Work machine and remote support system

Abstract

To provide a work machine capable of improving work efficiency, and a remote support system.SOLUTION: A work machine includes: an undercarriage; an upper rotating body that rotates relative to the undercarriage; an attachment with at least a boom and an arm, which is attached to the upper rotating body; an operating device having one operating lever and the other operating lever; and a control unit. The control unit is configured so as to, when one of the levers is operated, control the attachment in a first control mode, and when the other lever is operated, control the attachment in a second control mode.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a work machine and a remote support system.

Background Art

[0002] Patent Document 1 discloses an excavator having a machine control function that automatically operates an attachment so that a target construction surface and the tip position of a bucket coincide with each other when data related to the target construction surface is input in advance and an operator operates an operation lever while operating a switch.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the excavator disclosed in Patent Document 1, it is necessary to create data related to a target construction surface in advance and input it to a controller of the excavator.

[0005] Therefore, in view of the above problems, an object is to provide a work machine and a remote support system that improve work efficiency.

Means for Solving the Problems

[0006] In order to achieve the above object, a work machine according to an embodiment of the present invention includes a lower traveling body, an upper swing body that swings with respect to the lower traveling body, an attachment attached to the upper swing body and having at least a boom and an arm, an operating device having one operating lever and the other operating lever, and a control unit. When one of the operating levers is operated, the control unit controls the attachment in a first control mode, and when the other operating lever is operated, the control unit controls the attachment in a second control mode.

Advantages of the Invention

[0007] According to the above embodiment, a work machine capable of improving work efficiency can be provided.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 4D

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Also, the embodiments described below are illustrative and not restrictive of the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and the description thereof may be omitted.

[0010] Hereinafter, in the embodiments of the present invention, an example in which an excavator is used as an example of a working machine will be described, but the invention is not limited to excavators. It may be applied to construction machines, standard machines, application machines, forestry machines, or transport machines based on hydraulic excavators.

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

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

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

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

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

[0016] The upper swing body 3 (an example of a swing body) is driven by a swing hydraulic motor 2A (see FIG. 2) to swing with respect to the lower traveling body 1.

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

[0018] The boom 4 is pivotally attached to the center of the front portion of the upper swing body 3 so as to be able to pitch. An arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down.

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

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

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

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

[0023] Note that the excavator 100 may be configured such that some of the driven elements such as the lower traveling body 1, upper swing body 3, boom 4, arm 5, and bucket 6 are electrically driven. That is, the excavator 100 may be a hybrid excavator, electric excavator, etc., in which some of the driven elements are driven by electric actuators.

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

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

[0026] In the figure, the mechanical power line is shown by a double line, the high-pressure hydraulic line is shown by a solid line, the pilot line is shown by a broken line, and the electric drive / control line is shown by a dotted line. The same applies to FIGS. 3 and 4 below.

[0027] The hydraulic drive system that hydraulically drives the hydraulic actuators of the excavator 100 according to the first embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. Further, as described above, the hydraulic drive system of the excavator 100 according to the first embodiment includes hydraulic actuators such as traveling hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive the lower traveling body 1, upper swing body 3, boom 4, arm 5, and bucket 6, respectively.

[0028] The engine 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper slewing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under the direct or indirect control of a controller (control unit) 30 described later, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0029] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R as described later.

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

[0031] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the first embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply the hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuators include the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motors 2ML and 2MR, and the swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Also, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8.

[0032] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic oil to hydraulic control equipment via a pilot line. In the first embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, in addition to the function of supplying hydraulic oil to the control valve unit 17 via the hydraulic oil line, the main pump 14 may also have the function of supplying hydraulic oil to various hydraulic control equipment via the pilot line. In this case, the pilot pump 15 may be omitted.

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

[0034] The operating device 26 is a device used by an operator for operating an actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0035] The proportional valve 31 that functions as a control valve for machine control is disposed in a pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to be able to change the flow passage area of the pipeline. In the first embodiment, the proportional valve 31 operates in accordance with a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

[0036] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when no operation on the specific operating device 26 is being performed.

[0037] The control system of the excavator 100 according to the first embodiment includes a controller 30, a display device D1, an input device D2, and a communication device T1. Further, as a configuration related to the semi-automatic operation function, the control system of the excavator 100 includes a proportional valve 31, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a swing angle sensor S5, an imaging device S6, a boom rod pressure sensor S7R, a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, and a bucket bottom pressure sensor S9B.

[0038] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the first embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values to the controller 30. In the first embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. Then, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure (pilot pressure) of the hydraulic oil supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0039] The display device D1 is provided at a location easily visible to the seated operator in the cabin 10, and displays various information images under the control of the controller 30. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as CAN (Controller Area Network), or may be connected to the controller 30 via a dedicated one-to-one line.

[0040] Also, the display device D1 is not limited to the device provided in the cabin 10 in advance, and may be a separately placed monitor. Furthermore, the display device D1 may be any device capable of displaying, for example, a tablet terminal capable of communicating with the communication device T1 may be used.

[0041] The input device D2 is provided within the reach of the hands of the seated operator in the cabin 10, receives various operation inputs from the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device D2 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operating device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, and the like. A signal corresponding to the operation content for the input device D2 is taken into the controller 30.

[0042] The controller 30 (an example of a control device) is provided, for example, within the cabin 10 and performs drive control of the excavator 100. The function of the controller 30 may be realized by arbitrary hardware, software, or a combination thereof. For example, the controller 30 is mainly configured by a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage medium, various input / output interfaces, and the like. The controller 30 realizes various functions by executing various programs stored in the ROM or the non-volatile auxiliary storage medium on the CPU.

[0043] For example, the controller 30 sets a target rotational speed based on operations by the operator or the like and performs drive control to rotate the engine 11 at a constant speed.

[0044] Also, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0045] Also, for example, the controller 30 controls the regulator 13 and adjusts the discharge amount of the main pump 14 based on the detected value of the pilot pressure corresponding to the operation state of various operation elements (i.e., various hydraulic actuators) in the operating device 26 input from the operation sensor 29.

[0046] Further, for example, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the excavator 100 by the operator through the operation device 26. Further, the controller 30 performs control related to a machine control function that automatically supports the manual operation of the excavator 100 by the operator through the operation device 26.

[0047] Note that a part of the functions of the controller 30 may be realized by other controllers (control devices). That is, the functions of the controller 30 may be realized in a manner distributed by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0048] More specifically, the controller 30 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, the slewing angle sensor S5, the imaging device S6, the communication device T1, the input device D2, etc. Further, the controller 30 calculates, for example, the distance between the bucket 6 and the design surface based on the acquired information. Then, the controller 30 appropriately controls the proportional valve 31 according to the calculated distance between the bucket 6 and the design surface, etc., and individually and automatically adjusts the pilot pressure acting on the control valve corresponding to the hydraulic actuator, whereby each actuator can be automatically operated (see FIGS. 4(A) to 4(D) described later).

[0049] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and a pilot port of any one of the control valves 171 to 176, and is configured to be able to change its flow passage area (the cross-sectional area through which the hydraulic oil can flow). The proportional valve 31 operates in response to a control command input from the controller 30. Thereby, even when the operating device 26 is not operated by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31. And the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve. The proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, and 31DR as described later.

[0050] With this configuration, even when an operation on a specific operating device 26 is not performed, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26. Also, even when an operation on a specific operating device 26 is being performed, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26.

[0051] The boom angle sensor S1 is attached to the boom 4 and detects the pitching angle of the boom 4 with respect to the upper slewing body 3 (hereinafter referred to as the "boom angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2, the bucket angle sensor S3, and the machine body inclination sensor S4 below. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0052] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as the "arm angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 with respect to the straight line connecting the fulcrums at both ends of the boom 4. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0053] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the "bucket angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrum and the tip (cutting edge) of the bucket 6 with respect to the straight line connecting the fulcrums at both ends of the arm 5. The detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30.

[0054] The machine body tilt sensor S4 detects the tilt state of the machine body (upper slewing body 3 or lower traveling body 1) with respect to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper slewing body 3 and detects the tilt angles (hereinafter, "front-back tilt angle" and "left-right tilt angle") around two axes in the front-back direction and left-right direction of the excavator 100 (i.e., the upper slewing body 3). The detection signals corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) by the machine body tilt sensor S4 are taken into the controller 30.

[0055] The slewing angle sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing angle sensor S5 detects, for example, the slewing angular velocity and slewing angle of the upper slewing body 3. The slewing angle sensor S5 includes, for example, a gyro sensor, resolver, rotary encoder, etc.

[0056] The imaging device S6 images the periphery of the excavator 100. The imaging device S6 includes a camera S6F that images the front of the excavator 100, a camera S6L that images the left side of the excavator 100, a camera S6R that images the right side of the excavator 100, and a camera S6B that images the rear of the excavator 100.

[0057] The camera S6F is attached to, for example, the ceiling of the cab 10, i.e., inside the cab 10. Also, the camera S6F may be attached outside the cab 10, such as to the roof of the cab 10 or the side surface of the boom 4. The camera S6L is attached to the left end of the upper surface of the upper slewing body 3, the camera S6R is attached to the right end of the upper surface of the upper slewing body 3, and the camera S6B is attached to the rear end of the upper surface of the upper slewing body 3.

[0058] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is, for example, a single-eye wide-angle camera having a very wide angle of view. Also, the imaging device S6 may be a stereo camera, a distance image camera, etc. The captured images by the imaging device S6 are taken into the controller 30.

[0059] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively attached to the boom cylinder 7 to detect the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "boom bottom pressure"). The detection signals corresponding to the boom rod pressure and the boom bottom pressure by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively taken into the controller 30.

[0060] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B respectively detect the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "arm bottom pressure"). The detection signals corresponding to the arm rod pressure and the arm bottom pressure by the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively taken into the controller 30.

[0061] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B respectively detect the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure") and the pressure in the bottom side oil chamber (hereinafter referred to as "bucket bottom pressure"). The detection signals corresponding to the bucket rod pressure and the bucket bottom pressure by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively taken into the controller 30.

[0062] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc. with the base station as the terminal. The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0063] The excavator 100 operates an actuator (e.g., a hydraulic actuator) according to the operation of an operator boarding the cab 10, and drives operating elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 (hereinafter, "driven elements").

[0064] Alternatively, or in addition to being configured to be operable by an operator in the cab 10, the excavator 100 may be configured to be remotely operated (remote-controlled) from outside the excavator 100. When the excavator 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0065] Also, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 realizes a function of automatically operating at least a part of the driven elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, that is, a so-called "automatic operation function" or "machine control function".

[0066] The automatic driving function may include a function of automatically operating a driven element (actuator) other than the driven element (actuator) of the operation target in response to an operation on the operation device 26 of the operator or a remote operation, that is, a so-called "semiautomatic operation function" or an "operation support type machine control function". Further, the automatic driving function may include a function of automatically operating at least a part of a plurality of driven elements (hydraulic actuators) on the premise that there is no operation on the operation device 26 of the operator or a remote operation, that is, a so-called "fully automatic driving function" or a "fully automatic type machine control function". In the excavator 100, when the fully automatic driving function is valid, the inside of the cabin 10 may be unmanned. Further, the semiautomatic operation function, the fully automatic operation function, etc. may include a mode in which the operation content of the driven element (actuator) of the automatic driving target is automatically determined according to a rule defined in advance. Further, the semiautomatic operation function, the fully automatic operation function, etc. may include a mode (so-called "automatic driving function") in which the excavator 100 autonomously makes various determinations, and the operation content of the driven element (hydraulic actuator) of the automatic driving target is determined autonomously according to the determination result.

[0067] Specifically, when the arm 5 is being operated by the operator through the operation device 26, the controller 30 may automatically operate at least one of the boom 4 and the bucket 6 so that a preset target design surface (hereinafter simply referred to as "design surface") coincides with the tip position of the bucket 6. Further, the controller 30 may also automatically operate the arm 5 regardless of the operation state of the operation device 26 that operates the arm 5. That is, the controller 30 may cause the attachment to perform a preset operation triggered by the operation of the operation device 26 by the operator. Hereinafter, the function of the controller 30 that operates at least one of the boom 4 and the bucket 6 in addition to the arm 5 in response to the operation of the operation device 26 corresponding to the arm 5 is referred to as the "semiautomatic operation function". The semiautomatic operation function may be executed, for example, by operating a predetermined switch (hereinafter, "MC (Machine Control) switch") arranged at the tip of any of the lever devices (26L, 26R) included in the operation device 26.

[0068] [Hydraulic System of Excavator] Next, referring to FIG. 3, a configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 3 is a diagram showing a configuration example of the hydraulic system mounted on the excavator 100. FIG. 3 shows a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electric control system with double lines, solid lines, broken lines, and dotted lines, respectively.

[0069] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operation sensor 29, and a controller 30, etc.

[0070] In FIG. 3, the hydraulic system is configured such that hydraulic oil can be circulated from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass pipeline 40 or the parallel pipeline 42.

[0071] The main pump (hydraulic pump) 14 is configured to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In the first embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0072] In the first embodiment, the control valve unit 17 includes control valves (direction control valves) 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply the hydraulic oil discharged by the main pump 14 to one or a plurality of hydraulic actuators through the control valves 171 to 176.

[0073] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipeline 40L or the left parallel pipeline 42L, and the right main pump 14R circulates the hydraulic oil to the hydraulic oil tank through the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0074] The left center bypass pipeline 40L is a hydraulic oil line passing through the control valves 171, 173, 175L and 176L arranged in the control valve unit 17. The right center bypass pipeline 40R is a hydraulic oil line passing through the control valves 172, 174, 175R and 176R arranged in the control valve unit 17.

[0075] The control valve 171 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and to discharge the hydraulic oil discharged from the left travel hydraulic motor 2ML to the hydraulic oil tank.

[0076] The control valve 172 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and to discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR to the hydraulic oil tank.

[0077] The control valve 173 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

[0078] The control valve 174 is a spool valve that switches the flow of the hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0079] The control valve 175L is a spool valve that supplies the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7 and switches the flow of the hydraulic oil to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0080] The control valve 175R is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and switches the flow of the hydraulic oil to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0081] The control valve 176L is a spool valve that supplies the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and switches the flow of the hydraulic oil to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0082] The control valve 176R is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic oil to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0083] The left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L. When the flow of the hydraulic oil passing through the left center bypass pipeline 40L is restricted or blocked by any one of the control valves 171, 173, and 175L, the left parallel pipeline 42L can supply the hydraulic oil to the downstream control valve. The right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R. When the flow of the hydraulic oil passing through the right center bypass pipeline 40R is restricted or blocked by any one of the control valves 172, 174, and 175R, the right parallel pipeline 42R can supply the hydraulic oil to the downstream control valve.

[0084] In addition, a left turning pressure sensor S10L and a right turning pressure sensor S10R are attached to the slewing hydraulic motor 2A. The left turning pressure sensor S10L detects the pressure of the hydraulic oil at the left port of the slewing hydraulic motor 2A. The right turning pressure sensor S10R detects the pressure of the hydraulic oil at the right port of the slewing hydraulic motor 2A.

[0085] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to decrease the discharge amount. The same applies to the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output power (output horsepower) of the engine 11.

[0086] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0087] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0088] The left operating lever 26L is used for the turning operation and the operation of the arm 5. When the left operating lever 26L is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When it is operated in the left-right direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0089] The operation sensor 29LA detects the content of the front-rear direction operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.

[0090] The operation sensor 29LB detects the content of the left-right direction operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.

[0091] When the left operation lever 26L is operated in the arm closing direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LA, introduces hydraulic oil into the right pilot port of the control valve 176L, and introduces hydraulic oil into the left pilot port of the control valve 176R. When the left operation lever 26L is operated in the arm opening direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LA, introduces hydraulic oil into the left pilot port of the control valve 176L, and introduces hydraulic oil into the right pilot port of the control valve 176R.

[0092] Also, when the left operation lever 26L is operated in the left turning direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LB, introduces hydraulic oil into the left pilot port of the control valve 173. When the left operation lever 26L is operated in the right turning direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29LB, introduces hydraulic oil into the right pilot port of the control valve 173.

[0093] A switch NS1 is provided on the left operation lever 26L. In the first embodiment, the switch NS1 is a push button switch provided at the tip of the left operation lever 26L. The operator can operate the left operation lever 26L while pressing the switch NS1. A switch NS2 is provided on the right operation lever 26R. In the first embodiment, the switch NS2 is a push button switch provided at the tip of the right operation lever 26R. The operator can operate the right operation lever 26R while pressing the switch NS2. Note that the positions where the switches NS1 and NS2 are provided are not limited to this, and they may be provided at other positions within the cabin 10.

[0094] The right operation lever 26R is used for the operation of the boom 4 and the bucket 6. When the right operation lever 26R is operated in the front-rear direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When it is operated in the left-right direction, it utilizes the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0095] The operation sensor 29RA detects the content of the front-rear direction operation on the right operation lever 26R by the operator and outputs the detected value to the controller 30.

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

[0097] Specifically, when the right operation lever 26R is operated in the boom lowering direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RA, introduces hydraulic oil into the left pilot port of the control valve 175L, and introduces hydraulic oil into the right pilot port of the control valve 175R. When the right operation lever 26R is operated in the boom raising direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RA, introduces hydraulic oil into the right pilot port of the control valve 175L, and introduces hydraulic oil into the left pilot port of the control valve 175R.

[0098] Also, when the right operation lever 26R is operated in the bucket closing direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RB and introduces hydraulic oil into the right pilot port of the control valve 174. When it is operated in the bucket opening direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29RB and introduces hydraulic oil into the left pilot port of the control valve 174.

[0099] The traveling lever 26D is used for the operation of the crawler. Specifically, the left traveling lever 26DL is used for the operation of the left crawler. It may be configured to be interlocked with the left traveling pedal.

[0100] The operation sensor 29DL detects the content of the operation in the front - rear direction of the left traveling lever 26DL by the operator, and outputs the detected value to the controller 30.

[0101] When the left traveling lever 26DL is operated in the front - rear direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29DL, uses the hydraulic oil discharged by the pilot pump 15, and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171.

[0102] The right traveling lever 26DR is used for the operation of the right crawler. It may be configured to be interlocked with the right traveling pedal.

[0103] The operation sensor 29DR detects the content of the operation in the front - rear direction of the right traveling lever 26DR by the operator, and outputs the detected value to the controller 30.

[0104] When the right traveling lever 26DR is operated in the front - rear direction, the controller 30 controls the proportional valve 31 according to the signal from the operation sensor 29DR, uses the hydraulic oil discharged by the pilot pump 15, and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0105] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L, and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0106] The controller 30 receives the output of the operation sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. Further, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle valve (negative control throttle valve) 18, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. The throttle valve 18 includes a left throttle valve 18L and a right throttle valve 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0107] In the left center bypass pipeline 40L, a left throttle valve 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle valve 18L. The left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same manner.

[0108] Specifically, when the hydraulic actuators in the excavator 100 are all in a standby state where none of them are being operated, as shown in FIG. 3, the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipeline 40L and reaches the left throttle valve 18L. Then, the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the allowable minimum discharge volume, suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipeline 40L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of the hydraulic oil discharged by the left main pump 14L decreases or disappears the amount reaching the left throttle valve 18L, reducing the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, circulates sufficient hydraulic oil to the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the controller 30 controls the discharge volume of the right main pump 14R in the same manner.

[0109] With the above-described configuration, in the standby state, the hydraulic system of FIG. 3 can suppress wasted energy consumption in the main pump 14. The wasted energy consumption includes the pumping loss generated by the hydraulic oil discharged by the main pump 14 in the center bypass pipeline 40. Also, when operating the hydraulic actuator, the hydraulic system of FIG. 3 can reliably supply the necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0110] That is, the controller 30 controls the regulator 13 so that the discharge volume is the smaller of a first discharge volume calculated so that the absorption power (absorption horsepower) of the main pump 14, which is represented by the product of the discharge pressure and the discharge volume, does not exceed the output power (output horsepower) of the engine 11, and a second discharge volume calculated based on the control pressure detected by the control pressure sensor 19.

[0111] Next, with reference to FIGS. 4A to 4D, a configuration for the controller 30 to operate the actuator by the machine control function will be described. FIGS. 4A to 4D are diagrams showing a part of the hydraulic system extracted. Specifically, FIG. 4A is a diagram showing the hydraulic system part related to the operation of the arm cylinder 8, and FIG. 4B is a diagram showing the hydraulic system part related to the operation of the boom cylinder 7. FIG. 4C is a diagram showing the hydraulic system part related to the operation of the bucket cylinder 9, and FIG. 4D is a diagram showing the hydraulic system part related to the operation of the swing hydraulic motor 2A.

[0112] As shown in FIGS. 4A to 4D, the hydraulic system includes a proportional valve 31. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

[0113] For example, as shown in FIG. 4A, the left operation lever 26L is used to operate the arm 5. Specifically, the left operation lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 176. More specifically, when the left operation lever 26L is operated in the arm closing direction (rear direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Also, when the left operation lever 26L is operated in the arm opening direction (front direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0114] Also, a switch NS1 is provided on the left operation lever 26L.

[0115] The operation sensor 29LA detects the content of the front-rear direction operation of the left operation lever 26L by the operator and outputs the detected value to the controller 30.

[0116] The proportional valve 31AL operates according to the control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. The proportional valve 31AR operates according to the control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 through the proportional valve 31AR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valve 31AL can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at arbitrary valve positions. Similarly, the proportional valve 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at arbitrary valve positions.

[0117] Also, a pilot pressure sensor 32AL for detecting the pilot pressure is provided in the pilot line connecting the proportional valve 31AL and one port of the control valve 176 (the right port of the control valve 176L and the left port of the control valve 176R). Also, a pilot pressure sensor 32AR for detecting the pilot pressure is provided in the pilot line connecting the proportional valve 31AR and the other port of the control valve 176 (the left port of the control valve 176L and the right port of the control valve 176R). The values detected by the respective pilot pressure sensors 32AL, 32AR are transmitted to the controller 30.

[0118] With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R in response to the arm closing operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R regardless of the arm closing operation by the operator. That is, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or regardless of the arm closing operation by the operator.

[0119] Further, in response to an arm opening operation by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR regardless of the arm opening operation by the operator. That is, the controller 30 can open the arm 5 in response to the arm opening operation by the operator or regardless of the arm opening operation by the operator.

[0120] Also, with this configuration, even when an arm closing operation by the operator is being performed, the controller 30 can, if necessary, reduce the pilot pressure acting on the closing-side pilot ports of the control valve 176 (the left pilot port of the control valve 176L and the right pilot port of the control valve 176R) and forcibly stop the closing operation of the arm 5. The same applies when forcibly stopping the opening operation of the arm 5 when an arm opening operation by the operator is being performed.

[0121] Alternatively, even when an arm closing operation by the operator is being performed, the controller 30 can, if necessary, control the proportional valve 31AR to increase the pilot pressure acting on the opening-side pilot ports of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R), which are on the opposite side of the closing-side pilot ports of the control valve 176, and forcibly return the control valve 176 to the neutral position, thereby forcibly stopping the closing operation of the arm 5. The same applies when forcibly stopping the opening operation of the arm 5 when an arm opening operation by the operator is being performed.

[0122] Also, although the description with reference to FIGS. 4B to 4D below is omitted, when forcibly stopping the operation of the boom 4 when the operator is performing a boom raising operation or a boom lowering operation, when forcibly stopping the operation of the bucket 6 when the operator is performing a bucket closing operation or a bucket opening operation, and when forcibly stopping the slewing operation of the upper slewing body 3 when the operator is performing a slewing operation, the same applies. Also, the same applies when forcibly stopping the traveling operation of the lower traveling body 1 when the operator is performing a traveling operation.

[0123] Also, as shown in FIG. 4B, the right operation lever 26R is used to operate the boom 4. Specifically, the right operation lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 175. More specifically, when the right operation lever 26R is operated in the boom raising direction (rear direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 175R. Also, when the right operation lever 26R is operated in the boom lowering direction (front direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0124] Also, a switch NS2 is provided on the right operation lever 26R.

[0125] The operation sensor 29RA detects the content of the operation in the front-rear direction of the right operation lever 26R by the operator and outputs the detected value to the controller 30.

[0126] The proportional valve 31BL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that the control valve 175R can be stopped at an arbitrary valve position. Also, the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at an arbitrary valve position.

[0127] In addition, a pilot pressure sensor 32BL for detecting the pilot pressure is provided in a pilot line connecting the proportional valve 31BL and one port of the control valve 175 (the left port of the control valve 175R). Also, a pilot pressure sensor 32BR for detecting the pilot pressure is provided in a pilot line connecting the proportional valve 31BR and the other port of the control valve 175 (the right port of the control valve 175R). The values detected by the respective pilot pressure sensors 32BL, 32BR are transmitted to the controller 30.

[0128] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 175R via the proportional valve 31BL in response to the boom raising operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 175R via the proportional valve 31BL regardless of the boom raising operation by the operator. That is, the controller 30 can raise the boom 4 in response to the boom raising operation by the operator or regardless of the boom raising operation by the operator.

[0129] Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR in response to the boom lowering operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR regardless of the boom lowering operation by the operator. That is, the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator or regardless of the boom lowering operation by the operator.

[0130] In addition, in FIG. 4B, the configuration in which the controller 30 controls the proportional valves 31BL and 31BR and supplies pilot pressure to the control valve 175R has been described. Similarly, the controller 30 controls a proportional valve (not shown) and supplies pilot pressure to the control valve 175L.

[0131] Also, as shown in FIG. 4C, the right operation lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses the hydraulic oil discharged by the pilot pump 15 and applies a pilot pressure corresponding to the left-right direction operation to the pilot port of the control valve 174. More specifically, when the right operation lever 26R is operated in the bucket closing direction (left direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174. Also, when the right operation lever 26R is operated in the bucket opening direction (right direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174.

[0132] Further, a switch NS2 is provided on the right operation lever 26R.

[0133] The operation sensor 29RB detects the content of the left-right direction operation of the right operation lever 26R by the operator and outputs the detected value to the controller 30.

[0134] The proportional valve 31CL operates according to the control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates according to the control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.

[0135] Also, a pilot pressure sensor 32CL for detecting the pilot pressure is provided in the pilot line connecting one port of the proportional valve 31CL and the control valve 174 (the left port of the control valve 174). Also, a pilot pressure sensor 32CR for detecting the pilot pressure is provided in the pilot line connecting the other port of the proportional valve 31CR and the control valve 174 (the right port of the control valve 174). The values detected by the respective pilot pressure sensors 32CL, 32CR are transmitted to the controller 30.

[0136] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in response to the bucket closing operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL regardless of the bucket closing operation by the operator. That is, the controller 30 can close the bucket 6 in response to the bucket closing operation by the operator or regardless of the bucket closing operation by the operator.

[0137] Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR in response to the bucket opening operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR regardless of the bucket opening operation by the operator. That is, the controller 30 can open the bucket 6 in response to the bucket opening operation by the operator or regardless of the bucket opening operation by the operator.

[0138] Also, as shown in FIG. 4D, the left operation lever 26L is also used to operate the slewing mechanism 2. Specifically, the left operation lever 26L utilizes the hydraulic oil discharged from the pilot pump 15 and applies a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 173. More specifically, when the left operation lever 26L is operated in the left slewing direction (left direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. Also, when the left operation lever 26L is operated in the right slewing direction (right direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0139] Also, a switch NS1 is provided on the left operation lever 26L.

[0140] The operation sensor 29LB detects the content of the left-right direction operation on the left operation lever 26L by the operator and outputs the detected value to the controller 30.

[0141] The proportional valve 31DL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position.

[0142] Also, a pilot pressure sensor 32DL for detecting the pilot pressure is provided in a pilot line connecting the proportional valve 31DL and one port of the control valve 173 (the left port of the control valve 173). Also, a pilot pressure sensor 32DR for detecting the pilot pressure is provided in a pilot line connecting the proportional valve 31DR and the other port of the control valve 173 (the right port of the control valve 173). The values detected by the respective pilot pressure sensors 32DL, 32DR are transmitted to the controller 30.

[0143] With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL in response to a left turning operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL regardless of the left turning operation by the operator. That is, the controller 30 can turn the turning mechanism 2 to the left in response to a left turning operation by the operator or regardless of the left turning operation by the operator.

[0144] Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR in response to a right turning operation by the operator. Also, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR regardless of the right turning operation by the operator. That is, the controller 30 can turn the swing mechanism 2 to the right in response to a right turning operation by the operator or regardless of the right turning operation by the operator.

[0145] The excavator 100 may be configured to automatically move the lower traveling body 1 forward and backward. In this case, the hydraulic system portion related to the operation of the left traveling hydraulic motor 2ML and the hydraulic system portion related to the operation of the right traveling hydraulic motor 2MR may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7 and the like.

[0146] Also, although the description of the electric operation lever has been given as the form of the operation device 26, a hydraulic operation lever may be adopted instead of the electric operation lever. In this case, the lever operation amount of the hydraulic operation lever may be detected in the form of pressure by a pressure sensor and input to the controller 30. Also, a solenoid valve may be arranged between the operation device 26 as the hydraulic operation lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electric signal from the controller 30. With this configuration, when a manual operation using the operation device 26 as the hydraulic operation lever is performed, the operation device 26 can move each control valve by increasing or decreasing the pilot pressure according to the lever operation amount. Also, each control valve may be configured by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

[0147] [An example of the operation of the excavator] Next, an example of the operation using the excavator 100 will be described with reference to FIG. 5. FIG. 5 is a schematic diagram showing an example of the operation of the excavator 100. Here, the case where the ground is excavated to form a substantially rectangular recess 800 in the ground will be described as an example.

[0148] The operator operates the excavator 100 to excavate the ground and form an approximate shape of the recess 800. Then, the vertical surface (side surface) 801, the horizontal surface (bottom surface) 802, and the vertical surface (side surface) 803 of the recess 800 are excavated so that the shape of the recess 800 becomes the desired shape.

[0149] First, as shown in FIGS. 5(a) to 5(b), the excavator 100 excavates one of the vertical surfaces 801 (the side surface on the back side as viewed from the excavator 100, the left side surface in the plane of FIG. 5) of the plurality of side surfaces of the recess 800 by lowering the bucket 6 in the vertical direction.

[0150] Next, as shown in FIGS. 5(b) to 5(c), the excavator 100 excavates the horizontal surface 802 of the recess 800 by moving the bucket 6 in the horizontal direction.

[0151] Next, as shown in FIGS. 5(c) to 5(d), the operator adjusts the angle of the bucket 6.

[0152] Then, as shown in FIGS. 5(d) to 5(e), the excavator 100 excavates the other vertical surface 803 (the side surface on the front side as viewed from the excavator 100, the right side surface in the plane of FIG. 5) of the plurality of side surfaces of the recess 800 by raising the bucket 6 in the vertical direction.

[0153] In order to cause the excavator 100 to perform operations such as lowering the bucket 6 vertically, moving it horizontally, and raising it vertically, the operations for simultaneously operating the boom 4, the arm 5, etc. are combined operations that require the skill of the operator. In the case of an operator who is not familiar with the operations, there is a risk of having to repeat these operations. Further, in an excavator having a machine control function for automatically operating the attachment so that the data regarding the target construction surface is input in advance and the target construction surface and the tip position of the bucket coincide with each other, there is a problem in that it takes time and effort to create and input the data regarding the target construction surface.

[0154] Next, an example of the control in the excavator 100 according to the first embodiment will be described with reference to FIG. 6. FIG. 6 is a flowchart showing an example of the control in the excavator 100 according to the first embodiment.

[0155] In step S101, the controller 30 determines whether or not the switches NS1 and NS2 are being operated. Here, the switches NS1 and NS2 are switches for selecting whether or not to enable the machine control function. Note that the switches NS1 and NS2 may be momentary switches that are ON only while the switches NS1 and NS2 are being pressed and OFF when the switches NS1 and NS2 are released. Further, the switches NS1 and NS2 may be alternate switches that alternate between ON and OFF each time the switches NS1 and NS2 are pressed. Also, the operation of the switches NS1 and NS2 may be the operation of either one of the switches or the operation of both switches.

[0156] If the switches NS1 and NS2 are not being operated (S101·NO), in other words, if the switches NS1 and NS2 are in the OFF state, the process of the controller 30 proceeds to step S102.

[0157] In step S102, the controller 30 determines to perform normal control (normal mode). That is, when the operator operates the operating device 26, the controller 30 controls the attachment AT in the normal control mode (refer to the operation directions of the left operation lever 26L and the right operation lever 26R shown in FIG. 3 and the operation of the attachment AT). Specifically, when the operator operates the left operation lever 26L in the front-rear direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR. Thereby, the arm 5 of the attachment AT operates (opens and closes). Also, when the operator operates the right operation lever 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. Thereby, the boom 4 of the attachment AT operates (moves up and down). Further, when the operator operates the right operation lever 26R in the left-right direction, the controller 30 controls the control valve 174 that supplies hydraulic oil to the bucket cylinder 9 via the proportional valves 31CL and 31CR. Thereby, the bucket 6 of the attachment AT operates (opens and closes).

[0158] On the other hand, when the switches NS1 and NS2 are operated (S101·YES), in other words, when the switches NS1 and NS2 are in the ON state, the process of the controller 30 proceeds to step S103.

[0159] In step S103, the controller 30 determines whether one of the operation levers is being operated. Here, the controller 30 determines whether the left operation lever 26L is being operated in either the front-rear direction (the opening or closing direction of the arm 5). If one of the operation levers is not being operated (S103·NO), the process of the controller 30 proceeds to step S107.

[0160] When one of the operation levers is operated (S103·YES), the process of the controller 30 proceeds to step S104. Here, as shown in steps S104 to S106 described later, the controller 30 controls the attachment AT in a first control mode in which the reference position of the attachment AT is horizontally moved by the operation of the left operation lever 26L in the front-rear direction. Here, the reference position is the position of the tip 6a of the bucket 6.

[0161] In step S104, the controller 30 determines whether the angle of the bottom surface 6b of the bucket 6 is within a predetermined range. Here, it is determined whether the angle θ1 formed by the horizontal direction and the bottom surface 6b of the bucket 6 is within a predetermined range (for example, in the range of -2° ≤ θ1 ≤ +2°). In other words, it is determined whether the bottom surface 6b of the bucket 6 is facing substantially in the horizontal direction.

[0162] When the angle of the bottom surface 6b of the bucket 6 is within the predetermined range (S104·YES), the process of the controller 30 proceeds to step S105. In step S105, the controller 30 controls the attachment AT in a control mode in which the bottom surface 6b of the bucket 6 is maintained and the bucket 6 (the tip 6a) is moved. Specifically, when the operator operates the left operation lever 26L in the front-rear direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL, 31AR. As a result, the arm 5 of the attachment AT operates (opens and closes). At the same time, the controller 30 automatically controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 and the control valve 174 that supplies hydraulic oil to the bucket cylinder 9 via the proportional valves 31BL, 31BR and the proportional valves 31CL, 31CR so as to maintain the angle of the bottom surface 6b of the bucket 6 and move the bucket 6 (the tip 6a). That is, the controller 30 controls the operation of the arm 5 based on the operation amount in the front-rear direction of the left operation lever 26L. In conjunction with the operation of the arm 5, the controller 30 automatically controls the operations of the boom 4 and the bucket 6 so as to maintain the angle of the bottom surface 6b of the bucket 6 and move the bucket 6 (the tip 6a).

[0163] Note that the shape information of the attachment AT (the shape information of the boom 4, the shape information of the arm 5, and the shape information of the bucket 6 (end attachment)) is pre - input to the controller 30. The controller 30 calculates the position of the tip 6a and the angle of the bottom surface 6b of the bucket 6 based on the angles of the respective joints of the attachment AT detected by the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, and the shape information of the attachment AT.

[0164] Also, the horizontal direction may be the actual horizontal direction detected by the machine body inclination sensor S4, or, assuming that the excavator 100 is placed on a horizontal (substantially horizontal) ground, the direction on a plane orthogonal to the swing axis of the upper swing body 3 may be defined as the horizontal direction. Further, the vertical direction is a direction perpendicular to the horizontal direction, and may be the actual vertical (plumb) direction detected by the machine body inclination sensor S4, or, assuming that the excavator 100 is placed on a horizontal (substantially horizontal) ground, the direction parallel to the swing axis of the upper swing body 3 may be defined as the vertical direction.

[0165] When the angle of the bottom surface 6b of the bucket 6 is not within the predetermined range (S104·NO), the process of the controller 30 proceeds to step S106. In step S106, the controller 30 controls the attachment AT in a control mode to move the tip 6a horizontally. Specifically, when the operator operates the left operation lever 26L in the front - rear direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL, 31AR. Thereby, the arm 5 of the attachment AT moves (opens and closes). At the same time, the controller 30 automatically controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL, 31BR so as to move the tip 6a horizontally. Here, the opening and closing angle of the bucket 6 with respect to the arm 5 is maintained. That is, the controller 30 controls the movement of the arm 5 based on the operation amount in the front - rear direction of the left operation lever 26L. In conjunction with the movement of the arm 5, the controller 30 automatically controls the movement of the boom 4 so as to move the tip 6a horizontally.

[0166] Also, when one of the operation levers is not being operated (S103·NO), the processing of the controller 30 proceeds to step S107.

[0167] In step S107, the controller 30 determines whether the other operation lever is being operated. Here, the controller 30 determines whether the right operation lever 26R is being operated in either the front - rear direction (the lowering or raising direction of the boom 4). When the other operation lever is not being operated (S107·NO), the processing of the controller 30 returns to step S103.

[0168] When the other operation lever is being operated (S107·YES), the processing of the controller 30 proceeds to step S108. Here, as shown in steps S108 - S110 described later, the controller 30 controls the attachment AT in a second control mode in which the reference position of the attachment AT is vertically moved by the front - rear operation of the right operation lever 26R. Here, the reference position is the position of the tip 6a of the bucket 6.

[0169] In step S108, the controller 30 determines whether the angle of the bottom surface 6b of the bucket 6 is within a predetermined range. Here, it is determined whether the angle θ2 formed between the vertical direction (the plumb direction) and the bottom surface 6b of the bucket 6 is within a predetermined range (for example, in the range of - 2°≤θ2≤ + 2°). In other words, it is determined whether the bottom surface 6b of the bucket 6 is facing substantially the vertical direction (substantially the plumb direction).

[0170] When the angle of the bottom surface 6b of the bucket 6 is within a predetermined range (S108·YES), the process of the controller 30 proceeds to step S109. In step S109, the controller 30 controls the attachment AT in a control mode that maintains the angle of the bottom surface 6b of the bucket 6 and moves the bucket 6 (the tip 6a). Specifically, when the operator operates the right operation lever 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. As a result, the boom 4 of the attachment AT operates (opens and closes). At the same time, the controller 30 automatically controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 and the control valve 174 that supplies hydraulic oil to the bucket cylinder 9 via the proportional valves 31AL, 31AR and the proportional valves 31CL, 31CR so as to maintain the angle of the bottom surface 6b of the bucket 6 and move the bucket 6 (the tip 6a). That is, the controller 30 controls the operation of the boom 4 based on the operation amount in the front-rear direction of the right operation lever 26R. In conjunction with the operation of the boom 4, the controller 30 automatically controls the operations of the boom 4 and the bucket 6 so as to maintain the angle of the bottom surface 6b of the bucket 6 and move the bucket 6 (the tip 6a).

[0171] When the angle of the bottom surface 6b of the bucket 6 is not within a predetermined range (S108·NO), the process of the controller 30 proceeds to step S110. In step S110, the controller 30 controls the attachment AT in a control mode that moves the tip 6a vertically. Specifically, when the operator operates the right operation lever 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. As a result, the boom 4 of the attachment AT operates (opens and closes). At the same time, the controller 30 automatically controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR so as to move the tip 6a vertically. Here, the opening and closing angle of the bucket 6 with respect to the arm 5 remains maintained. That is, the controller 30 controls the operation of the boom 4 based on the operation amount in the front-rear direction of the right operation lever 26R. In conjunction with the operation of the boom 4, the controller 30 automatically controls the operation of the boom 4 so as to move the tip 6a vertically.

[0172] As described above, according to the excavator 100 according to the first embodiment, even an operator who is not familiar with the operation of the excavator 100 can easily move the reference position (the position of the tip 6a) of the bucket 6 in the horizontal and vertical directions by operating one operation lever (26L, 26R).

[0173] For example, the operator first operates the excavator 100 in the normal mode to move the position of the tip 6a of the bucket 6 to the position shown in FIG. 5(a).

[0174] Next, while the operator operates the switches NS1 and NS2 (for example, the switch NS2 provided on the right operation lever 26R), the operator operates the right operation lever 26R forward (lower the boom), and the controller 30 lowers the tip 6a of the bucket 6 in the vertical direction. As a result, a vertical plane 801 is formed, and the position of the tip 6a of the bucket 6 is moved to the position shown in FIG. 5(b).

[0175] Next, while the operator operates the switches NS1 and NS2 (for example, the switch NS1 provided on the left operation lever 26L) and operates the left operation lever 26L in the backward direction (arm closing), the controller 30 moves the tip 6a of the bucket 6 in the horizontal direction. Thereby, a horizontal plane 802 is formed, and the position of the tip 6a of the bucket 6 is moved to the position shown in Fig. 5(c).

[0176] Next, the operator operates the excavator 100 in the normal mode to adjust the angle of the bucket 6. Thereby, the angle of the bucket 6 is adjusted to the position shown in Fig. 5(d).

[0177] Next, while the operator operates the switches NS1 and NS2 (for example, the switch NS2 provided on the right operation lever 26R) and operates the right operation lever 26R in the backward direction (boom raising), the controller 30 raises the tip 6a of the bucket 6 in the vertical direction. Thereby, a vertical plane 803 is formed, and the position of the tip 6a of the bucket 6 is moved to the position shown in Fig. 5(e).

[0178] Thereby, the operation of forming the recess 800 having the vertical planes 801 and 803 and the horizontal plane 802 shown in Fig. 5 can be easily performed. Also, the labor such as creating and inputting data regarding the target construction surface can be eliminated.

[0179] Also, in a state where the bottom surface 6b of the bucket 6 can be regarded as substantially horizontal, by operating the left operation lever 26L in the front-rear direction while operating the switches NS1 and NS2 (for example, the switch NS1 provided on the left operation lever 26L), the reference position (the position of the tip 6a) of the bucket 6 can be horizontally moved while maintaining the bottom surface 6b of the bucket 6 substantially horizontal (S105). Thereby, a horizontal plane compacted by the bottom surface 6b of the bucket 6 can be created.

[0180] Similarly, in a state where the bottom surface 6b of the bucket 6 can be regarded as substantially vertical, by operating the right operation lever 26R in the front-rear direction while operating the switches NS1, NS2 (for example, the switch NS2 provided on the right operation lever 26R), the reference position (the position of the claw tip 6a) of the bucket 6 can be vertically moved while maintaining the bottom surface 6b of the bucket 6 substantially vertical (S110). Thereby, a more preferable vertical surface can be formed.

[0181] Also, when the left operation lever 26L is operated in the front-rear direction while the switch NS1 (first switch) of the left operation lever 26L is operated, the attachment AT is controlled in a first control mode in which the reference position of the attachment AT is moved in the horizontal direction. Further, when the right operation lever 26R is operated in the front-rear direction while the switch NS2 (second switch) of the right operation lever 26R is operated, the attachment AT is controlled in a second control mode in which the reference position of the attachment AT is moved in the vertical direction. Thereby, the operation of moving the reference position of the attachment AT in the horizontal direction or the vertical direction can be easily performed while preventing malfunction.

[0182] Further, when the operator operates the left operation lever 26L in the left-right direction (left turn, right turn) while operating the switches NS1, NS2, the controller 30 may be configured to move the claw tip 6a of the bucket 6 in the directly lateral direction. That is, the controller 30 controls the attachment AT in a third control mode in which the reference position of the attachment AT is moved in the directly lateral direction by the left-right direction operation of the left operation lever 26L. Here, the reference position is the position of the claw tip 6a of the bucket 6. In this third control mode, the controller 30 may perform control to stop the bottom surface 6b of the bucket 6 at a horizontal or vertical position.

[0183] [Another example of the operation of the excavator] Next, another example of the work using the excavator 100 will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing another example of the control in the excavator 100 according to the first embodiment. FIG. 8 is a schematic diagram showing another example of the work of the excavator 100. Here, an example in which the ground surface 802 is formed by repeatedly horizontally pulling the bucket 6 with the tip 6a at the same height will be described.

[0184] The operator operates the operation device 26 (left operation lever 26L, right operation lever 26R) to move the tip 6a of the bucket 6 to the excavation start position. That is, the tip 6a of the bucket 6 is adjusted to a predetermined height position (the first height position. The initial position regarding the first control mode.). For example, the operator first operates the excavator 100 in the normal mode (see S102) to move the position of the tip 6a of the bucket 6 to the position shown in FIG. 8(a).

[0185] In step S121, the operator performs an arm pulling operation (arm closing operation. Tilting the left operation lever 26L to the arm closing side (rear side)) while pressing the left lever switch (switch NS1 of the left operation lever 26L).

[0186] Here, when the left lever switch is operated and an arm pulling operation is input (S101·YES, S103·YES), the controller 30 controls the attachment AT in a control mode (the first control mode. See S105 or S106) that holds the tip 6a at the first height position and moves it horizontally. Thereby, the bucket 6 is horizontally pulled. At this time, when the controller 30 controls the attachment AT in the first control mode, the controller 30 stores the height position of the tip 6a at the time of the arm pulling operation (the first height position. The initial position regarding the first control mode.) in a storage unit (not shown) of the controller 30. Thereby, the ground surface 802 is formed and the position of the tip 6a of the bucket 6 is moved to the position shown in FIG. 8(b).

[0187] In step S122, the operator operates the attachment AT in the normal mode (see S102). Note that the left lever switch (switch NS1 of the left operation lever 26L) and the right lever switch (switch NS2 of the right operation lever 26R) are not operated (S101·NO), and the controller 30 controls the attachment AT in the normal control mode (S102). Thereby, the tip 6a of the bucket 6 is moved above the next excavation position. For example, the operator operates the operating device 26 to perform a boom raising operation, and separates the tip 6a of the bucket 6 from the horizontal plane 802. Then, the operator operates the operating device 26 to perform an arm opening operation, and moves the tip 6a of the bucket 6 above the next excavation position (the second height position). The second height position is a position higher than the first height position (a position away from the horizontal plane 802). Thereby, the position of the tip 6a of the bucket 6 is moved to the position shown in FIG. 8(c).

[0188] Note that in step S122, although the operation of the attachment AT to move the tip 6a of the bucket 6 above the next excavation position has been described, it is not limited to this. For example, when forming a fan-shaped or annular horizontal plane 802 when viewed from above, hydraulic oil may be supplied to the slewing hydraulic motor 2A to slewing the upper slewing body 3. Also, when forming a long horizontal plane 802, hydraulic oil may be supplied to the traveling hydraulic motors 2ML, 2MR to move the excavator 100 (the lower traveling body 1) forward or backward.

[0189] Also, even when the lower traveling body 1 of the excavator 100 travels or slews, the controller 30 does not reset the stored height position of the tip 6a (the first height position, the initial position related to the first control mode), and holds it in the storage unit. Further, even when the upper slewing body 3 of the excavator 100 slews, the controller 30 does not reset the stored height position of the tip 6a (the first height position, the initial position related to the first control mode), and holds it in the storage unit.

[0190] In step S123, the operator performs a boom lowering operation (tilting the right operation lever 26R toward the boom lowering side (front side)) while pressing the right reverse switch (switch NS2 of the right operation lever 26R). Here, the controller 30 controls the attachment AT in a control mode (fourth control mode) that lowers the tip 6a until it reaches the first height position memorized in step S121. Then, when the tip 6a reaches the first height position, even if the boom lowering operation is continued while pressing the right reverse switch, the height position of the tip 6a remains stationary at the first height position and does not go lower than that height position.

[0191] Here, when a boom lowering operation is input while the right reverse switch is pressed, the controller 30 controls the attachment AT in a normal control mode for lowering the boom 4 (see S102). Further, the controller 30 detects the height position of the tip 6a based on, for example, sensors that detect the attitude of the attachment AT (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3). The controller 30 lowers the boom 4 by the boom lowering operation until the detected height position of the tip 6a reaches the first height position memorized in step S121. On the other hand, when the detected height position of the tip 6a reaches the first height position memorized in step S121, the controller 30 controls so that the boom 4 does not lower any further even if the boom lowering operation is performed. Thereby, the position of the tip 6a of the bucket 6 is moved to the position shown in FIG. 8(d).

[0192] Alternatively, when a boom lowering operation is input while the right lever switch is pressed, the controller 30 controls the attachment AT in a control mode (see S109 or S110) that moves the tip 6a vertically. Also, the controller 30 detects the height position of the tip 6a based on, for example, sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3) that detect the attitude of the attachment AT. The controller 30 lowers the tip 6a vertically by a boom lowering operation until the detected height position of the tip 6a reaches the first height position stored in step S121. On the other hand, when the detected height position of the tip 6a reaches the first height position stored in step S121, the controller 30 controls so that the tip 6a does not lower any further even if a boom lowering operation is performed. Thereby, the position of the tip 6a of the bucket 6 is moved to the position shown in Fig. 8(d).

[0193] Note that the excavator 100 may be provided with a switch (an example of the input device D2) that switches between the normal control mode for lowering the boom 4 and the control mode for moving the tip 6a vertically in step S123. This switch (an example of the input device D2) may be any of a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operating device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, etc. Also, the selection result of the switch may be displayed on the display device D1.

[0194] In step S124, the operator performs an arm pulling operation (arm closing operation; tilt the left operation lever 26L to the arm closing side (rear side)) while pressing the left lever switch (the switch NS1 of the left operation lever 26L).

[0195] Here, when the left lever switch is operated and an arm pulling operation is input (S101·YES, S103·YES), the controller 30 controls the attachment AT in a control mode (the first control mode. Refer to S105 or S106) that holds the claw tip 6a at the first height position and moves it horizontally. Thereby, the horizontal pulling of the bucket 6 is performed. At this time, the controller 30 stores the height position of the claw tip 6a during the arm pulling operation (the first height position. The initial position regarding the first control mode) in a storage unit (not shown) of the controller 30. Thereby, a horizontal plane 802 is formed, and the position of the claw tip 6a of the bucket 6 is moved to the position shown in FIG. 8(e).

[0196] When further repeating the horizontal pulling of the bucket 6, the processes of steps S122 to S124 are repeated.

[0197] In this way, in steps S121 and S124, the horizontal pulling of the bucket 6 can be performed with the claw tip 6a at the same height position (the first height position. The initial position regarding the first control mode). That is, when adjusting the height position of the claw tip 6a before starting the second horizontal pulling of the bucket 6 (S124), it can be easily adjusted to the height position of the claw tip 6a in the first horizontal pulling of the bucket 6 (S121).

[0198] By repeating the horizontal pulling of the bucket 6 at the same position, the surface accuracy of the horizontal plane 802 can be improved.

[0199] Also, by involving the turning of the upper slewing body 3 and / or the movement of the excavator 100 in step S122, a wide horizontal plane 802 can be formed. For example, in step S122, by retracting the excavator 100, the bottom surface of a long groove (horizontal plane 802) can be formed.

[0200] Note that the controller 30 has been described as controlling the attachment AT in a fourth control mode in which, in step S123, when a predetermined first operation (while pressing the right lever switch, perform a boom lowering operation) is input, the tip 6a is lowered until it reaches the stored first height position. However, it is not limited to this. The predetermined first operation may be that a predetermined switch is input, or that a predetermined voice is input to a voice input unit (not shown) provided in the cabin 10. Further, the fourth control mode may be configured to automatically lower the tip 6a until it reaches the stored first height position when the predetermined first operation is input.

[0201] Note that the excavator 100 may be provided with a switch (an example of the input device D2) for resetting the stored height position (the first height position) of the tip 6a. This switch (an example of the input device D2) may be any of a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operation device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, etc. Further, the selection result of the switch may be displayed on the display device D1.

[0202] Also, when the left lever switch is operated and an arm pulling operation is input while the tip 6a is arranged at another height position (a new excavation start position) (see S121), the controller 30 overwrites and stores the height position (the first height position; the initial position regarding the first control mode) of the tip 6a during the arm pulling operation in a storage unit (not shown) of the controller 30.

[0203] FIG. 9 is a graph showing an example of the height control of the tip 6a. That is, the control in step S123 will be described. Here, the horizontal axis represents time. 901 indicates the operation of the switch NS2. 902 indicates the operation amount in the boom lowering direction of the right operation lever 26R. 910 is the pilot pressure supplied to the boom lowering direction pilot port (the right pilot port of the control valve 175R in FIG. 4B) of the control valve 175. Note that this pilot pressure is controlled by the controller 30 controlling the proportional valve 31BR. 930 is the height of the tip 6a. 950 is the target height (first height position) at which the tip 6a is stopped.

[0204] As shown in FIG. 9, at time T1, the operator switches the right lever switch (the switch NS2 of the right operation lever 26R) from the state (OFF) where it is not operated to the state (ON) where it is operated. Next, at time T2, the operator performs a boom lowering operation (tilt the right operation lever 26R to the boom lowering side (front side)). As a result, the controller 30 controls the proportional valve 31 to supply the pilot pressure 910 to the control valve 175. Thereby, the height 930 of the tip 6a decreases and approaches the target height (first height position) 950.

[0205] Also, when the height 930 of the tip 6a approaches the target height (first height position) 950, the controller 30 controls the proportional valve 31 to decrease the pilot pressure 910 supplied to the control valve 175. Then, at time T3, when the height 930 of the tip 6a reaches the target height (first height position) 950, the controller 30 controls the proportional valve 31 to set the pilot pressure 910 to zero for the control valve 175. Thereby, the height 930 of the tip 6a can be set to the target height 950.

[0206] [Another example of the operation of the excavator] Next, another example of the operation using the excavator 100 will be described with reference to FIGS. 10 and 11. FIG. 10 is a flowchart showing still another example of the control in the excavator 100 according to the first embodiment. FIG. 11 is a schematic diagram showing still another example of the operation of the excavator 100. Here, a case where a vertical surface 801 is formed on the ground by repeating the vertical lowering of the bucket 6 with the tip 6a at the same horizontal distance will be described as an example.

[0207] The operator operates the operation device 26 (left operation lever 26L, right operation lever 26R) to move the tip 6a of the bucket 6 to the excavation start position. That is, the tip 6a of the bucket 6 is adjusted to a predetermined horizontal distance (the first horizontal distance. The initial position regarding the second control mode.). For example, the operator first operates the excavator 100 in the normal mode (see S102) to move the position of the tip 6a of the bucket 6 to the position shown in FIG. 11(a).

[0208] In step S141, the operator performs a boom lowering operation (tilt the right operation lever 26R to the boom lowering side (front side)) while pressing the right reverse switch (switch NS2 of the right operation lever 26R).

[0209] Here, when the right reverse switch is operated and the boom lowering operation is input (S101·YES, S103·NO, S107·YES), the controller 30 controls the attachment AT in a control mode (the second control mode. See S109 or S110) in which the tip 6a is held at the first horizontal distance and moved vertically. Thereby, the bucket 6 is vertically lowered. At this time, when the controller 30 controls the attachment AT in the second control mode, the controller 30 stores the horizontal distance of the tip 6a during the boom lowering operation (the first horizontal distance. The initial position regarding the second control mode.) in a storage unit (not shown) of the controller 30. Thereby, a vertical surface 801 is formed and the position of the tip 6a of the bucket 6 is moved to the position shown in FIG. 11(b).

[0210] In step S142, the operator operates the attachment AT in the normal mode (see S102). Note that the left lever switch (switch NS1 of the left operation lever 26L) and the right lever switch (switch NS2 of the right operation lever 26R) are not operated (S101·NO), and the controller 30 controls the attachment AT in the normal control mode (S102). Thereby, the tip 6a of the bucket 6 is moved to a position before the next excavation position. For example, the operator operates the operating device 26 to perform an arm closing operation, and separates the tip 6a of the bucket 6 from the vertical surface 801. Then, the operator operates the operating device 26 to perform a boom raising operation, and moves the tip 6a of the bucket 6 to a position before the next excavation position (the second horizontal distance). The second horizontal distance is a position farther from the first horizontal distance (a position away from the vertical surface 801). Thereby, the position of the tip 6a of the bucket 6 is moved to the position shown in Fig. 11(c).

[0211] Note that in step S142, although it has been described that the attachment AT is operated to move the tip 6a of the bucket 6 to a position before the next excavation position, it is not limited thereto. For example, when forming a cylindrical vertical surface 801 when viewed from above, hydraulic oil may be supplied to the slewing hydraulic motor 2A to slew the upper slewing body 3. Also, when forming a long vertical surface 801, while the upper slewing body 3 faces the direction of the vertical surface 801, the lower traveling body 1 of the excavator 100 faces a walking parallel to the vertical surface 801, and hydraulic oil may be supplied to the traveling hydraulic motors 2ML, 2MR to move the excavator 100 (the lower traveling body 1).

[0212] Also, even if the lower traveling body 1 of the excavator 100 travels or slews, the controller 30 does not reset the stored horizontal distance of the tip 6a (the first horizontal distance. The initial position regarding the second control mode.) and holds it in the storage unit. Also, even if the upper slewing body 3 of the excavator 100 slews, the controller 30 does not reset the stored horizontal distance of the tip 6a (the first horizontal distance. The initial position regarding the second control mode.) and holds it in the storage unit.

[0213] In step S143, the operator performs an arm opening operation (tilting the left operation lever 26L toward the arm opening side (rear side)) while pressing the left lever switch (the switch NS1 of the left operation lever 26L). Here, the controller 30 controls the attachment AT in a control mode (the fifth control mode) that moves the tip 6a until it reaches the first horizontal distance memorized in step S141. Then, when the tip 6a reaches the first horizontal distance, even if the operator continues to perform the arm opening operation while pressing the left lever switch, the horizontal distance of the tip 6a remains stationary at the first horizontal distance and does not advance beyond that horizontal distance.

[0214] Here, when an arm opening operation is input while the left lever switch is pressed, the controller 30 controls the attachment AT in a normal control mode of opening the arm 5 (see S102). Also, the controller 30 detects the horizontal distance of the tip 6a based on sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3) that detect, for example, the attitude of the attachment AT. The controller 30 opens the arm 5 by the arm opening operation until the detected horizontal distance of the tip 6a reaches the first horizontal distance memorized in step S141. On the other hand, when the detected horizontal distance of the tip 6a reaches the first horizontal distance memorized in step S141, the controller 30 controls so that the arm 5 does not open further even if the arm opening operation is performed. Thereby, the position of the tip 6a of the bucket 6 is moved to the position shown in Fig. 11(d).

[0215] Alternatively, when an arm opening operation is input while the left lever switch is pressed, the controller 30 controls the attachment AT in a control mode (see S105 or S106) that moves the claw tip 6a horizontally. Also, the controller 30 detects the horizontal distance of the claw tip 6a based on, for example, sensors (boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3) that detect the posture of the attachment AT. The controller 30 moves the claw tip 6a deeper in the horizontal direction by the arm opening operation until the detected horizontal distance of the claw tip 6a becomes the first horizontal distance stored in step S141. On the other hand, when the detected horizontal distance of the claw tip 6a becomes the first horizontal distance stored in step S141, the controller 30 controls so that the claw tip 6a does not move deeper in the horizontal direction even if the arm opening operation is performed. Thereby, the position of the claw tip 6a of the bucket 6 is moved to the position shown in FIG. 11(d).

[0216] Note that the excavator 100 may be provided with a switch (an example of the input device D2) that switches between the normal control mode of opening the arm 5 and the control mode of moving the claw tip 6a horizontally in step S143. This switch (an example of the input device D2) may be any of a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operating device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, etc. Also, the selection result of the switch may be displayed on the display device D1.

[0217] In step S144, the operator performs a boom lowering operation (tilt the right operation lever 26R to the boom lowering side (front side)) while pressing the right lever switch (switch NS2 of the right operation lever 26R).

[0218] Here, when the right lever switch is operated and a boom lowering operation is input (S101·YES, S103·YES), the controller 30 controls the attachment AT in a control mode (second control mode; refer to S109 or S110) in which the tip 6a is held at the first horizontal distance and moved vertically. Thereby, the bucket 6 is lowered vertically. At this time, the controller 30 stores in a storage unit (not shown) of the controller 30 the horizontal distance of the tip 6a during the boom lowering operation (the first horizontal distance; the initial position regarding the second control mode). Thereby, a vertical plane 801 is formed, and the position of the tip 6a of the bucket 6 is moved to the position shown in Fig. 11(e).

[0219] When further repeating the vertical lowering of the bucket 6, the processes of step S142 to step S144 are repeated.

[0220] In this way, in step S141 and step S144, the bucket 6 can be vertically lowered with the tip 6a at the same horizontal distance (the first horizontal distance; the initial position regarding the second control mode). That is, when adjusting the horizontal distance of the tip 6a before starting the second vertical lowering of the bucket 6 (S144), it can be easily adjusted to the horizontal distance of the tip 6a during the first vertical lowering of the bucket 6 (S141).

[0221] By repeating the vertical lowering of the bucket 6 at the same position, the surface accuracy of the vertical plane 801 can be improved.

[0222] Also, by involving the turning of the upper swing body 3 and / or the movement of the excavator 100 in step S142, a wide vertical plane 801 can be formed. For example, in step S142, while the upper swing body 3 is facing the direction of the vertical plane 801, the lower traveling body 1 is facing a walking parallel to the vertical plane 801, and by moving the excavator 100, a horizontally long wall surface (vertical plane 801) can be formed.

[0223] In addition, in the example of FIG. 11, the case of repeating the excavation of the vertical surface 801 has been described as an example, but it may also be applied to the excavation of the vertical surface 803 (see FIGS. 5(d) to 5(e)).

[0224] Note that although the controller 30 has been described as controlling the attachment AT in the fifth control mode in which, when a predetermined second operation (while pressing the left reverse switch, perform an arm opening operation) is input in step S143, the claw tip 6a is moved until it reaches the stored first horizontal distance, it is not limited thereto. The predetermined second operation may be that a predetermined switch is input, or that a predetermined voice is input to a voice input unit (not shown) provided in the cabin 10. Further, the fifth control mode may be configured to automatically move the claw tip 6a until it reaches the stored first horizontal distance when a predetermined second operation is input.

[0225] Note that the excavator 100 may be provided with a switch (an example of the input device D2) for resetting the stored horizontal distance (the first horizontal distance) of the claw tip 6a. This switch (an example of the input device D2) may be any of a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever portion of the operation device 26, a button switch installed around the display device D1, a lever, a toggle, a rotary dial, etc. Further, the selection result of the switch may be displayed on the display device D1.

[0226] Also, when the right reverse switch is operated and a boom lowering operation is input while the claw tip 6a is placed at another horizontal distance (a new excavation start position) (see S141), the controller 30 overwrites and stores the horizontal distance (the first horizontal distance, the initial position regarding the second control mode) of the claw tip 6a during the boom lowering operation in a storage unit (not shown) of the controller 30.

[0227] (Second Embodiment) Next, an example of work using the excavator 100 according to the second embodiment will be described with reference to FIG. 12. FIG. 12 is a schematic diagram showing an example of work of the excavator 100 according to the second embodiment. Here, an example of work of lifting a suspended load 900 with the hook 6c and moving the suspended load 900 in the horizontal or vertical direction will be described.

[0228] A hook 6c for crane work is detachably and rotatably attached to the bucket 6. Here, the excavator 100 lifts the suspended load 900 with the hook 6c.

[0229] FIG. 12(a) shows an example of work of lifting the suspended load 900 with the hook 6c and horizontally moving the suspended load 900.

[0230] FIG. 12(b) shows an example of work of lifting the suspended load 900 with the hook 6c and vertically moving the suspended load 900.

[0231] Note that, although an example of a configuration in which the suspended load 900 is lifted with the hook 6c as the lifting position is described, the present invention is not limited thereto. A configuration in which the suspended load 900 is lifted with a connecting pin (arm top pin) connecting the arm 5 and the bucket 6 as the lifting position may be used. Further, a configuration in which the suspended load 900 is lifted with a hook provided on the end attachment as the lifting position may be used. Further, a configuration in which the suspended load 900 is lifted with a hook provided on a link connecting the rod side of the bucket cylinder 9, the arm 5, and the bucket 6 (end attachment) as the lifting position may be used.

[0232] An operation for causing the excavator 100 to perform an operation of moving the suspended load 900 in the horizontal direction and / or the vertical direction is a combined operation of simultaneously operating the boom 4, the arm 5, etc., and requires the skill of the operator. In the case of an operator who is not familiar with the operation, there is a risk that the suspended load 900 may collide with the ground or other objects because the horizontal and vertical movements cannot be achieved as intended by the operator.

[0233] [Another example of the operation of the excavator] Next, an example of the control in the excavator 100 according to the second embodiment will be described with reference to FIG. 13. FIG. 13 is a flowchart showing an example of the control in the excavator 100 according to the second embodiment.

[0234] In step S201, the controller 30 determines whether the switches NS1 and NS2 are operated. Here, the switches NS1 and NS2 are switches for selecting whether to enable the machine control function. Note that the switches NS1 and NS2 may be momentary switches that are ON only while the switches NS1 and NS2 are being pressed and OFF when the switches NS1 and NS2 are released. Also, the switches NS1 and NS2 may be alternate switches that alternate between ON and OFF each time the switches NS1 and NS2 are pressed. Further, the operation of the switches NS1 and NS2 may be the operation of either one of the switches or the operation of both switches.

[0235] If the switches NS1 and NS2 are not operated (S201·NO), in other words, if the switches NS1 and NS2 are in the OFF state, the process of the controller 30 proceeds to step S202.

[0236] In step S202, the controller 30 determines to perform normal control. That is, when the operator operates the operating device 26, the controller 30 controls the attachment AT in the normal control mode (refer to the operation directions of the left operation lever 26L and the right operation lever 26R shown in FIG. 3 and the operation of the attachment AT). Specifically, when the operator operates the left operation lever 26L in the front-rear direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR. Thereby, the arm 5 of the attachment AT operates (opens and closes). Also, when the operator operates the right operation lever 26R in the front-rear direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. Thereby, the boom 4 of the attachment AT operates (moves up and down).

[0237] On the other hand, when the switches NS1 and NS2 are operated (S201·YES), in other words, when the switches NS1 and NS2 are in the ON state, the process of the controller 30 proceeds to step S203.

[0238] In step S203, the controller 30 determines whether one of the operation levers is being operated. Here, the controller 30 determines whether the left operation lever 26L is being operated in either the front - rear direction (the opening or closing direction of the arm 5). If one of the operation levers is not being operated (S203·NO), the process of the controller 30 proceeds to step S205.

[0239] If one of the operation levers is being operated (S203·YES), the process of the controller 30 proceeds to step S204. Here, as shown in step S204 described later, the controller 30 controls the attachment AT in the first control mode in which the reference position of the attachment AT is horizontally moved by the front - rear operation of the left operation lever 26L. Here, the reference position may be any of the hook 6c that supports the suspended load, the rotation axis of the hook 6c (the pin connecting the arm 5 and the bucket 6), etc. By horizontally moving the reference position, the suspended load 900 also moves horizontally. That is, the controller 30 controls the operation of the arm 5 based on the operation amount in the front - rear direction of the left operation lever 26L. In accordance with the operation of the arm 5, the controller 30 automatically controls the operation of the boom 4 so as to move the reference position horizontally.

[0240] In step S204, the controller 30 controls the attachment AT in a control mode that horizontally moves the reference position of the attachment AT. Specifically, when the operator operates the left operation lever 26L in the front-rear direction, the controller 30 controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR. As a result, the arm 5 of the attachment AT operates (opens and closes). At the same time, the controller 30 automatically controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR so as to horizontally move the reference position of the attachment AT. Here, the opening and closing angle of the bucket 6 with respect to the arm 5 remains maintained.

[0241] Also, when one of the operation levers is not operated (S203·NO), the process of the controller 30 proceeds to step S205.

[0242] In step S205, the controller 30 determines whether the other operation lever is operated. Here, the controller 30 determines whether the right operation lever 26R is operated in either the front-rear direction (the lowering or raising direction of the boom 4). When the other operation lever is not operated (S205·NO), the process of the controller 30 returns to step S203.

[0243] When the other operation lever is operated (S205·YES), the process of the controller 30 proceeds to step S206. Here, as shown in step S206 described later, the controller 30 controls the attachment AT in a second control mode that vertically moves the reference position of the attachment AT by the front-rear operation of the right operation lever 26R. Here, the reference position may be any of the hook 6c that supports the suspended load, the rotation axis of the hook 6c (the pin that connects the arm 5 and the bucket 6), etc. By vertically moving the reference position, the suspended load 900 also vertically moves.

[0244] In step S206, the controller 30 controls the attachment AT in a control mode that vertically moves the reference position of the attachment AT. Specifically, when the operator operates the right operation lever 26R in the front-back direction, the controller 30 controls the control valve 175 that supplies hydraulic oil to the boom cylinder 7 via the proportional valves 31BL and 31BR. Thereby, the boom 4 of the attachment AT operates (opens and closes). At the same time, the controller 30 automatically controls the control valve 176 that supplies hydraulic oil to the arm cylinder 8 via the proportional valves 31AL and 31AR so as to vertically move the reference position of the attachment AT. Here, the opening / closing angle of the bucket 6 with respect to the arm 5 remains maintained. That is, the controller 30 controls the operation of the boom 4 based on the operation amount in the front-back direction of the right operation lever 26R. In conjunction with the operation of the boom 4, the controller 30 automatically controls the operation of the boom 4 so as to vertically move the reference position.

[0245] As described above, according to the excavator 100 according to the second embodiment, even an operator who is not familiar with the operation of the excavator 100 can easily transport the suspended load 900 in the horizontal direction and the vertical direction.

[0246] (Third Embodiment) In the third embodiment, the case where the operator remotely operates the excavator 100 will be described.

[0247] FIG. 14 is a schematic diagram showing a configuration example of the remote support system SYS of the excavator 100 according to the third embodiment. In the example shown in FIG. 14, the excavator 100 and the remote operation room RC are connected via the communication network NW. Thereby, transmission and reception of information can be realized between the excavator 100 and the remote operation room RC.

[0248] The excavator 100 transmits the detection results from various sensors provided in the excavator 100 to the remote operation room RC using the communication device T1 provided in the excavator 100. For example, the excavator 100 transmits the image information captured by the imaging device S6, the turning angle, and the detection results of various sensors to the remote operation room RC.

[0249] In the remote support system SYS according to the third embodiment, a remote operation room RC is provided. In the remote operation room RC, a display device DR, an operation device R26, an operation sensor R29, an operator's seat DS, a remote controller R30, and a communication device T2 are provided. Further, a switch NS3 is provided on the operation device R26. Note that the switch NS3 may be provided on the left and right operation levers, respectively, in the same manner as the excavator 100 according to the first and second embodiments.

[0250] The remote controller R30 displays on the display device DR a display screen based on the image information captured by the imaging device S6, the turning angle, and the detection results of various sensors. Thereby, the operator OP present at the operator's seat DS can confirm the situation around the excavator 100 even when present in the remote operation room RC.

[0251] The operator OP present at the operator's seat DS in the remote operation room RC operates the operation device R26. Then, the operation sensor R29 detects the operation content received by the operation device R26. Then, the controller 30 generates a control signal corresponding to the operation content. Then, the communication device T2 transmits the generated control signal to the excavator 100. By the remote controller R30 transmitting the control signal, remote operation of the excavator 100 becomes possible.

[0252] Also, by operating the operation device R26 with the switch NS3 operated, the position of the tip 6a of the bucket 6 can be moved vertically or horizontally in the same manner as the excavator 100 according to the first and second embodiments.

[0253] Thereby, in the remote support system SYS of the excavator 100 according to the third embodiment, control can be performed in the same manner as the excavator 100 according to the first and second embodiments (see FIGS. 6, 7, 10, and 13). Thereby, also in the excavator 100 according to the third embodiment, the work of moving the reference position of the attachment AT in the horizontal direction or the vertical direction can be easily performed. Also, the height position and the horizontal distance of the tip 6a of the bucket 6 can be easily adjusted.

[0254] Note that, although the excavator 100 (working machine) according to the first to third embodiments has been described by taking the configuration including the bucket 6 as an end attachment as an example, it is not limited thereto. The end attachment may be any one of a crusher that grips and crushes an object, a breaker that strikes and crushes an object, a grapple that grips an object, a tilt bucket that is a bucket with an added tilt mechanism, a compactor that compacts soil or the like, a bucket thumb that can grip an object, an auger that drives piles, a tilt rotator that is a bucket with an added tilt mechanism and a rotation mechanism, and the like.

[0255] Note that, in the crusher, breaker, grapple, and auger, for example, they may be configured to be easily movable in the horizontal direction and / or the vertical direction by the control shown in FIG. 13.

[0256] Further, in the bucket 6, tilt bucket, compactor, bucket thumb, and tilt rotator, for example, they are configured to be easily movable in the horizontal direction and / or the vertical direction by the control shown in FIG. 6, and are also configured to be movable in the horizontal direction and / or the vertical direction while maintaining the angle of the end attachment (for example, the angle of the bottom surface 6b of the bucket 6). Note that, regarding the tilt bucket, it is preferable to apply this control after setting the tilt angle to 0°. Also, regarding the tilt rotator, it is preferable to apply this control after setting the tilt angle to 0° and the rotation angle to 0°.

[0257] Also, although the switches NS1 and NS2 have been described as being provided on the left operation lever 26L and the right operation lever 26R respectively, it is not limited thereto, and a switch may be provided on only one of the operation levers.

[0258] The embodiments of the excavator according to the present invention have been described above. However, the present invention is not limited to the above embodiments. Within the scope described in the claims, various changes, modifications, substitutions, additions, deletions, and combinations are possible. Naturally, they also belong to the technical scope of the present invention.

Explanation of Signs

[0259] 100 Excavator 1 Lower Traveling Body 2 Swing Mechanism 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 26 Operating Device 26L Left Operating Lever (One of the operating levers) 26R Right Operating Lever (The other operating lever) 30 Controller (Control Unit)

Claims

1. A lower traveling body, an upper revolving body that revolves with respect to the lower traveling body, an attachment attached to the upper revolving body and having at least a boom and an arm, an operating device having one operating lever and the other operating lever, and a control unit, wherein the control unit controls the attachment in a first control mode when one of the operating levers is operated, and controls the attachment in a second control mode when the other operating lever is operated. A working machine.

2. One of the operating levers is an operating lever for operating the arm, the other operating lever is an operating lever for operating the boom, in the first control mode, when one of the operating levers is operated to move the arm, the boom automatically moves, and in the second control mode, when the other operating lever is operated to move the boom, the arm automatically moves. The working machine according to claim 1.

3. In the first control mode, when one of the operating levers is operated, the reference position of the attachment is moved horizontally, and in the second control mode, when the other operating lever is operated, the reference position of the attachment is moved vertically. The working machine according to claim 2.

4. The attachment further has a bucket, and the reference position is the position of the tip of the bucket. The working machine according to claim 3.

5. In the first control mode, when one of the operating levers is operated, if the angle between the horizontal direction and the bottom surface of the bucket is within a predetermined first range, the angle of the bottom surface of the bucket is maintained and the reference position of the attachment is moved horizontally, and in the second control mode, when the other operating lever is operated, if the angle between the vertical direction and the bottom surface of the bucket is within a predetermined second range, the angle of the bottom surface of the bucket is maintained and the reference position of the attachment is moved vertically. The working machine according to claim 4.

6. The reference position is a suspension position for suspending a suspended load. The working machine according to claim 3.

7. The operating device further has a switch, and the control unit controls the attachment in a first control mode when the switch is operated and one of the operating levers is operated, When the switch is operated and the other operation lever is operated, the attachment is controlled in a second control mode. The working machine according to claim 1.

8. The switch is a first switch provided on one of the operation levers, and a second switch provided on the other operation lever, and has The control unit is When the first switch is operated and one of the operation levers is operated, the attachment is controlled in a first control mode, When the second switch is operated and the other operation lever is operated, the attachment is controlled in a second control mode. The working machine according to claim 7.

9. The operation device further has a switch, The control unit is When the switch is operated and one of the operation levers is operated in a first direction, the attachment is controlled in a first control mode, When the switch is operated and the other operation lever is operated, the attachment is controlled in a second control mode, When the switch is operated and one of the operation levers is operated in a second direction orthogonal to the first direction, the attachment is controlled in a third control mode. The working machine according to claim 1.

10. In the third control mode, when one of the operation levers is operated in the second direction, the reference position of the attachment is moved in the lateral direction. The working machine according to claim 9.

11. The control unit is stores an initial position related to the first control mode and / or an initial position related to the second control mode. The working machine according to claim 1.

12. The control unit is a fourth control mode for controlling the attachment to an initial position related to the first control mode based on a predetermined first operation, and a fifth control mode for controlling the attachment to an initial position related to the second control mode based on a predetermined second operation, and is configured to be executable. The working machine according to claim 11.

13. The control unit is When controlling the attachment in the first control mode, stores an initial position related to the first control mode, When controlling the attachment in the second control mode, stores an initial position related to the second control mode. The working machine according to claim 11.

14. The control unit is Even when the lower traveling body travels, the initial position related to the first control mode and / or the initial position related to the second control mode is not reset. The work machine according to claim 11.

15. A work machine having a lower traveling body, an upper slewing body that slews with respect to the lower traveling body, and an attachment attached to the upper slewing body and having at least a boom and an arm. A remote operation cab having an operation device having one operation lever and the other operation lever. A remote support system including a control unit for remotely operating the work machine. The control unit is configured to: When one of the operation levers is operated, control the attachment in a first control mode. When the other operation lever is operated, control the attachment in a second control mode. Remote support system.

Images