers 1C), the upper revolving body 3, the boom 4, the arm 5, and the bucket 6. Further, the hydraulic drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0034] The hydraulic actuators HA include traveling hydraulic motors 1ML, 1MR, a swing hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, etc.

[0035] Note that in the excavator 100, some or all of the hydraulic actuators HA may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator.

[0036] The engine 11 is the prime mover of the excavator 100 and is the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, at the rear of the upper revolving body 3. The engine 11 rotates at a constant speed at a preset target rotational speed under the direct or indirect control of a controller 30 described later, and drives the main pump 14 and the pilot pump 15.

[0037] Note that instead of or in addition to the engine 11, other prime movers (for example, an electric motor) etc. may be mounted on the excavator 100.

[0038] The regulator 13 adjusts the discharge amount of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate (hereinafter, “tilt angle”) of the main pump 14 in response to a control command from the controller 30.

[0039] The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston, thereby controlling the discharge flow rate and discharge pressure.

[0040] The control valve 17 drives the hydraulic actuators HA in response to an operation command corresponding to the operator's operation device 26 or the automatic operation function. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to each hydraulic actuator in response to an operation of the operator's operation device 26 or an operation command corresponding to the automatic operation function. Specifically, the control valve 17 includes a plurality of directional control valves that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each hydraulic actuator HA.

[0041] <Operation system> The operating system of the shovel 100 is a group of components related to the operation of the driven elements.

[0042] As shown in FIGS. 3 and 4, the operating system of the excavator 100 includes a pilot pump 15, a gate lock valve 25V, an operating device 26, a hydraulic control valve 31, a shuttle valve 32, and a hydraulic control valve 33.

[0043] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., an operating device 26) via a pilot line 25. The pilot pump 15 is mounted on the rear of the upper rotating body 3, for example, similar to the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0044]

[0045] The gate lock valve 25V is provided upstream of all various hydraulic devices that receive the supply of the hydraulic oil from the pilot pump 15 in the pilot line 25. The gate lock valve 25V switches the communication and cutoff (non-communication) of the pilot line 25 by the ON / OFF of a limit switch 25s interlocked with the operation state of a gate lever 23 provided inside the cabin 10.

[0046] The gate lever 23 is a mechanical input device for switching between a state where the excavator 100 can be started and operated by the operation device 26 and a state where the excavator 100 cannot be started and operated. For example, the gate lever 23 is provided on the upper surface of a console 72L on the left side of the driver's seat 70. For example, the controller 30 controls whether or not the excavator 100 can be started, including starting the engine 11, according to the operation state of the gate lever 23. Also, as described above, the gate lever 23 can switch the communication and non-communication of the pilot line 25 according to its operation state, and as a result, the state where the hydraulic actuator HA of the excavator 100 can be operated and the state where it cannot be operated can be switched.

[0047] In addition, a gate bar 24 interlocked with the operating state of the gate lever 23 is disposed on the front surface of the console 72L on the left side of the driver's seat 70. When the gate lever 23 is in an operable state of the excavator 100, the gate bar 24 is in a state of rising forward so as to block the left-right movement between the driver's seat 70 and the entrance / exit of the cabin 10 (see Fig. 4). On the other hand, when the gate lever is in a non-operable state of the excavator 100, the gate bar 24 is housed inside the console 72L in a state of being laid downwards so as to allow the left-right movement between the driver's seat 70 and the entrance / exit of the cabin 10. Thereby, unless the gate bar 24 pops out forward, the operator cannot operate the excavator 100 according to the operation of the gate lever 23, and the safety of the excavator 100 can be improved.

[0048] The operating device 26 is provided within reach of the operator in the driver's seat 70 of the cabin 10 and is used for the operator to operate respective driven elements, that is, the left and right crawlers of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, etc. Specifically, the operating device 26 is used for the operator to operate the hydraulic actuators HA that drive respective driven elements.

[0049] For example, as shown in Fig. 3, the operating device 26 is a hydraulic pilot type. Specifically, the operating device 26 utilizes the hydraulic oil supplied from the pilot pump 15 through the pilot line 25 and the pilot line 25A branched therefrom, and outputs a pilot pressure corresponding to the operation content to the secondary pilot line 27A. The pilot line 27A is connected to one inlet port of the shuttle valve 32, and is connected to the control valve 17 through the pilot line 27 connected to the outlet port of the shuttle valve 32. Thereby, a pilot pressure corresponding to the operation content regarding each hydraulic actuator HA in the operating device 26 is input to the control valve 17 through the shuttle valve 32. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operator or the like on the operating device 26.

[0050] Also, the operating device 26 may be electric. In this case, the pilot line 27A, the shuttle valve 32, and the hydraulic control valve 33 are omitted. Specifically, the operating device 26 outputs an electric signal (hereinafter, "operation signal") corresponding to the operation content, and the operation signal is taken into the controller 30. Then, the controller 30 outputs a control command corresponding to the content of the operation signal, that is, a control signal corresponding to the operation content for the operating device 26, to the hydraulic control valve 31. Thereby, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

[0051] Also, the control valve (direction switching valve) for driving each hydraulic actuator HA built in the control valve 17 may be an electromagnetic solenoid type. In this case, the operation signal output from the operating device 26 may be directly input to the control valve 17 (that is, to the electromagnetic solenoid type control valve).

[0052] Also, as described above, part or all of the hydraulic actuators HA may be replaced with electric actuators. In this case, the controller 30 may output a control command corresponding to the operation content of the operating device 26 or the content of the remote operation defined by the remote operation signal to the electric actuator or a driver that drives the electric actuator.

[0053] As shown in FIG. 4, the operating device 26 includes a left lever device 26A, a right lever device 26B, and a pedal device 26C.

[0054] The left lever device 26A is disposed, for example, at the front portion of the upper surface of the console 72L on the left side of the driver's seat 70 inside the cabin 10, and its base is covered with a lever cover CVA. The left lever device 26A is used for the operator to operate any two of the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Thereby, the operator sitting on the driver's seat 70 can operate two of the hydraulic actuators HA among the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 by operating the left lever device 26A with the left hand. For example, the operation targets of the left lever device 26A are the swing hydraulic motor 2M and the arm cylinder 8. By operating the left lever device 26A in the lateral direction, the swing hydraulic motor 2M is operated, and by operating the left lever device 26A in the longitudinal direction, the arm cylinder 8 is operated. The longitudinal direction and the lateral direction of the left lever device 26A respectively correspond to the front-rear direction and the left-right direction of the excavator 100, and the same applies to the longitudinal direction and the lateral direction of the right lever device 26B described later.

[0055] The right lever device 26B is disposed, for example, at the front portion of the upper surface of the console 72R on the right side of the driver's seat 70 inside the cabin 10, and its base is covered with a lever cover CVB. The right lever device 26B is used for the operator to operate the remaining two of the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 other than the operation targets of the left lever device 26A. Thereby, the operator sitting on the driver's seat 70 can operate the remaining two of the hydraulic actuators HA among the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 by operating the right lever device 26B with the right hand. For example, the operation targets of the right lever device 26B are the boom cylinder 7 and the bucket cylinder 9. By operating the right lever device 26B in the longitudinal direction, the boom cylinder 7 is operated, and by operating the right lever device 26B in the lateral direction, the bucket cylinder 9 is operated.

[0056] The pedal device 26C is disposed on the floor surface in front of the driver's seat inside the cabin 10. The pedal device 26C is used for the operator to operate the traveling hydraulic motors 1ML and 1MR. The pedal device 26C includes a left pedal 26C1, a right pedal 26C2, a left lever 26C3, and a right lever 26C4.

[0057] The left pedal 26C1 is used for the operator to operate the traveling hydraulic motor 1ML that drives the left crawler 1C. Thereby, the operator sitting on the driver's seat 70 can operate the traveling hydraulic motor 1ML by operating the left pedal 26C1 with the left foot.

[0058] The right pedal 26C2 is used for the operator to operate the traveling hydraulic motor 1MR that drives the right crawler 1C. Thereby, the operator sitting on the driver's seat 70 can operate the traveling hydraulic motor 1MR by operating the right pedal 26C2 with the right foot.

[0059] The left lever 26C3 is used for the operator to operate the traveling hydraulic motor 1ML that drives the left crawler 1C. Thereby, the operator sitting on the driver's seat 70 can operate the traveling hydraulic motor 1ML by operating the left lever 26C3 with the left hand.

[0060] The right lever 26C4 is used for the operator to operate the traveling hydraulic motor 1MR that drives the right crawler 1C. Thereby, the operator sitting on the driver's seat 70 can operate the traveling hydraulic motor 1MR by operating the right lever 26C4 with the right hand.

[0061] The hydraulic control valve 31 is provided for each hydraulic actuator HA to be operated by the operating device 26 and for each driving direction of the hydraulic actuator HA (for example, the extending direction and the contracting direction of the boom cylinder 7). For example, a pair of hydraulic control valves 31 are provided for each double-acting hydraulic actuator HA for driving the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, and the like. The hydraulic control valve 31 is provided, for example, in the pilot line 25B between the pilot pump 15 and the control valve 17, and may be configured to be able to change its flow passage area (that is, the cross-sectional area through which the hydraulic oil can flow). Thereby, the hydraulic control valve 31 can output a predetermined pilot pressure to the secondary pilot line 27B by using the hydraulic oil of the pilot pump 15 supplied through the pilot line 25B. Therefore, the hydraulic control valve 31 can indirectly act on the control valve 17 a predetermined pilot pressure according to the control signal from the controller 30 through the shuttle valve 32 between the pilot line 27B and the pilot line 27. Thus, for example, the controller 30 can act on the control valve 17 a pilot pressure corresponding to an operation command corresponding to the automatic operation function from the hydraulic control valve 31, and realize the operation of the excavator 100 by the automatic operation function.

[0062] Also, when the operating device 26 is electric, the controller 30 can directly act on the control valve 17 a pilot pressure corresponding to the operation content (operation signal) of the operating device 26 from the hydraulic control valve 31, and realize the operation of the excavator 100 based on the operation of the operator.

[0063] The shuttle valve 32 has two inlet ports and one outlet port, and outputs the hydraulic oil having the higher pilot pressure among the pilot pressures input to the two inlet ports to the outlet port. Similar to the hydraulic control valve 31, the shuttle valve 32 is provided for each hydraulic actuator HA that is the operation target of the operating device 26 and for each driving direction of the hydraulic actuator HA. For example, a pair of shuttle valves 32 are provided for each double-acting hydraulic actuator HA for driving the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, and the like. One of the two inlet ports of the shuttle valve 32 is connected to the secondary pilot line 27A of the operating device 26 (specifically, the above-described lever device or pedal device included in the operating device 26), and the other is connected to the secondary pilot line 27B of the hydraulic control valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding direction switching valve of the control valve 17 through the pilot line 27. The corresponding control valve is the direction switching valve that drives the hydraulic actuator HA that is the operation target of the above-described left lever device 26A, right lever device 26B, or pedal device 26C connected to one inlet port of the shuttle valve 32. Therefore, each of these shuttle valves 32 can apply the higher one of the pilot pressure of the secondary pilot line 27A of the operating device 26 and the pilot pressure of the secondary pilot line 27B of the hydraulic control valve 31 to the pilot port of the corresponding control valve. That is, the controller 30 can control the corresponding direction switching valve without depending on the operation of the operator on the operating device 26 by outputting a pilot pressure higher than the secondary pilot pressure of the operating device 26 from the hydraulic control valve 31. Therefore, the controller 30 can control the operation of the driven elements (that is, the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6) without depending on the operation state of the operator on the operating device 26, and can realize the automatic operation function.

[0064] The hydraulic control valve 33 is provided in a pilot line 27A that connects the operating device 26 and the shuttle valve 32. The hydraulic control valve 33 is configured to be able to change its flow passage area, for example. The hydraulic control valve 33 operates according to a control signal input from the controller 30. Thereby, when the operating device 26 is being operated by the operator, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly decelerate or stop the operation of the hydraulic actuator HA corresponding to the operation of the operating device 26. Further, for example, even when the operating device 26 is being operated, the controller 30 can reduce the pilot pressure output from the operating device 26 to be lower than the pilot pressure output from the hydraulic control valve 31. Therefore, by controlling the hydraulic control valve 31 and the hydraulic control valve 33, the controller 30 can surely act a desired pilot pressure on the pilot port of the direction switching valve in the control valve 17, for example, regardless of the operation content of the operating device 26. Thus, the controller 30 can more appropriately realize the automatic operation function of the excavator 100 by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31, for example.

[0065] <User interface system> The user interface system of the excavator 100 is a group of components related to the exchange of information between the user and the excavator 100.

[0066] As shown in FIG. 3, the user interface system of the excavator 100 includes the operating device 26, the output device 50, and the input device 52.

[0067] The output device 50 outputs various information to the user of the excavator 100 (for example, the operator in the cab 10 or the operator of remote operation outside), the people around the excavator 100 (for example, the worker or the driver of the work vehicle), etc.

[0068] For example, as shown in FIG. 4, the output device 50 includes a display device 50A that outputs various types of information in a visual manner. The display device 50A is, for example, a liquid crystal display, an organic EL (Electroluminescence) display, or the like. For example, as shown in FIG. 4, the display device 50A is provided at the right front part inside the cabin 10 and outputs various types of information in a visual manner to an operator or the like inside the cabin 10.

[0069] Further, the output device 50 may include a sound output device that outputs various types of information in an auditory manner. The sound output device includes, for example, a buzzer, a speaker, or the like. The sound output device is provided, for example, at at least one of the inside and outside of the cabin 10 and may output various types of information in an auditory manner to an operator inside the cabin 10 or a person (such as a worker) around the excavator 100.

[0070] Further, the output device 50 may include lighting equipment that outputs various types of information in a visual manner. The lighting equipment is, for example, a warning light (also referred to as an "indicator lamp") inside the cabin 10 or an external display lamp attached to the upper swing body 3. For example, the lighting equipment is provided inside the cabin 10 and outputs various types of information in a visual manner to an operator or the like inside the cabin 10. Further, the lighting equipment may be provided on the upper surface, side surface, or the like of the house part of the upper swing body 3 and output various types of information in a visual manner to a worker or the like around the excavator 100.

[0071] Further, the output device 50 may include a device that outputs various types of information in a tactile manner such as vibration of the driver's seat 70.

[0072] The input device 52 receives various inputs from the user of the excavator 100, and the signal corresponding to the received input is taken into the controller 30. For example, the input device 52 is provided inside the cabin 10 and receives inputs from an operator or the like inside the cabin 10. Further, the input device 52 may be provided, for example, on the side surface of the house part of the upper swing body 3 and receive inputs from a worker or the like around the excavator 100.

[0073] For example, the input device 52 includes a mechanical input device that accepts input by mechanical operations from the user. The mechanical input device includes, for example, a touch panel, a touch pad, a button switch, a lever, a toggle, a knob switch, and the like. For example, the input device 52 (mechanical input device) provided inside the cabin 10 includes a touch panel 80 and a switch panel 82. In addition, the input device 52 (mechanical input device) provided inside the cabin 10 may further include various levers, switches, dials installed on the consoles 72L, 72R and the console 74, and switches associated with the display device 50A, etc.

[0074] The touch panel 80 is mounted on the display device 50A and is configured to be able to operate the screen displayed on the display device 50A.

[0075] The switch panel 82 is provided on the upper surface of the console 72R on the right side of the driver's seat 70. The switch panel 82 includes a dial 82A.

[0076] The dial 82A has a cylindrical shape and is configured to be rotatable around the central axis. The dial 82A incorporates, for example, a rotary encoder capable of detecting its rotation angle, and a signal corresponding to its rotation state is input to the controller 30. Thereby, the operator can adjust the output of the prime mover, for example, by rotating the dial 82A. In addition, the dial 82A is configured to be pushable downward on the console 72R side and has the function of a push switch. Thereby, the operator can switch the control mode of the controller 30 described later, for example, according to the push operation of the dial 82A.

[0077] In addition, the input device 52 may include a voice input device that accepts the user's voice input. The voice input device includes, for example, a microphone.

[0078] In addition, the input device 52 may include a gesture input device that receives a user's gesture input. The gesture input device includes, for example, an imaging device that images the state of a gesture performed by the user.

[0079] In addition, the input device 52 may include a biological input device that receives a user's biological input. The biological input includes, for example, the input of biological information such as a user's fingerprint and iris.

[0080] <Communication system> As shown in FIG. 3, the communication system of the excavator 100 according to the present embodiment includes a communication device 60.

[0081] The communication device 60 connects to an external communication line and communicates with a device provided separately from the excavator 100. The device provided separately from the excavator 100 includes, in addition to a device outside the excavator 100, a portable terminal device (portable terminal) brought into the cab 10 by the user of the excavator 100. The communication device 60 includes, for example, a mobile communication module compliant with standards such as 4G (4 th Generation) and 5G (5 th Generation). In addition, the communication device 60 may include, for example, a satellite communication module. In addition, the communication device 60 may include, for example, a WiFi communication module, a Bluetooth (registered trademark) communication module, or the like. Further, when there are a plurality of connectable communication lines NW, the communication device 60 may include a plurality of communication devices according to the type of the communication line NW.

[0082] Note that the communication device 60 may be omitted.

[0083] <Control system> The control system of the excavator 100 is a group of components related to various controls of the excavator 100.

[0084] As shown in FIG. 3, the control system of the excavator 100 includes a controller 30. In addition, the control system of the excavator 100 includes an operation pressure sensor 29, an imaging device 40, and sensors S1 to S9.

[0085] The controller 30 performs various controls regarding the excavator 100.

[0086] The functions of the controller 30 may be realized by any hardware, or any combination of hardware and software, etc. For example, as shown in FIG. 3, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, which are connected by a bus BS1.

[0087] The auxiliary storage device 30A is a non-volatile storage means that stores installed programs and also stores necessary files, data, etc. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, or the like.

[0088] The memory device 30B, for example, loads the program in the auxiliary storage device 30A so that the CPU 30C can read it when there is an instruction to start the program. The memory device 30B is, for example, an SRAM (Static Random Access Memory).

[0089] The CPU 30C, for example, executes the program loaded in the memory device 30B and realizes various functions of the controller 30 according to the instructions of the program.

[0090] The interface device 30D functions as a communication interface for connecting to the internal communication line of the excavator 100, for example. The interface device 30D may include a plurality of different types of communication interfaces according to the type of the communication line to be connected.

[0091] In addition, the interface device 30D functions as an external interface for reading data from a recording medium and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected by a cable detachable from a connector installed inside the cab 10. Further, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, a program for realizing various functions of the controller 30 can be provided by, for example, a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Further, the program may be downloaded from another computer outside the excavator 100 through the communication device 60 and installed in the auxiliary storage device 30A.

[0092] Note that part of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers mounted on the excavator 100.

[0093] The operation pressure sensor 29 detects the pilot pressure on the secondary side (i.e., the pilot line 27A) of the hydraulic pilot-operated device 26, that is, the pilot pressure corresponding to the operation state of each hydraulic actuator HA in the operation device 26. The detection signal of the pilot pressure corresponding to the operation state of each hydraulic actuator HA in the operation device 26 by the operation pressure sensor 29 is taken into the controller 30. Thereby, when the operation device 26 is hydraulic, the controller 30 can grasp the operation state of the operation device 26, that is, the operation state of each hydraulic actuator HA through the operation device 26.

[0094] Note that when the operation device 26 is electric, the operation pressure sensor 29 is omitted. This is because the controller 30 can grasp the operation state of each hydraulic actuator HA through the operation device 26 based on the operation signal taken in from the operation device 26.

[0095] The imaging device 40 images the situation around the excavator 100.

[0096] The imaging device 40 is, for example, a monocular camera. Also, the imaging device 40 may be a three-dimensional camera (3D camera) capable of acquiring three-dimensional information including not only two-dimensional image information but also information regarding the distance from the object shown in the image and the depth (depth) of the image, such as a stereo camera, a ToF (Time of Flight) camera, a depth camera, etc.

[0097] For example, as shown in FIG. 2, the imaging device 40 includes cameras 40F, 40B, 40L, and 40R. The camera 40F images the front of the upper swing body 3. The camera 40B images the rear of the upper swing body 3. The camera 40L images the left side of the upper swing body 3. The camera 40R images the right side of the upper swing body 3. Thereby, the imaging device 40 can image the situation in the entire circumference centered on the excavator 100, that is, in a range covering 360 degrees in the angular direction, in the top view of the excavator 100. Hereinafter, the cameras 40F, 40B, 40L, and 40R may be collectively or individually referred to as "camera 40X".

[0098] The output data of the imaging device 40 (camera 40X) is taken into the controller 30 through a one-to-one communication line or an in-vehicle network. Thereby, for example, the controller 30 can grasp the situation around the excavator 100 based on the output data of the camera 40X.

[0099] Note that some or all of the cameras 40F, 40B, 40L, and 40R may be omitted. Also, the excavator 100 may be provided with a distance measuring sensor (also referred to as a "distance sensor") capable of acquiring information representing the distance from an object around the excavator 100 instead of or in addition to the imaging device 40. The distance measuring sensor is, for example, a LIDAR (Light Detecting and Ranging), a millimeter-wave radar, an ultrasonic sensor, etc.

[0100] Sensor S1 is attached to the boom 4 and measures the attitude state of the boom 4. Sensor S1 outputs measurement data representing the attitude state of the boom 4. The attitude state of the boom 4 is, for example, the attitude angle (hereinafter, "boom angle") around the rotation axis of the proximal end corresponding to the connecting portion with the upper slewing body 3 of the boom 4. Sensor S1 includes, for example, a rotary potentiometer, a rotary encoder, an acceleration sensor, an angular acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same may apply to sensors S2 to S4 below. Also, sensor S1 may include a cylinder sensor that detects the telescopic position of the boom cylinder 7. The same may apply to sensors S2 and S3 below. The output of sensor S1 (i.e., the measurement data representing the attitude state of the boom 4) is taken into the controller 30. Thereby, the controller 30 can grasp the attitude state of the boom 4.

[0101] Sensor S2 is attached to the arm 5 and measures the attitude state of the arm 5. Sensor S2 outputs measurement data representing the attitude state of the arm 5. The attitude state of the arm 5 is, for example, the attitude angle (hereinafter, "arm angle") around the rotation axis of the proximal end corresponding to the connecting portion with the boom 4 of the arm 5. The output of sensor S2 (the measurement data representing the attitude state of the arm 5) is taken into the controller 30. Thereby, the controller 30 can grasp the attitude state of the arm 5.

[0102] Sensor S3 is attached to the bucket 6 and measures the attitude state of the bucket 6. Sensor S3 outputs measurement data representing the attitude state of the bucket 6. The attitude state of the bucket 6 is, for example, the attitude angle (hereinafter, "arm angle") around the rotation axis of the proximal end corresponding to the connecting portion with the arm 5 of the bucket 6. The output of sensor S3 (the measurement data representing the attitude state of the bucket 6) is taken into the controller 30. Thereby, the controller 30 can grasp the attitude state of the bucket 6.

[0103] Sensor S4 measures the attitude state of the body (e.g., the upper slewing body 3) of the excavator 100. Sensor S4 outputs measurement data representing the attitude state of the body of the excavator 100. The attitude state of the body of the excavator 100 is, for example, the inclination state of the body with respect to a predetermined reference plane (e.g., the horizontal plane). For example, sensor S4 is attached to the upper slewing body 3 and measures the inclination angles (hereinafter, "front-back inclination angle" and "left-right inclination angle") around two axes in the front-back direction and left-right direction of the excavator 100. The output of sensor S4 (measurement data representing the attitude state of the body of the excavator 100) is taken into the controller 30. Thereby, the controller 30 can grasp the attitude state (inclination state) of the body (upper slewing body 3).

[0104] Sensor S5 is attached to the upper slewing body 3 and measures the slewing state of the upper slewing body 3. Sensor S5 outputs measurement data representing the slewing state of the upper slewing body 3. Sensor S5 measures, for example, the slewing angular velocity and slewing angle of the upper slewing body 3. Sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc. The output of sensor S5 (measurement data representing the slewing state of the upper slewing body 3) is taken into the controller 30. Thereby, the controller 30 can grasp the slewing state such as the slewing angle of the upper slewing body 3.

[0105] Based on the outputs of sensors S1 to S5, the controller 30 can estimate and grasp the position of the tip of the attachment AT (i.e., the bucket 6).

[0106] In addition, when the sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc. that can detect the angular velocity around three axes, the slewing state (e.g., the slewing angular velocity) of the upper slewing body 3 may be detected based on the detection signal of the sensor S4. In this case, the sensor S5 may be omitted.

[0107] The sensor S6 measures the position of the excavator 100. The sensor S6 may measure the position in world (global) coordinates or in local coordinates at the work site. In the former case, the sensor S6 is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, the sensor S6 is a transceiver that can communicate with a device serving as a reference for the position at the work site and output a signal corresponding to the position relative to the reference. The output of the sensor S6 is taken into the controller 30.

[0108] The sensor S7 measures the pressure in the oil chamber of the boom cylinder 7 (cylinder pressure). The sensor S7 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the boom cylinder 7 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side. The output of the sensor S7 (that is, the measurement data of the cylinder pressure of the boom cylinder 7) is taken into the controller 30.

[0109] The sensor S8 measures the pressure in the oil chamber of the arm cylinder 8 (cylinder pressure). The sensor S8 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the arm cylinder 8 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side. The output of the sensor S8 (that is, the measurement data of the cylinder pressure of the arm cylinder 8) is taken into the controller 30.

[0110] The sensor S9 measures the pressure in the oil chamber of the bucket cylinder 9 (cylinder pressure). The sensor S9 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the bucket cylinder 9 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side. The output of the sensor S9 (that is, the measurement data of the cylinder pressure of the bucket cylinder 9) is taken into the controller 30.

[0111] Based on the outputs of sensors S7 to S9, the controller 30 can grasp the load state acting on the attachment AT. The load acting on the attachment AT includes, for example, the reaction force acting on the bucket 6 from the earth and sand on the ground of the work target, the weight of the earth and sand contained in the bucket 6, and the like.

[0112] In addition, some or all of the sensors S1 to S9 may be omitted as required. Further, the excavator 100 may be equipped with other sensors capable of grasping the state of the excavator 100. For example, the excavator 100 may be provided with an orientation sensor capable of detecting its own orientation. The orientation sensor is, for example, an electronic compass including a geomagnetic sensor.

[0113] [Various functions of the excavator] Next, various functions mounted on the excavator 100 will be described.

[0114] <Payload function> The excavator 100 has, for example, a payload function.

[0115] The payload function is a function that assists the operator in operating the excavator 100 for loading earth and sand onto a dump truck.

[0116] The loading operation is realized, for example, by repeating a series of operations of the following (1-1) to (1-4) by the excavator 100.

[0117] (1-1) Excavation operation The excavator 100 operates the attachment AT according to the operator's operation, excavates earth and sand with the bucket 6, and scoops up the earth and sand into the bucket 6.

[0118] (1-2) Boom raising and slewing operation The excavator 100 performs a combined operation of raising the boom 4 and slewing the upper slewing body 3 according to the operator's operation, and moves the bucket 6 containing earth and sand above the loading platform of the dump truck.

[0119] (1-3) Earth discharging operation According to the operation of the operator, the excavator 100 operates the attachment AT to discharge the earth and sand contained in the bucket 6 onto the loading platform of the dump truck. Thereby, the earth and sand contained in the bucket 6 can be loaded onto the loading platform of the dump truck.

[0120] (1-4) Boom lowering and slewing operation According to the operation of the operator, the excavator 100 performs a combined operation of the lowering operation of the boom 4 and the slewing operation of the upper slewing body 3, and returns the bucket 6 to the position where the earth and sand to be loaded exists.

[0121] The payload function is realized by a control mode (hereinafter, for convenience, “payload mode”) for controlling the payload function of the controller 30.

[0122] In the payload mode, the controller 30 calculates the weight of the earth and sand contained in the bucket 6 by the excavation operation. For example, the controller 30 calculates the weight of the earth and sand contained in the bucket 6 based on the outputs of the sensors S7 to S9. Thereby, the controller 30 can notify the operator of the weight of the earth and sand contained in the bucket 6 through, for example, the display device 50A.

[0123] Further, in the payload mode, the controller 30 calculates the weight of the earth and sand loaded on the dump truck by integrating the amount of the earth and sand discharged from the bucket 6 by the earth discharging operation. Thereby, the controller 30 can notify the operator of the weight of the earth and sand loaded on the dump truck since the start of the loading operation through, for example, the display device 50A.

[0124] Further, in the payload mode, the controller 30 calculates the remaining payload capacity (hereinafter, for convenience, referred to as "remaining payload capacity") that can be loaded onto the dump truck. Specifically, the controller 30 calculates the remaining payload capacity of the dump truck by subtracting the weight of the earth and sand loaded on the dump truck from the maximum payload capacity of the dump truck. Thereby, the controller 30 can notify the operator of the remaining payload capacity of the dump truck through, for example, the display device 50A.

[0125] The maximum payload capacity of the dump truck is set based on instructions such as the vehicle type and size of the dump truck input by the user through the input device 52, for example. Further, the maximum payload capacity of the dump truck may be set by numerical input from the user through the input device 52. Further, the controller 30 may detect the dump truck around the excavator 100 based on the image of the imaging device 40, and estimate the maximum payload capacity of the dump truck by specifying the vehicle type, size, etc. from the detected dump truck.

[0126] <Crane function> The excavator 100 has, for example, a crane function.

[0127] The crane function is a function that supports the operator's operation for crane work of suspending and moving a suspended load on the hook HK of the excavator 100.

[0128] The crane work is realized by, for example, the following operations (2-1) to (2-6s) by the excavator 100 and the workers around the excavator 100.

[0129] (2-1) Preparation operation The excavator 100 operates at least one of the lower traveling body 1, the upper slewing body 3, and the attachment AT according to the operator's operation, and moves the hook HK to a position at a predetermined height directly above the suspended load. At this time, the operator's operation is guided by the workers around the excavator 100.

[0130] (2-2) Hanging Operation (Loading Operation) The operator hangs the hanging tool for the suspended load on the hook HK.

[0131] (2-3) Lifting Operation The excavator 100 operates the attachment AT according to the operator's operation and lifts the suspended load to a predetermined height.

[0132] (2-4) Moving Operation The excavator 100 operates the lower traveling body 1 or the upper slewing body 3 according to the operator's operation and moves the suspended load above a predetermined position. At this time, the operator's operation is guided by the workers around the excavator 100.

[0133] (2-5) Lowering Operation The excavator 100 operates the attachment AT according to the operator's operation and lowers the suspended load to the ground. At this time, the operator's operation is guided by the workers around the excavator 100.

[0134] (2-6) Hanging Operation (Unloading Operation) The operator removes the hanging tool for the suspended load from the hook HK.

[0135] The crane function is realized by a control mode (hereinafter, for convenience, "lift mode") for controlling the crane function of the controller 30.

[0136] In the lift mode, the controller 30 prohibits the opening operation of the bucket 6. Thereby, the controller 30 can prevent a situation in which the bucket 6 performs an opening operation during crane work.

[0137] In addition, in the lift mode, the controller 30 restricts the operating speed of the hydraulic actuator HA. Specifically, the controller 30 sets the operating speed of the attachment with respect to the operation of the hydraulic actuator HA to be lower than that in the normal mode (also referred to as the "ordinary mode"). The normal mode is the standard control mode of the controller 30. Thereby, the controller 30 can suppress the occurrence of large sway or dropping of the suspended load during the crane operation.

[0138] In addition, in the lift mode, the controller 30 calculates the load state of the excavator 100 due to the suspended load, and displays the calculation result on the display device 50A inside the cabin 10. Thereby, the operator in the cabin 10 can proceed with the crane operation while grasping the load state of the excavator 100 due to the suspended load.

[0139] The load state of the excavator 100 is divided into, for example, a plurality of stages and is defined by the load (weight) W of the suspended load. The load W of the suspended load is measured based on the outputs of the sensors S7 to S9 as described above. Specifically, the load state of the excavator 100 may be defined in the first stage, the second stage, and the third stage in order from the lower side. The first stage represents a state where the load W of the suspended load is smaller than the threshold value Wth1. The threshold value Wth1 is defined in advance as a value smaller than the rated load Wlim defined in advance. The second stage represents a state where the load W of the suspended load is equal to or greater than the threshold value Wth1 and smaller than the threshold value Wth2. The threshold value Wth2 is defined in advance as a value greater than the threshold value Wth1 and smaller than the rated load Wlim. The third stage represents a state where the load W of the suspended load is equal to or greater than the threshold value Wth2.

[0140] Note that, in the load state of the excavator 100, not only the load of the suspended load but also the attitude state of the attachment AT may be considered. The attitude state of the attachment AT is measured based on the outputs of the sensors S1 to S5 as described above. For example, the controller 30 may calculate the tipping moment of the excavator 100 from the load of the suspended load and the attitude state of the attachment, and calculate the load state of the excavator 100 due to the suspended load based on the magnitude of the tipping moment.

[0141] In addition, in the lift mode, the controller 30 changes the color emitted by an external indicator lamp (not shown) according to the load state of the excavator 100 due to the suspended load. For example, when the load state of the excavator 100 due to the suspended load is in the first stage, the controller 30 controls the external indicator lamp so that the external indicator lamp emits green or blue light. Also, when the load state of the excavator 100 due to the suspended load is in the second stage, the controller 30 controls the external indicator lamp so that the external indicator lamp emits yellow or orange light. Further, when the load state of the excavator 100 due to the suspended load is in the third stage, the controller 30 controls the external indicator lamp so that the external indicator lamp emits red light. Thereby, the controller 30 can allow an operator around the excavator 100, such as an operator performing the slinging operation of the suspended load, to confirm the load state of the excavator 100 due to the suspended load by the color emitted by the external indicator lamp.

[0142] <Machine guidance function and machine control function> The excavator 100 has, for example, a machine guidance function and a machine control function.

[0143] The machine guidance function and the machine control function are functions that assist the operator's operation with respect to the target shape of the construction of the work object by the excavator 100. The target shape of the construction of the work object is, for example, a target construction surface defined in advance.

[0144] Specifically, in the machine guidance function, information regarding the relative position and relative attitude state of the working part of the attachment AT with respect to the target shape of the work object is provided to the operator through the output device 50.

[0145] Also, in the machine control function, the excavator 100 operates the attachment AT automatically or semi-automatically so as to realize the target shape of the work object. Also, in the machine control function, in addition to the attachment AT, the lower traveling body 1 and the upper slewing body 3 may be operated automatically or semi-automatically.

[0146] In the case of semi-automatic operation, for example, when an operator operates a certain hydraulic actuator HA, other hydraulic actuators HA operate in conjunction, and the attachment AT operates to achieve the target shape of the work object. Also, in the case of semi-automatic operation, on the premise of the operator's operation, the operation of the attachment AT may be appropriately corrected from an operation corresponding to the operator's operation, so that the attachment AT operates to achieve the target shape of the work object.

[0147] The machine control function and the machine guidance function are realized by a control mode (hereinafter, for convenience, referred to as the "MC-MG mode") for performing control regarding the machine control function and the machine guidance function in the controller 30.

[0148] For example, the controller 30 always provides the machine guidance function in the MC-MG mode. Also, in the MC-MG mode, when an input requesting the provision of the machine control function is received from the operator through the input device 52, the controller 30 provides the machine control function.

[0149] In the MC-MG mode, the controller 30 measures the distance between the working part of the attachment AT, that is, the reference point of the bucket 6 and the target construction surface, and notifies the operator of that distance through the output device 50. The reference point of the bucket 6 is, for example, a point corresponding to the tip of the bucket 6. Also, the reference point of the bucket 6 is a predetermined point on the flat part on the back surface of the bucket 6. Also, the reference point of the bucket 6 may be changed according to the content of the work.

[0150] Also, in the MC-MG mode, the controller 30 measures the posture state of the working part (bucket 6) of the attachment AT with respect to the target construction surface, and notifies the operator of that posture state through the output device 50.

[0151] In addition, in the MC-MG mode, when the machine control function is valid, the controller 30 operates the attachment AT or the like so that the reference point of the bucket 6 moves along the target trajectory according to the operation of the operator or automatically.

[0152] The target trajectory is defined, for example, to follow the target construction surface. Further, the target trajectory may be defined based on a comparison between the target construction surface and the shape of the current working ground. The shape of the current working ground is acquired, for example, based on an image of the imaging device 40. For example, when the difference between the target construction surface and the shape of the current working ground is equal to or greater than a predetermined standard, the target trajectory of rough excavation is defined so as to reduce the difference between the working ground and the target construction surface. On the other hand, when the difference between the target construction surface and the shape of the current working ground is less than a predetermined standard, the target trajectory is defined to follow the target construction surface.

[0153] [Method for switching control mode] Next, with reference to FIGS. 5 to 8, a method for switching the control mode of the controller 30, specifically, an operation method for the operator to select the control mode of the controller 30 from a plurality of control modes will be described. In this example, the description is made on the premise that the controller 30 has four or more control modes including the above-described normal mode, payload mode, lift mode, and MC-MG mode.

[0154] Note that the number of control modes of the controller 30 may be two or three.

[0155] Figs. 5 to 8 are diagrams showing first to fourth examples of the screen 41 of the display device 50A. Specifically, Fig. 5 is a diagram showing an example of the screen 41 of the display device 50A when the control mode of the controller 30 is the normal mode. Fig. 6 is a diagram showing an example of the screen 41 of the display device 50A when the control mode of the controller 30 is the payload mode. Fig. 7 is a diagram showing an example of the screen 41 of the display device 50A when the control mode of the controller 30 is the lift mode. Fig. 8 is a diagram showing an example of the screen 41 of the display device 50A when the control mode of the controller 30 is the MC-MG mode.

[0156] The display process of the display device 50A, the detection process of the operation state with respect to the screen 41 of the display device 50A, etc. are, for example, carried out under the control of the controller 30. Also, the display process of the display device 50A, the detection process of the operation state with respect to the screen 41 of the display device 50A, etc. may be carried out by a control device built in the display device 50A.

[0157] <Method of Using the Screen> As shown in Figs. 5 to 8, the screen 41 includes display areas 41A to 41E.

[0158] The display areas 41A to 41E are arranged side by side in the vertical direction in order from top to bottom.

[0159] The display area 41A is arranged at the upper part of the screen 41. Fixed display content is displayed in the display area 41A regardless of the control mode selected by the controller 30.

[0160] The display area 41A includes information display areas 41a to 41e, 41g to 41k.

[0161] In the information display area 41a, the current date and time are displayed. In the information display area 41b, the traveling mode of the currently selected excavator 100 is displayed. In the information display area 41c, an image representing the currently attached end attachment is displayed. In the information display area 41d, information regarding the combustion consumption rate (fuel efficiency) of the excavator 100 is displayed. The information display area 41d includes, for example, an information display area 41d1 where the lifetime average fuel efficiency or the interval average fuel efficiency is displayed, and an information display area 41d2 where the instantaneous fuel efficiency is displayed. In the information display area 41e, information representing the control state of the engine 11 is displayed.

[0162] In the information display area 41g, the current temperature state of the cooling water of the engine 11 is displayed. In the information display area 41h, the remaining amount of fuel stored in the fuel tank is displayed. In the information display area 41i, the working mode corresponding to the rotational speed of the engine 11 is displayed. In the information display area 41j, the remaining amount of the aqueous urea solution stored in the aqueous urea solution tank is displayed. In the information display area 41k, the temperature state of the hydraulic oil in the hydraulic drive system is displayed.

[0163] The display areas 41B to 41D are arranged at the center in the vertical direction of 41 of the screen. In the display areas 41B to 41D, the display content specific to the control mode selected by the controller 30 is displayed. The display content specific to each of the plurality of control modes may be fixed, or may be changeable in response to an input of a request through the input device 52 from the user. The details of the display content will be described later.

[0164] The display area 41E is arranged at the lower part of the screen 41. Fixed display content is displayed in the display area 41E regardless of the control mode selected by the controller 30. Specifically, a tab group 41q of operation elements for selecting one control mode applied to the controller 30 from a plurality of control modes is displayed in the display area 41E. For example, the operator can operate the tab group 41q by using the touch panel 80 as the input device 52. Also, the operator may be able to operate the tab group 41q by using switches associated with the display device 50A as the input device 52.

[0165] Hereinafter, among the display areas 41A to 41E, the display areas 41A and 41E that do not depend on the control mode of the controller 30 may be conveniently referred to as "fixed display areas", and the display areas 41B to 41D that depend on the control mode may be conveniently referred to as "variable display areas".

[0166] The tab group 41q includes tabs 41q1 to 41q6. The tabs 41q1 to 41q6 are arranged side by side in the left - to - right direction in order from the left.

[0167] The tab 41q1 is an operation icon for setting related to the screen 41.

[0168] For example, the settings related to screen 41 include the settings related to tab group 41q. The settings related to tab group 41q include, for example, the setting of the arrangement order of operation icons corresponding to four control modes arranged in tabs 41q2 to 41q5. Thereby, the operator can customize the arrangement order of the operation icons corresponding to the four control modes arranged in tabs 41q2 to 41q5. Also, the position of the operation icon corresponding to the normal mode may be fixed to tab 41q2. In this case, the operator can customize the arrangement order of the operation icons corresponding to the three control modes arranged in tabs 41q3 to 41q5. Also, the settings related to tab group 41q may include the settings related to the specification of the cursor representing the control mode of the selected controller 30. For example, as shown in FIGS. 5 to 8, the cursor is realized by highlighting the operation icon corresponding to the selected control mode, but may also be realized by a rectangular frame or the like surrounding the operation icon by setting changes. Also, the settings related to tab group 41q include, when there are four or more control modes, the setting of selecting four control modes corresponding to four operation icons arranged in tabs 41q2 to 41q5 from among the plurality of control modes. For example, as shown in FIGS. 5 to 8, operation icons corresponding to the payload mode, the lift mode, and the MC-MG mode are displayed in tabs 41q3 to 41q5, but some or all of them may be changed to operation icons corresponding to other control modes by setting changes. Also, the operation icon corresponding to the normal mode may be specified to be always included in tabs 41q2 to 41q5. In this case, the operator can customize the three control modes corresponding to the three operation icons excluding the operation icon corresponding to the normal mode arranged in tabs 41q2 to 41q5.

[0169] Also, the settings related to screen 41 may include the settings of the specifications regarding the display contents of the variable display areas (i.e., display areas 41B to 41D) of screen 41 for each control mode.

[0170] For example, when a selection operation of tab 41q1 is performed, a plurality of operation icons corresponding to a plurality of applicable setting contents are expanded so as to be adjacent on tab group 41q. Thereby, the operator can perform a desired setting operation by using a touch panel 80 or the like to select one operation icon from among the expanded operation icons.

[0171] Tabs 41q2 to 41q5 are operation icons corresponding to four control modes out of a plurality of control modes. Thereby, the operator can select one control mode applied to controller 30 from among the plurality of control modes by using a touch panel 80 or the like to select and confirm any one tab of tabs 41q2 to 41q5.

[0172] In this example, operation icons corresponding to the normal mode are displayed on tab 41q2. The operator can select the normal mode from among the plurality of control modes as the control mode applied to controller 30 by operating tab 41q2 using touch panel 80.

[0173] In this example, operation icons corresponding to the lift mode are displayed on tab 41q3. Thereby, the operator can select the lift mode from among the plurality of control modes as the control mode applied to controller 30 by operating tab 41q3 using a touch panel 80 or the like.

[0174] In this example, operation icons corresponding to the MC-MG mode are displayed on tab 41q4. Thereby, the operator can select the MC-MG mode from among the plurality of control modes as the control mode applied to controller 30 by operating tab 41q4 using a touch panel 80 or the like.

[0175] In this example, on tab 41q5, operation icons corresponding to the payload mode are displayed. As a result, the operator can select the payload mode from among a plurality of control modes as the control mode applied to the controller 30 by operating tab 41q5 using the touch panel 80 or the like.

[0176] Tab 41q6 has operation icons corresponding to other control modes different from the four control modes corresponding to the operation icons of tabs 41q2 to 41q5 when there are four or more control modes. As a result, the operator can select other control modes different from the four control modes corresponding to the operation icons of tabs 41q2 to 41q5 among the plurality of control modes by performing an operation of selecting the tab of 41q6 using the touch panel 80 or the like.

[0177] For example, when the selection operation of tab 41q6 is performed, operation icons corresponding to other control modes different from the four control modes corresponding to the operation icons of tabs 41q2 to 41q5 are expanded to be adjacent above the tab group 41q. As a result, the operator can select other control modes different from the four control modes corresponding to the operation icons of tabs 41q2 to 41q5 by performing an operation of selecting one operation icon from among the expanded operation icons using the touch panel 80 or the like.

[0178] For example, when another control mode corresponding to tab 41q6 is selected as the control mode applied to the controller 30, the operation icon of tab 41q6 is changed to the operation icon corresponding to the other selected control mode from the states of FIGS. 5 to 8. Then, the cursor is aligned with tab 41q6. As a result, the user can confirm the control mode currently applied to the controller 30 through the operation icon of tab 41q6.

[0179] In this way, in this example, the operator can select the control mode applied to the controller 30 by operating the tabs 41q2 to 41q6 of the tab group 41q displayed in the fixed display area (display area 41E) of the screen 41 using the touch panel 80 or the like. Therefore, the operator can easily switch the control mode of the controller 30 according to the work content and the like within the same screen 41. Thus, the excavator 100 can improve the convenience and work efficiency of the user.

[0180] <Other method> The operator may be able to select the control mode applied to the controller 30 from among a plurality of control modes by another method different from the method of using the screen 41.

[0181] For example, the operator may be able to select the control mode applied to the controller 30 by operating the dial 82A. Specifically, each time the push operation by the dial 82A is performed, the controller 30 may switch the control mode applied to itself in a predetermined order from among a plurality of control modes.

[0182] At this time, the controller 30 switches the display content of the screen 41 to the display content corresponding to the control mode after the switch in accordance with the switching of the control mode by the push operation of the dial 82A. Specifically, when the controller 30 switches the control mode applied to itself by the push operation of the dial 82A, it switches the display content of the variable display area of the screen 41 to the content unique to the control mode after the switch. In addition, when the controller 30 switches the control mode applied to itself in response to the push operation of the dial 82A, it moves the cursor to the operation icon corresponding to the control mode after the switch among the tabs 41q2 to 41q6.

[0183] Thus, in this example, the operator can select the control mode applied to the controller 30 from among a plurality of control modes by using an operation such as pressing the dial 82A. Therefore, since there are a plurality of options when switching the control mode of the controller 30, the convenience for the operator can be improved.

[0184] Also, in this example, the controller 30 can link the display content of the screen 41 with respect to the switching of its own control mode according to an operation such as pressing the dial 82A.

[0185] <Method for Selecting Control Mode at Startup of Excavator> When the excavator 100 is started up, the operator cannot select the control mode applied to the controller 30 by using the screen 41 or the dial 82A. Therefore, the controller 30 automatically selects one control mode from among a plurality of control modes and starts up.

[0186] For example, when the excavator 100 is started up, the controller 30 automatically selects and starts up the control mode that was applied to itself when the previous excavator 100 stopped. Thereby, the operator can start work in the same control mode as before. Therefore, the controller 30 can improve the convenience and work efficiency of the operator.

[0187] Also, when the excavator 100 is started up, the controller 30 may automatically select and start up one preset control mode among a plurality of control modes. The one preset control mode may be fixed, or may be changeable by the operator through the input device 52.

[0188] [Screen Corresponding to Normal Mode] Next, with reference to FIG. 5, the screen 41 corresponding to the normal mode will be described.

[0189] Hereinafter, in this example, the description will focus on the display content of the variable display areas (display areas 41B to 41D) where the display content unique to the normal mode corresponding to the control mode applied to the controller 30 is displayed.

[0190] In the display areas 41B and 41C, the peripheral image display area 41n is displayed.

[0191] In the peripheral image display area 41n, an image (hereinafter, "peripheral image") representing the state around the excavator 100 based on the captured image of the imaging device 40 is displayed. The peripheral image display area 41n includes peripheral image display areas 41n1 to 41n3.

[0192] The peripheral image display area 41n1 is displayed in the display area 41B so as to be adjacent to the lower side of the information display area 41d included in the display area 41A.

[0193] In this example, in the peripheral image display area 41n1, an overhead image FV of the surroundings of the excavator 100 viewed from above, generated based on the captured image of the imaging device 40, is displayed. Also, in the peripheral image display area 41n1, a shovel image GE that simulates the excavator 100 in a top view is displayed. The shovel image GE and the overhead image FV are arranged in the peripheral image display area 41n1 so that their positional relationship matches the positional relationship between the excavator 100 and the imaging range included in the overhead image FV.

[0194] The peripheral image display areas 41n2 and 41n3 are displayed in the display area 41C so as to be adjacent to the lower side of the peripheral image display area 41n1. The peripheral image display area 41n2 and the peripheral image display area 41n3 are arranged adjacent to the left and right portions respectively, with the center in the left-right direction of the display area 41C as a reference.

[0195] In this example, in the peripheral image display area 41n2, a rear image BM representing the state behind the excavator 100 is displayed, and in the peripheral image display area 41n3, a right image RM representing the state to the right of the excavator 100 is displayed. The rear image BM and the right image RM respectively correspond to the captured images of the camera 40B and the camera 40R.

[0196] The display area 41D includes information display areas 41f and 41m.

[0197] The information display area 41f is arranged adjacent to and below the peripheral image display area 41n2. The cumulative operation time of the engine 11 is displayed in the information display area 41f.

[0198] The information display area 41m is arranged adjacent to and below the peripheral image display area 41n3 and to the right of the information display area 41f. The operating state of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

[0199] The position of the air outlet used for the current air blowing from the air conditioner is displayed in the information display area 41m1. The current operation mode of the air conditioner is displayed in the information display area 41m2. The current set temperature of the air conditioner is displayed in the information display area 41m3. The current set air volume of the air conditioner is displayed in the information display area 41m4.

[0200] In this example, the normal mode is selected as one of the control modes applied to the controller 30 from among a plurality of control modes. Therefore, the cursor is placed on the tab 41q2 in which the operation icon corresponding to the normal mode in the tab group 41q is displayed. Thereby, the operator can confirm that the normal mode is selected.

[0201] Furthermore, the display content of the variable display area corresponding to the normal mode, specifically, the type and arrangement of the displayed information, etc., may be changeable according to a predetermined input entered by the operator through the input device 52. Specifically, the controller 30 may change the setting of the display content of the variable display area according to an operation on the tab 41q1 through the touch panel 80. For example, the display content of the peripheral image display area 41n, specifically, the type and arrangement of the peripheral images included in the peripheral image display area 41n may be arbitrary. Hereinafter, the display content of the variable display area corresponding to other control modes may be similarly changeable.

[0202] [Screen corresponding to payload mode] Next, with reference to FIG. 6, the screen 41 corresponding to the payload mode will be described.

[0203] Hereinafter, in this example, the description will focus on the display content of the variable display areas (display areas 41B to 41D) where the display content specific to the payload mode corresponding to the control mode applied to the controller 30 is displayed. Also, in this example, the description will focus on the parts that are the same as or different from the display content corresponding to the above-described normal mode screen 41, and the description regarding the same or corresponding display content may be omitted.

[0204] As shown in FIG. 6, in the display areas 41B and 41C, the peripheral image display area 41n is displayed in the same manner as in the normal mode.

[0205] The peripheral image display area 41n includes the peripheral image display areas 41n1 and 41n4.

[0206] In the peripheral image display area 41n1, the shovel image GE and the aerial view image FV are displayed in the same manner as in the normal mode.

[0207] The peripheral image display area 41n4 is displayed in the display area 41C so as to be adjacent to the lower side of the peripheral image display area 41n1. The peripheral image display area 41n4 corresponds to the display area obtained by combining the peripheral image display areas 41n2 and 41n3 in the normal mode. The rear image BM is displayed in the peripheral image display area 41n4.

[0208] The display area 41D includes information display areas 41f, 41m, and 41r.

[0209] The information display areas 41f and 41m are arranged adjacent to the lower side of the peripheral image display area 41n4.

[0210] The information display area 41r is arranged adjacent to the lower side of the information display areas 41f and 41m and above the tab group 41q. Information regarding the payload mode is displayed in the information display area 41r. The information display area 41r includes a dump image 41r1, numerical information images 41r2 and 41r3, a bucket image 41r4, an earth and sand image 41r5, and a numerical information image 41r6.

[0211] The dump image 41r1 is an image that simulates a side view of a dump truck. In addition, an image of a bar graph representing the loading capacity of the dump truck bed is displayed in the bed portion of the side view of the dump truck in the dump image 41r1. The bar graph represents the ratio of the loading amount of the earth and sand loaded on the dump truck bed to the maximum loading capacity of the dump truck. Thereby, the operator can intuitively grasp the loading status of the earth and sand onto the dump truck.

[0212] The numerical information image 41r2 is a numerical value representing the remaining loading capacity of the dump truck bed, and the numerical information image 41r3 is a numerical value representing the loading amount of the earth and sand loaded on the dump truck bed. The numerical value displayed as the numerical information image 41r2 corresponds to the value obtained by subtracting the loading amount corresponding to the numerical information image 41r3 from the maximum loading capacity of the dump truck bed. Thereby, the operator can grasp the loading status of the earth and sand onto the dump truck with specific numerical values.

[0213] The bucket image 41r4 is an image that simulates the state of scooping up earth and sand into the bucket 6. The earth and sand image 41r5 is drawn adjacent to the upper part of the opening of the bucket 6. The earth and sand image 41r5 is displayed when the bucket 6 contains earth and sand, and is not displayed when the bucket 6 does not contain earth and sand.

[0214] The numerical information image 41r6 is a numerical value representing the weight of the load (for example, earth and sand) inside the bucket 6. Thereby, the operator can grasp the weight of the earth and sand inside the bucket 6 before discharging.

[0215] When the weight of the load inside the bucket 6 corresponding to the numerical information image 41r6 is greater than the remaining load capacity of the dump truck corresponding to the numerical information image 41r2, the display mode of the information display area 41r may be changed. For example, at least some of the colors of the dump image 41r1, the numerical information images 41r2, 41r3, the bucket image 41r4, the earth and sand image 41r5, and the numerical information image 41r6 are changed to red. Thereby, the controller 30 can surely make the operator grasp that there is a possibility of overloading when discharging the earth and sand in the bucket 6 onto the loading platform of the dump truck.

[0216] In this example, the payload mode is selected as one control mode applied to the controller 30 from among a plurality of control modes. Therefore, the cursor is placed on the tab 41q5 where the operation icon corresponding to the payload mode in the tab group 41q is displayed. Thereby, the operator can confirm that the payload mode is selected.

[0217] [Screen corresponding to the lift mode] With reference to FIG. 7, the screen 41 corresponding to the lift mode will be described.

[0218] Hereinafter, in this example, the description will focus on the display content of the variable display areas (display areas 41B to 41D) where the display content unique to the lift mode corresponding to the control mode applied to the controller 30 is displayed. Also, in this example, the description will focus on the parts that are the same as or different from the screen 41 corresponding to the above-mentioned normal mode and payload mode, and the description regarding the same or corresponding display content may be omitted.

[0219] As shown in FIG. 7, in the display areas 41B and 41C, a peripheral image display area 41n is displayed in the same manner as in the normal mode.

[0220] The peripheral image display area 41n includes peripheral image display areas 41n1 to 41n3 in the same manner as in the normal mode.

[0221] A rear image BM is displayed in the peripheral image display area 41n1.

[0222] In the peripheral image display areas 41n2 and 41n3, a left image LM and a right image RM are displayed respectively. The left image LM corresponds to the captured image of the camera 40L.

[0223] The display area 41D includes information display areas 41f, 41m, and 41s.

[0224] The information display areas 41f and 41m are arranged adjacent to the lower sides of the peripheral image display areas 41n2 and 41n3 respectively in the same manner as in the normal mode.

[0225] The information display area 41s is arranged below the information display areas 41f and 41m and adjacent to the upper side of the tab group 41q. Information related to the lift mode is displayed in the information display area 41s. The information display area 41s includes a shovel image 41s1, numerical information images 41s2 to 41s4, a shovel image 41s5, numerical information images 41s6, a shovel image 41s7, and numerical information images 41s8.

[0226] The excavator image 41s1 is an image that simulates the excavator 100 during crane operation. The image part corresponding to the suspended load in the excavator image 41s1 (hereinafter, "suspended load image") may represent the load state of the excavator 100 due to the suspended load by color. For example, when the load state of the excavator 100 due to the suspended load is in the first stage, the suspended load image is displayed in green or blue; when it is in the second stage, the suspended load image is displayed in yellow or orange; when it is in the third stage, the suspended load image is displayed in red. Thereby, the operator can proceed with the crane operation while grasping the load state of the excavator 100 due to the suspended load.

[0227] The numerical information image 41s2 is a numerical value representing the load of the suspended load. In this example, the numerical information image 41s2 displays a numerical value representing the load of the suspended load ("0.4") and a numerical value representing the rated load ("2.6t"). Thereby, the operator can grasp the load state of the excavator 100 due to the load of the suspended load as a specific numerical value while using the rated load as a reference.

[0228] The numerical information image 41s3 is a numerical value representing the height position of the hook HK. The numerical information image 41s4 is a numerical value representing the height position of the highest point of the attachment AT. Thereby, the operator can proceed with the crane operation while confirming the height position of the suspended load and the height position of the highest point of the attachment AT. The height position of the hook HK and the height position of the highest point of the attachment AT are measured based on the outputs of the sensors S1 to S5.

[0229] The excavator image 41s5 is an image that simulates the state of the excavator 100 seen from the rear. The excavator image 41s5 inclines in the left - right direction so as to be linked to the inclination state of the excavator 100 in the left - right direction. In this example, the excavator 100 is inclined 15 degrees downward to the left, and in conjunction with this state, the excavator image 41s5 also represents a state of inclining 15 degrees downward to the left. Thereby, the operator can intuitively grasp the inclination state of the excavator 100 in the left - right direction.

[0230] The numerical information image 41s6 is a numerical value representing the inclination state of the excavator 100 in the left-right direction. Thereby, the operator can grasp the inclination state of the excavator 100 in the left-right direction by a specific numerical value.

[0231] The excavator image 41s7 is an image that simulates the state of viewing the excavator 100 from the left side. The excavator image 41s7 inclines in the front-rear direction so as to be linked to the inclination state of the excavator 100 in the front-rear direction. Thereby, the operator can intuitively grasp the inclination state of the excavator 100 in the front-rear direction.

[0232] The numerical information image 41s8 is a numerical value representing the inclination state of the excavator 100 in the front-rear direction. Thereby, the operator can grasp the inclination state of the excavator 100 in the front-rear direction by a specific numerical value.

[0233] In this example, the lift mode is selected as one control mode applied to the controller 30 from among a plurality of control modes. Therefore, the cursor is placed on the tab 41q3 on which the operation icon corresponding to the lift mode in the tab group 41q is displayed. Thereby, the operator can confirm that the lift mode is selected.

[0234] [Screen corresponding to the MC-MG mode] Next, with reference to FIG. 8, the screen 41 corresponding to the MC-MG mode will be described.

[0235] Hereinafter, in this example, the description will be centered on the display contents of the variable display areas (display areas 41B to 41D) in which the display contents specific to the MC-MG mode corresponding to the control mode being applied to the controller 30 are displayed. Also, in this example, the description will be centered on the parts that are the same as or different from the corresponding display contents of the screen 41 corresponding to the above-described normal mode, payload mode, or lift mode, and the description regarding the same or corresponding display contents may be omitted.

[0236] As shown in FIG. 8, a peripheral image display area 41n is displayed in the display area 41B.

[0237] The peripheral image display area 41n includes the peripheral image display areas 41n5 and 41n6.

[0238] The peripheral image display areas 41n5 and 41n6 are provided so as to be adjacent to the lower side of the information display area 41d.

[0239] The peripheral image display area 41n5 and the peripheral image display area 41n6 are arranged adjacent to the left and right portions respectively with reference to the center in the left - right direction of the display area 41B.

[0240] A rear image BM is displayed in the peripheral image display area 41n5, and a right - hand image RM is displayed in the peripheral image display area.

[0241] The display areas 41C and 41D include the information display areas 41f, 41m, and 41t.

[0242] The information display area 41f is arranged in the display area 41C so as to be adjacent to the lower side of the peripheral image display area 41n5. The information display area 41m is arranged in the display area 41C so as to be adjacent to the lower side of the peripheral image display area 41n6.

[0243] The information display area 41t is arranged so as to straddle the display areas 41C and 41D and be adjacent to the lower sides of the information display areas 41f and 41m. Information regarding the machine guidance function and the machine control function is displayed in the information display area 41t. The information display area 41t includes a shovel image 41t1, auxiliary lines 41t2 and 41t3, a bucket image 41t4, a target line 41t5, a numerical information image 41t6, a bucket image 41t7, a target line 41t8, and a numerical information image 41t9.

[0244] The shovel image 41t1 is an image of a three - dimensional model that simulates the shovel 100. The shovel image 41t1 is drawn so as to have the same posture state as the actual posture state of the shovel 100. Thereby, the operator can grasp the posture state of the shovel 100 three - dimensionally.

[0245] The auxiliary line 41t2 corresponds to a line segment vertically dropped from the reference point of the bucket 6 of the excavator 100 to the target construction surface. The auxiliary line 41t3 corresponds to a straight line passing through the intersection of the line segment vertically dropped from the reference point of the bucket 6 of the excavator 100 to the target construction surface and the target construction surface and extending in the front-rear direction of the excavator 100. The excavator image 41t1 and the auxiliary lines 41t2 and 41t3 are drawn so as to match the actual positional relationship between the excavator 100 and the target construction surface. Thereby, the operator can three-dimensionally grasp the positional relationship between the bucket 6 as the working part of the excavator 100 and the target construction surface.

[0246] The bucket image 41t4 is an image that simulates the bucket 6 viewed from the left side. The target line 41t5 is a line segment representing the target construction surface when the bucket 6 is viewed from the left side. The bucket image 41t4 and the target line 41t5 are drawn so as to match the actual positional relationship between the actual bucket 6 and the target construction surface. Thereby, the operator can grasp the positional relationship between the bucket 6 and the target construction surface when viewed from the left side.

[0247] The numerical information image 41t6 is a numerical value representing the vertical distance between the reference point of the tip of the left end of the bucket 6 and the target construction surface. Thereby, the operator can grasp the distance between the bucket 6 and the target construction surface by a specific numerical value.

[0248] The bucket image 41t7 is an image that simulates the bucket 6 viewed from the rear. The target line 41t8 is a line segment representing the target construction surface when the bucket 6 is viewed from the rear. The bucket image 41t7 and the target line 41t8 are drawn so as to match the actual positional relationship between the actual bucket 6 and the target construction surface. Thereby, the operator can grasp the positional relationship between the bucket 6 and the target construction surface when viewed from the rear. Also, the operator can grasp the inclination state of the bucket 6 in the left-right direction with respect to the target construction surface.

[0249] The numerical information image 41t9 is a numerical value representing the vertical distance between the reference point of the tip of the right end portion of the bucket 6 and the target construction surface. Thereby, the operator can grasp the distance between the bucket 6 and the target construction surface by a specific numerical value. Further, the operator can grasp the inclination state of the bucket 6 in the left-right direction with respect to the target construction surface by a specific numerical value by comparing the numerical information images 41t6 and 41t9.

[0250] In this example, the MC-MG mode is selected as one control mode applied to the controller 30 from among a plurality of control modes. Therefore, the cursor is placed on the tab 41q4 on which the operation icon corresponding to the MC-MG mode in the tab group 41q is displayed. Thereby, the operator can confirm that the MC-MG mode is selected.

[0251] [Overview of Remote Operation Support System] Next, with reference to FIG. 9, the overview of the remote operation support system SYS will be described.

[0252] FIG. 9 shows that the remote operation support system SYS includes the excavator 100 and the remote operation support device 200.

[0253] The remote operation support system SYS supports the remote operation of the excavator 100 using the remote operation support device 200.

[0254] The remote operation support device 200 is communicably connected to the excavator 100 through the communication line NW and is used by an operator who performs the remote operation of the excavator 100.

[0255] The remote operation support device 200 is provided, for example, in a management center or the like that manages the operation of the excavator 100 from the outside. As a result, the operator can remotely operate the excavator 100 from a remote location where the excavator 100 cannot be directly visually recognized. Further, the remote operation support device 200 may be a portable terminal device for operation. In this case, the operator can remotely operate the excavator 100 while directly checking the working condition of the excavator 100 from around the excavator 100.

[0256] The excavator 100 transmits, for example, via the communication device 60, an image (peripheral image) representing the state of the periphery including the front of the excavator 100 based on the captured image output by the imaging device 40 mounted on itself to the remote operation support device 200. Further, the excavator 100 transmits the captured image output by the imaging device 40 to the remote operation support device 200 via the communication device 60, and the remote operation support device 200 may process the captured image received from the excavator 100 to generate a peripheral image. Then, the remote operation support device 200 causes a peripheral image representing the state of the periphery including the front of the excavator 100 to be displayed on its own display device. Further, a screen including various information images displayed on the output device 50 (display device) inside the cab 10 of the excavator 100 may be similarly displayed on the display device 208 of the remote operation support device 200. As a result, the operator using the remote operation support device 200 can remotely operate the excavator 100 while checking the display contents such as an image or an information screen representing the state of the periphery of the excavator 100 displayed on the display device 208. Then, the excavator 100 operates the hydraulic actuator HA in response to a signal (hereinafter, "remote operation signal") representing the content of the remote operation received from the remote operation support device 200 via the communication device 60. Specifically, the controller 30 of the excavator 100 outputs a control signal corresponding to the remote operation signal to the hydraulic control valve 31. Thereby, the remote operation support system SYS can realize the remote operation of the excavator 100 using the remote operation support device 200.

[0257] [Configuration of Remote Operation Support Device] Next, with reference to FIG. 10, the configuration of the remote operation support device 200 will be described.

[0258] FIG. 10 is a block diagram showing an example of the configuration of the remote operation support device 200.

[0259] The functions of the remote operation support device 200 are realized by any hardware or any combination of hardware and software, etc. For example, as shown in FIG. 10, the remote operation support device 200 includes an external interface (I / F: Inter Face) 201, an auxiliary storage device 202, a memory device 203, a CPU 204, a high-speed arithmetic device 205, a communication interface (I / F) 206, an input device 207, a display device 208, and a sound output device 209. These are connected by a bus BS2.

[0260] The external interface 201 functions as an interface for reading data from the recording medium 201A and writing data to the recording medium 201A. The recording medium 201A includes, for example, a flexible disk, a CD (Compact Disc), a DVD (Digital Versatile Disc), a BD (Blu-ray (registered trademark) Disc), an SD memory card, a USB memory, etc. Thereby, the remote operation support device 200 can read various data used in processing through the recording medium 201A and store it in the auxiliary storage device 202, or install a program for realizing various functions.

[0261] Note that the remote operation support device 200 may acquire various data and programs used in processing from an external device through the communication interface 206.

[0262] The auxiliary storage device 202 stores the installed various programs and also stores files, data, etc. necessary for various processes. The auxiliary storage device 202 includes, for example, an HDD (Hard Disc Drive), an SSD (Solid State Disc), a flash memory, etc.

[0263] When there is an instruction to start a program, the memory device 203 reads and stores the program from the auxiliary storage device 202. The memory device 203 includes, for example, DRAM (Dynamic Random Access Memory) and SRAM.

[0264] The CPU 204 executes various programs loaded from the auxiliary storage device 202 to the memory device 203, and realizes various functions related to the remote operation support device 200 according to the programs.

[0265] The high-speed arithmetic unit 205 operates in conjunction with the CPU 204 and performs arithmetic processing at a relatively high speed. The high-speed arithmetic unit 205 includes, for example, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), etc.

[0266] Note that the high-speed arithmetic unit 205 may be omitted depending on the speed of the necessary arithmetic processing.

[0267] The communication interface 206 is used as an interface for communicably connecting to an external device. Thereby, the remote operation support device 200 can communicate with an external device such as the excavator 100 through the communication interface 206. Also, the communication interface 206 may have a plurality of types of communication interfaces depending on the communication method with the connected device.

[0268] The input device 207 receives various inputs from the user. The input device 207 includes an operation device for remote operation for remotely operating the excavator 100.

[0269] The input device 207 includes, for example, an input device (mechanical input device) in a form that receives mechanical operation input from the user. The operation device for remote operation may be a mechanical input device. The mechanical input device includes, for example, buttons, toggles, levers, keyboards, mice, touch panels mounted on the display device 208, touch pads provided separately from the display device 208, and the like.

[0270] Further, the input device 207 may include a voice input device capable of receiving voice input from the user. The voice input device includes, for example, a microphone capable of collecting the user's voice.

[0271] Further, the input device 207 may include a gesture input device capable of receiving gesture input from the user. The gesture input device includes, for example, a camera capable of imaging the state of the user's gestures.

[0272] Further, the input device 207 may include a biological input device capable of receiving biological input from the user. The biological input device includes, for example, a camera capable of acquiring image data containing information about the user's fingerprint or iris.

[0273] The display device 208 displays an information screen or an operation screen for the user of the remote operation support device 200. The display device 208 is, for example, a liquid crystal display, an organic EL display, or the like.

[0274] The sound output device 209 conveys various information to the user of the remote operation support device 200 by sound. The sound output device 209 is, for example, a buzzer, an alarm, a speaker, or the like.

[0275] [Switching of control modes during remote operation] Next, a method for switching the control mode applied to the controller 30 during the remote operation of the excavator 100 will be described. Specifically, an operation method by which an operator performing remote operation selects the control mode applied to the controller 30 from among a plurality of control modes will be described.

[0276] The display device 208 may display the same screen as the above-described screen 41.

[0277] Also, the operator may be able to operate the screen 41 displayed on the display device 208 using the input device 207.

[0278] The display process of the display device 208, the detection process of the operation state with respect to the screen 41 of the display device 208, etc. are performed, for example, under the control of the CPU 204. Also, the display process of the display device 50A, the detection process of the operation state with respect to the screen 41 of the display device 208, etc. may be performed by a control device built in the display device 208. Hereinafter, the description will proceed on the premise that the display process of the display device 208, the detection process of the operation state with respect to the screen 41 of the display device 208, etc. are performed under the control of the CPU 204.

[0279] The CPU 204 can control the controller 30 and switch the control mode of the controller 30 according to operations on the tabs 41q2 to 41q6 of the screen 41 of the display device 208. For example, when an operation of selecting and determining the tab 41q3 is performed through the input device 207 such as a touch panel, the CPU 204 transmits a signal instructing to select the lift mode to the shovel 100 through the communication interface 206. Thereby, the controller 30 can change the control mode of the controller 30 to the lift mode according to the operation on the screen 41 in the remote operation support device 200 while a control mode other than the lift mode is being applied. The same applies when the tabs 41q2, 41q4 to 41q6 are operated.

[0280] Also, the CPU 204 switches the display content of the screen 41 according to the control mode applied to the controller 30. For example, when an operation of selecting and determining the tab 41q5 is performed through the input device 207 such as a touch panel while a control mode other than the payload mode is applied to the controller 30, the CPU 204 switches the screen 41 to the mode shown in FIG. 6 corresponding to the payload mode. The same applies when the tabs 41q2 to 41q4, 41q6 are operated.

[0281] Also, the remote operator may be able to select the control mode applied to the controller 30 from among a plurality of control modes by a method different from the method of using the screen 41, in the same way as when the operator in the cabin 10 uses the dial 82A.

[0282] For example, the remote operator may be able to select the control mode applied to the controller 30 by a predetermined input to a dedicated input device 207 for switching between a plurality of control modes. In this case, the CPU 204 transmits a signal instructing the switching of the control mode of the controller 30 from the communication interface 206 to the excavator 100 according to the input content of the specific input device 207. Thereby, the controller 30 can change the control mode applied to itself according to a predetermined input to the specific input device 207 in the remote operation support device 200.

[0283] At this time, the CPU 204 switches the display content of the screen 41 to the display content corresponding to the control mode after switching according to the switching of the control mode by a predetermined input to the specific input device 207. Specifically, when the CPU 204 transmits a signal instructing the switching of the control mode applied to the controller 30 to the excavator 100, the display content of the variable display area of the screen 41 is switched to the content unique to the control mode after switching. Also, when the CPU 204 transmits a signal instructing the switching of the control mode applied to the controller 30 to the excavator 100, the cursor is placed on the operation icon corresponding to the control mode after switching among the tabs 41q2 to 41q6 on the screen 41.

[0284] In this way, the remote operator can switch the control mode applied to the controller 30 by operating the tabs 41q2 to 41q6 of the screen 41, in the same way as the operator boarding the cabin 10 of the excavator 100. Thereby, the convenience and work efficiency of the remote operator can be improved.

[0285] Furthermore, the CPU 204 can switch the display contents of the screen 41 to contents corresponding to the switched control mode in conjunction with switching of the control mode applied to the controller 30 according to the operation of the screen 41. This can improve the convenience and work efficiency of the remote operator.

[0286] Furthermore, like the case of an operator who boards the cabin 10 of the excavator 100, the remote operator can switch the control mode applied to the controller 30 in response to a predetermined input to a specific input device 207, without operating the screen 41. This can improve the convenience for the remote operator.

[0287] Furthermore, the CPU 204 can switch the display contents of the screen 41 to contents corresponding to the switched control mode in conjunction with switching of the control mode applied to the controller 30 by a predetermined input to a specific input device 207. This can improve the convenience and work efficiency of the remote operator.

[0288] [Effect] Next, the operation of the shovel according to this embodiment will be described.

[0289] In a first aspect of this embodiment, the shovel includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, a control device that controls the operation of the shovel, and a first input device that accepts user input. A display device that displays an operable screen in response to an input from the first input device. The excavator is, for example, the above-described excavator 100. The lower traveling body is the above-described lower traveling body 1. The upper revolving body is the above-described upper revolving body 3. The attachment is, for example, the above-described attachment AT. The control device is, for example, the above-described controller 30. The first input device is, for example, the touch panel 80. The display device is, for example, the above-described display device 50A. Specifically, the control device has a plurality of control modes for controlling the operation of the excavator. The plurality of control modes include, for example, the above-described normal mode, payload mode, lift mode, and MC-MG mode. And the display device displays a predetermined screen on which the user can select any one of the plurality of control modes by operating the first input device. The predetermined screen is, for example, the above-described screen 41.

[0290] Thereby, the user can select any one of the plurality of control modes by operating a predetermined screen using the first input device. Therefore, the excavator can realize a state in which the user can easily switch between the plurality of control modes.

[0291] Also, in the second aspect of the present embodiment, on the premise of the above-described first aspect, the predetermined screen may display content unique to the selected control mode among the plurality of control modes.

[0292] Thereby, the excavator can display, on a predetermined screen, content unique to the control mode after switching in response to the switching of the control mode. Therefore, the excavator can improve the convenience and work efficiency of the user.

[0293] Also, in the third aspect of the present embodiment, on the premise of the above-described second aspect, on the one predetermined screen, there may be included a variable area for displaying content specific to the selected control mode, and a fixed area operable by the user using the first input device to select any one of the plurality of control modes. The variable area is, for example, the above-described display areas 41B to 41D. The fixed area is, for example, the above-described display area 41E.

[0294] Thereby, the excavator can provide the user with an operation means capable of switching between a plurality of control modes through the fixed area while providing the user with information on the content specific to the selected control mode through the variable area on one predetermined screen.

[0295] Further, in the fourth aspect of the present embodiment, on the premise of any one of the above-described first to third aspects, the excavator may be provided separately from the first input device and include a second input device that receives an input for selecting any one of the plurality of control modes without operating the one predetermined screen. The second input device is, for example, the above-described dial 82A.

[0296] Thereby, the user can switch between a plurality of control modes using the second input device separately from the method of using one predetermined screen. Therefore, the excavator can improve the convenience for the user.

[0297] Also, in the fifth aspect of the present embodiment, on the premise of any one of the above-described first to fourth aspects, on the one predetermined screen, a plurality of tabs including a plurality of first tabs for selecting each of at least some of the plurality of control modes may be arranged. The plurality of first tabs are, for example, the above-described tabs 41q2 to 41q5. The plurality of tabs are, for example, the above-described tabs 41q2 to 41q6.

[0298] Thereby, the user can select a control mode by operating the first tab using the first input device.

[0299] Further, in the sixth aspect of the present embodiment, on the premise of the above-described fifth aspect, in the one predetermined screen, the arrangement of the plurality of tabs may be changeable by the user operating using the first input device.

[0300] Thereby, the user can customize the arrangement of the plurality of tabs. Therefore, the excavator can improve the convenience and work efficiency of the user.

[0301] Further, in the seventh aspect of the present embodiment, on the premise of the above-described fifth or sixth aspect, the plurality of tabs may include a plurality of first tabs for selecting each of some of the plurality of control modes and one second tab for selecting one control mode from the remaining control modes of the plurality of control modes. The second tab is, for example, the above-described tab 41q6.

[0302] Thereby, even when the number of control modes is relatively large, the excavator can arrange a number of tabs less than the number of control modes on one predetermined screen and realize a state in which any one control mode can be selected from all the control modes.

[0303] Further, in the eighth aspect of the present embodiment, on the premise of any one of the above-described first to seventh aspects, when the excavator is started, the control device may automatically select the control mode that was selected when the excavator stopped among the plurality of control modes.

[0304] Thereby, the excavator can improve the convenience and work efficiency of the user.

[0305] In addition, in the ninth aspect of the present embodiment, the display device supports the operation of the excavator including a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an attachment attached to the upper revolving body, and a control device that controls the operation of the excavator and has a plurality of control modes for controlling the operation of the excavator. The display device is, for example, the above-described display device 50A or display device 208. Specifically, the display device displays a predetermined screen on which a user can select any one of the plurality of control modes by operating the input device. The input device is, for example, a touch panel 80 or a touch panel as the input device 207 mounted on the display device 208.

[0306] Thereby, the user can select any one of the plurality of control modes by operating a predetermined screen using the first input device. Therefore, the display device can realize a state in which the user can easily switch between the plurality of control modes.

[0307] Further, in the tenth aspect of the present embodiment, on the premise of the above-described ninth aspect, the predetermined screen may display content specific to the selected control mode among the plurality of control modes.

[0308] Thereby, the display device can display on a predetermined screen content specific to the switched control mode in response to the switching of the control mode. Therefore, the display device can improve the convenience and work efficiency of the user.

[0309] In addition, in the eleventh aspect of the present embodiment, the remote operation support device may include the display device according to the ninth or tenth aspect described above, the input device, an operation device for the user to remotely operate the excavator, and a communication device that transmits the operation content of the operation device and the operation content of the one predetermined screen to the excavator. The remote operation support device is, for example, the remote operation support device 200 described above. The display device is, for example, the display device 208 described above. The input device is, for example, a touch panel as the input device 207 described above. The operation device is, for example, an operation device for remote operation as the input device 207 described above. The communication device is, for example, the communication interface 206 described above.

[0310] As a result, the user who remotely operates the excavator can select an arbitrary control mode from among a plurality of control modes through one predetermined screen displayed on the display device of the remote operation support device. Therefore, the remote operation support device can realize a state in which the user can easily switch between a plurality of control modes.

[0311] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims.

Explanation of Signs

[0312] 1 Lower Travel Body 1CL, 1CR Crawler 1ML, 1MR Travel Hydraulic Motor 2M Swing Hydraulic Motor 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Cab 26 Operating Device 30 Controller 40 Imaging Device 40B, 40F, 40L, 40R Cameras 41 Screen 41A~41E Display Areas 41q Tab Group 41q1~41q6 Tabs 41r Information Display Area 41s Information Display Area 41t Information Display Area 50 Output Device 50A Display Device 52 Input Device 60 Communication Device 80 Touch Panel 82 Switch Panel 82A Dial 100 Excavator 200 Remote Operation Support Device 206 Communication Interface 207 Input Device 208 Display Device AT Attachment HA Hydraulic Actuator HK Hook SYS Remote Operation Support System

Claims

1. A lower traveling body, An upper swing body rotatably mounted on the lower traveling body, An attachment attached to the upper swing body, A control device for controlling the operation of the excavator, A first input device for receiving user input, A display device for displaying an operable screen in response to an input from the first input device, comprising: The control device has a plurality of control modes for controlling the operation of the excavator, The display device displays a predetermined screen that allows a user to select any one of the plurality of control modes by operating the first input device. An excavator.

2. On the predetermined screen, content specific to the selected control mode among the plurality of control modes is displayed. The excavator according to claim 1.

3. The predetermined screen includes a variable area for displaying content specific to the selected control mode and a fixed area operable by the user using the first input device to select any one of the plurality of control modes. The excavator according to claim 2.

4. A second input device provided separately from the first input device, for receiving an input for selecting any one of the plurality of control modes without operating the predetermined screen. The excavator according to any one of claims 1 to 3.

5. The predetermined screen includes a plurality of tabs arranged in a row, each tab including a plurality of first tabs for selecting at least some of the plurality of control modes. The excavator according to any one of claims 1 to 3.

6. On the predetermined screen, the arrangement of the plurality of tabs can be changed by the user operating the first input device. The excavator according to claim 5.

7. The plurality of tabs include the plurality of first tabs for selecting some of the plurality of control modes respectively, and one second tab for selecting one control mode from the remaining control modes of the plurality of control modes. The excavator according to claim 5.

8. When the excavator is started, the control device automatically selects the control mode that was selected at the time of stopping the excavator among the plurality of control modes. The excavator according to any one of claims 1 to 3.

9. A lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an attachment attached to the upper revolving body, and a control device having a plurality of control modes for controlling the operation of the excavator, a display device for assisting the operation of the excavator, which displays a predetermined screen on which a user can select any one of the plurality of control modes by operating using an input device. Display device.

10. On the predetermined screen, content specific to the selected control mode among the plurality of control modes is displayed. The display device according to claim 9.

11. The display device according to claim 9 or 10, the input device, an operating device for the user to remotely operate the excavator, and a communication device for transmitting the operation content of the operating device and the operation content of the predetermined screen to the excavator. Remote operation support device.

Images