Shovel, and shovel operation system

Abstract

To provide a shovel capable of improving working efficiency.SOLUTION: A shovel 100 includes a lower traveling body 1, an upper turning body 3 which is turnably provided on the lower traveling body 1, and an attachment AT which is provided on the upper turning body 3. The attachment AT includes a bucket 6 which is rotatable around a first axis in a width direction, and a rotator which rotates the bucket 6 around the first axis in a length direction, and overflows sediment to one side of the bucket 6, when a target construction surface is excavated by the bucket.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an excavator and an operating system for the excavator. [Background technology]

[0002] Hydraulic excavators having a machine control function for a drive mechanism have been known for some time (see Patent Document 1 below). The machine control functions of the hydraulic excavator described in Patent Document 1 include automatic work machine stop control, automatic ground leveling assist control, swing alignment control, travel alignment control, automatic driving control, etc. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-180569 Summary of the Invention [Problem to be solved by the invention]

[0004] If soil and sand overflows onto both sides of the bucket when a shovel is excavating a construction surface, the area to be excavated in the next excavation operation after one excavation operation is completed will overlap the area excavated in the previous excavation operation to a greater extent, reducing work efficiency.

[0005] The present disclosure provides a shovel and an operation system for the shovel that can improve work efficiency. [Means for solving the problem]

[0006] One aspect of the present disclosure provides a shovel comprising a lower running body, an upper rotating body rotatably mounted on the lower running body, and an attachment mounted on the upper rotating body, the attachment including a bucket rotatable about a first axis along the width direction, and a rotator that rotates the bucket about a second axis along the length direction when the bucket is excavating a construction surface, causing soil and gravel to spill onto one side of the bucket.

[0007] Another aspect of the present disclosure provides an operation system for a shovel comprising: a lower running body, an upper rotating body rotatably mounted on the lower running body, an attachment mounted on the upper rotating body, and a communication device mounted on the upper rotating body; a remote control device that detects the amount of operation of the shovel by a remote operator; and a remote communication device that transmits the amount of operation detected by the remote control device to the communication device, wherein the attachment includes a bucket that is rotatable around a first axis along the width direction, and a rotator that rotates the bucket around a second axis along the length direction when the bucket is excavating a construction surface, thereby causing soil to overflow to one side of the bucket. [Effects of the Invention]

[0008] According to the above aspects of the present disclosure, it is possible to provide a shovel and an operation system for the shovel that can improve work efficiency. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view showing a first embodiment of a shovel according to the present disclosure. [Figure 2] FIG. 2 is a block diagram showing a schematic configuration of the shovel shown in FIG. [Figure 3] FIG. 3 is a functional block diagram of a controller of the excavator shown in FIG. 2. [Figure 4] FIG. 4 is a flowchart of processing by the controller shown in FIG. 3. [Figure 5] FIG. 2 is a schematic plan view of an excavation operation performed by the shovel shown in FIG. 1. [Figure 6]FIG. 10 is a schematic plan view of an excavation operation performed by a shovel of a comparative example. [Figure 7] FIG. 1 is a schematic diagram of an operation system for a shovel according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are illustrative and do not limit the invention. Not all features and combinations thereof in the embodiments of the present disclosure are necessarily essential to the invention. In addition, identical or corresponding components in each drawing are designated by identical or corresponding reference numerals, and redundant description may be omitted.

[0011] [Embodiment 1] First, a first embodiment of a shovel according to the present disclosure will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the first embodiment of a shovel according to the present disclosure. Figure 2 is a block diagram showing a schematic configuration of the shovel 100 shown in Figure 1. In Figure 2, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0012] An excavator 100 according to an embodiment of the present disclosure includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an attachment AT mounted on the upper rotating body 3. The attachment AT includes a bucket 6 rotatable about a first axis A1 along the width direction Dw, and a rotator R. As will be described in detail below, the excavator 100 according to this embodiment is characterized in that, when the bucket 6 excavates a construction surface, the rotator R rotates the bucket 6 about a second axis A2 along the length direction Dl, causing earth and sand to overflow to one side of the bucket 6. The configuration of each part of the excavator 100 according to this embodiment will be described in detail below.

[0013] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The left traveling hydraulic motor 2ML is a traveling drive unit that drives the left crawler 1CL as a driven part, and can rotate the left crawler 1CL. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler 1CR as a driven part, and can rotate the right crawler 1CR. The traveling drive units may be electric motors.

[0014] The upper rotating body 3 is mounted on the lower traveling body 1 via a rotating mechanism 2, and is thereby provided rotatably on the lower traveling body 1. An attachment AT for performing various tasks is attached to the center of the front of the upper rotating body 3, and an operator's cab 10 in which an operator of the shovel 100 sits is provided on the front left side of the upper rotating body 3. The operator's cab 10 is also called a cabin or a cab. However, when the shovel 100 is remotely operated or when the shovel 100 operates by fully automatic driving, the operator's cab 10 may be omitted.

[0015] The front side of the shovel 100 (upper rotating body 3) corresponds to the side where the attachment AT is attached to the upper rotating body 3 when the shovel 100 is viewed from directly above along the rotation axis of the upper rotating body 3. Furthermore, the left side, right side, and rear side of the shovel 100 (upper rotating body 3) correspond to the left side, right side, and rear side, respectively, as viewed from the operator seated in the driver's seat in the cab 10.

[0016] The attachment AT includes, for example, an arm 5 and a boom 4 in addition to the bucket 6 and rotator R described above. The arm 5 supports the bucket 6 rotatably about a first axis A1 parallel to the width direction Dw, for example, via an arm top pin provided at the tip of the arm 5. The boom 4 supports the arm 5 rotatably about a third axis A3 parallel to the first axis A1, for example, via a boom top pin provided at the tip of the boom 4. The boom 4 is attached to the upper rotating body 3 rotatably about a fourth axis A4 parallel to the first axis A1, for example, via a boom foot pin provided on the upper rotating body 3.

[0017] The bucket 6 is an example of a work tool (end attachment). The bucket 6 is used, for example, for excavation work. Instead of the bucket 6, another work tool may be attached to the tip of the arm 5 depending on the type of work, etc. The other work tool may be, for example, a large bucket, a slope bucket, a dredging bucket, or another type of bucket. The attachment AT also includes, for example, a tiltrotator TR. The tiltrotator TR is composed of, for example, a rotator R and a tilt mechanism T.

[0018] The tilt mechanism T includes, for example, a base T1, a tilt shaft T2, a support plate T3, and a tilt actuator T4. The base T1 is connected to the tip of the arm 5 via an arm top pin so as to be rotatable around the first axis A1, and the tilt shaft T2 is connected to the base T1. The support plate T3 is supported by the tilt shaft T2 so as to be swingable relative to the base T1, and the tilt actuator T4 changes the tilt angle of the support plate T3. The tilt actuator T4 is formed, for example, by hydraulic cylinders arranged on both sides of the tilt shaft T2.

[0019] The rotator R includes, for example, a rotator motor R1, a rotator shaft R2, and a connecting portion R3. The rotator motor R1 is fixed, for example, to a support plate T3 of the tilt mechanism T. Note that if the attachment AT does not include the tilt mechanism T, the rotator motor R1 may be fixed, for example, to a base connected to the arm 5 in the same manner as the base T1 of the tilt mechanism T. One end of the rotator shaft R2 is connected to the rotation shaft of the rotator motor R1, and the other end is fixed to the connecting portion R3. The connecting portion R3 is connected to the end of the bucket 6 opposite the toe in the longitudinal direction Dl of the bucket 6.

[0020] The bucket 6 is attached to the arm 5 via, for example, a tilt mechanism T so as to be rotatable about a fifth axis A5 that is perpendicular to the first axis A1 and the second axis A2. The bucket 6 is also attached to the arm 5 via, for example, a rotator R so as to be rotatable about a second axis A2 that is along the longitudinal direction D1 of the bucket 6.

[0021] The length L of the bucket 6 is, for example, the horizontal dimension from the tip of the bucket 6 to the opposite end thereof measured in a direction perpendicular to the width direction Dw of the bucket 6 when the bucket 6 is placed on a horizontal surface with the back side of the bucket 6 facing down. Alternatively, the length L of the bucket 6 may be, for example, the horizontal dimension from the tip of the bucket 6 to the opposite end thereof measured in a direction perpendicular to the width direction Dw of the bucket 6 when the bucket 6 is placed on a horizontal surface with the opening of the bucket 6 facing down.

[0022] The length direction Dl of the bucket 6 is, for example, the direction in which the length L of the bucket 6 is measured. Furthermore, the direction along the length direction Dl includes, for example, a direction parallel to the length direction Dl and a direction forming an acute angle with the length direction Dl that is equal to or less than a predetermined angle. The predetermined angle can be set to any angle, such as 45°, 30°, 10°, or 5°.

[0023] The width W of the bucket 6 is, for example, the maximum dimension from one end to the other end of the bucket 6 in a direction perpendicular to the length direction Dl of the bucket 6 and crossing the opening of the bucket 6. The width direction Dw of the bucket 6 is, for example, the direction in which the width W of the bucket 6 is measured, and is a direction parallel to the width direction or left-right direction of the upper rotating body 3.

[0024] The shovel 100 of this embodiment also includes a controller 30 that controls the operation of each part of the shovel 100, including, for example, the rotation of the bucket 6 by the rotator R. The controller 30 is an example of a control device, and is configured, for example, by a computer that includes a CPU, a volatile storage device, a nonvolatile storage device, and various input / output interfaces. The controller 30 then implements various functions by, for example, reading a program from the nonvolatile storage device, loading it into the volatile storage device, and having the CPU execute the program.

[0025] The controller 30 is configured to realize various functions to control the shovel 100. The various functions include, for example, a machine guidance function that guides (guides) the operator in manually operating the shovel 100. The various functions may include, for example, a contact avoidance function that automatically or autonomously operates or stops the shovel 100 to avoid contact between the shovel 100 and an object that exists within a monitoring range around the shovel 100.

[0026] The excavator 100 of this embodiment also includes, for example, a swing hydraulic motor 2A as an actuator that rotates the upper swing body 3 mounted on the lower traveling body 1 via the swing mechanism 2. The excavator 100 of this embodiment also includes, for example, a bucket cylinder 9, an arm cylinder 8, and a boom cylinder 7 as actuators that rotate the bucket 6, the arm 5, and the boom 4 about the first axis A1, the third axis A3, and the fourth axis A4, respectively.

[0027] The bucket cylinder 9, arm cylinder 8, and boom cylinder 7 are, for example, hydraulic cylinders. The swing hydraulic motor 2A, left traveling hydraulic motor 2ML, right traveling hydraulic motor 2MR, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 are hydraulic actuators driven by hydraulic oil discharged from a hydraulic pump. Note that the excavator 100 may have all or some of its driven parts, such as the lower traveling structure 1, upper rotating structure 3, boom 4, arm 5, and bucket 6, electrically driven. That is, the excavator 100 may be a hybrid excavator, an electric excavator, or the like, in which all or some of its driven parts are driven by electric actuators.

[0028] The excavator 100 of this embodiment is also equipped with, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a bucket rotation sensor S3R, and a bucket tilt sensor S3T. These angle sensors may be, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), or the like, or may be a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder, or the like.

[0029] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 about the fourth axis A4. The arm angle sensor S2 detects the arm angle, which is the rotation angle of the arm 5 about the third axis A3. The bucket angle sensor S3 detects the bucket angle, which is the rotation angle of the bucket 6 about the first axis A1. The bucket rotation sensor S3R detects the bucket rotation angle, which is the rotation angle of the bucket 6 about the second axis A2. The bucket tilt sensor S3T detects the bucket tilt angle, which is the rotation angle of the bucket 6 about the fifth axis A5. Signals related to the rotation angles about each axis detected by these angle sensors are input to the controller 30.

[0030] The shovel 100 of this embodiment also includes, for example, a machine body tilt sensor S4, a rotation sensor S5, an imaging device S6, a positioning device PS, and a communication device CD.

[0031] The machine body tilt sensor S4 detects the tilt state of the machine body (undercarriage 1 or upper rotating body 3) relative to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angle of the excavator 100 (i.e., the upper rotating body 3) around two axes in the forward / backward and left / right directions. The machine body tilt sensor S4 may be, for example, an acceleration sensor, a six-axis sensor, an IMU, or the like. A detection signal corresponding to the tilt angle detected by the machine body tilt sensor S4 is input to the controller 30.

[0032] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotation angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, a resolver, or a rotary encoder. A detection signal corresponding to the rotation angle or rotation angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0033] The imaging device S6 is provided in the upper rotating body 3 or the operator's cab 10, and captures images of the periphery of the shovel 100 to obtain image information showing the periphery of the shovel 100. In the illustrated example, the imaging device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0034] The front camera S6F is a camera that captures an image in front of the shovel 100, and is attached to the exterior of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front camera S6F may also be attached to the interior of the cab 10, such as on the ceiling of the cab 10. The left camera S6L is a camera that captures an image to the left of the shovel 100, the right camera S6R is a camera that captures an image to the right of the shovel 100, and the rear camera S6B is a camera that captures an image to the right of the shovel 100. Specifically, the front camera S6F, the left camera S6L, the right camera S6R, and the rear camera S6B are all monocular wide-angle cameras equipped with an imaging element such as a CCD or CMOS, and output the captured images to the display device D1 (see FIG. 2). Information about the images captured by the imaging device S6 is taken into the controller 30.

[0035] In the illustrated example, the front camera S6F is attached to the roof of the driver's cab 10, the left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0036] The imaging device S6 may be attached to the upper rotating body 3, for example, to form an object detection device that detects objects around the excavator 100. The objects may be, for example, people, animals, vehicles, construction machinery, buildings, holes, etc. The object detection device may be configured to be able to detect people and non-human objects separately. In other words, the object detection device may be configured to function as a person detection device.

[0037] The object detection device may be configured with a device other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is a device capable of measuring the distance between a point cloud of one million or more points within a monitoring range and the LiDAR (laser source). The object detection device may also be another device capable of measuring the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may derive the distance and direction of the object by emitting multiple signals (such as laser light) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0038] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3. A detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by a direction sensor attached to the upper rotating body 3.

[0039] The communication device CD communicates with external devices via a communication network including a mobile communication network, a satellite communication network, the Internet, etc. The communication device CD is, for example, a mobile communication module compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with a short-range wireless communication standard such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0040] The shovel 100 operates actuators in response to operations by an operator in the cab 10 to drive driven parts such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. The shovel 100 may be configured to be remotely controlled from outside the shovel 100. When the shovel 100 is remotely controlled, the inside of the cab 10 may be unmanned. The shovel 100 may also automatically operate actuators regardless of the operation by the operator. In this way, the shovel 100 realizes a function of automatically operating at least some of the driven parts such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, i.e., a so-called "machine control function."

[0041] 2, the drive system of the excavator 100 includes, for example, an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, a discharge pressure sensor 28, and a valve 31. The hydraulic drive system of the excavator 100 also includes hydraulic actuators such as a swing hydraulic motor 2A, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a tilt actuator T4, and a rotator motor R1.

[0042] The engine 11 is an example of a power source of the shovel 100, and is mounted, for example, on the rear of the upper rotating body 3. The power source of the shovel 100 may be a combination of a power source such as a battery or a fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotation speed under direct or indirect control by the controller 30, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel. The engine 11 may also be a gasoline engine, a hydrogen engine, or the like.

[0043] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the angle (tilting angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0044] The main pump 14 is mounted on the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic oil to the control valve unit 17 through a hydraulic oil line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0045] The control valve unit 17 is one of the hydraulic control devices that controls the hydraulic system in the excavator 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 178. The control valve unit 17 is configured to selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 178. The control valves 171 to 178 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank.

[0046] The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a tilt actuator T4, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a swing hydraulic motor 2A, and a rotator motor R1. Specifically, a control valve 171 corresponds to the boom cylinder 7, a control valve 172 corresponds to the arm cylinder 8, a control valve 173 corresponds to the bucket cylinder 9, and a control valve 174 corresponds to the tilt actuator T4. Furthermore, a control valve 175 corresponds to the right traveling hydraulic motor 2MR, a control valve 176 corresponds to the left traveling hydraulic motor 2ML, a control valve 177 corresponds to the swing hydraulic motor 2A, and a control valve 178 corresponds to the rotator motor R1.

[0047] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In the illustrated example, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may also be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via pilot lines, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0048] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0049] The excavator 100 also includes an operating device 26 including, for example, an operation sensor 29 that detects the amount of operation of the boom 4, the arm 5, and the bucket 6 by the operator. The operating device 26 is a device used by the operator to operate the actuators. The actuators may be hydraulic actuators or electric actuators. The operating device 26 includes, for example, a left operating lever, a right operating lever, a left traveling pedal, a right traveling pedal, a left traveling lever, a right traveling lever, a left operating pedal, a right operating pedal, a left operating switch, and a right operating switch.

[0050] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator and outputs the detected value to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the valve 31 in accordance with the output of the operation sensor 29. The controller 30 then supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) 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 supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17.

[0051] For example, the operator can operate the left operating lever of the operation device 26 with his / her left hand to drive the arm cylinder 8 and the swing hydraulic motor 2A. Also, the operator can operate the right operating lever of the operation device 26 with his / her right hand to drive the boom cylinder 7 and the bucket cylinder 9. Also, the operator can operate the left traveling pedal of the operation device 26 with his / her left foot to drive the left traveling hydraulic motor 2ML. Also, the operator can operate the right traveling pedal of the operation device 26 with his / her right foot to drive the right traveling hydraulic motor 2MR.

[0052] Additionally, the operator can drive the left traveling hydraulic motor 2ML in the same way as operating the left traveling pedal, for example, by gripping and operating the left traveling lever of the operation device 26 with the left hand. Also, the operator can drive the right traveling hydraulic motor 2MR in the same way as operating the right traveling pedal, for example, by gripping and operating the right traveling lever of the operation device 26 with the right hand. The left traveling lever and right traveling lever of the operation device 26 are positioned so that the operator can operate the left traveling lever and the right traveling lever simultaneously with one hand.

[0053] The operator can drive the tilt actuator T4 by, for example, operating the right operation pedal of the operation device 26 with his / her right foot, or by operating the right operation switch provided on the right operation lever of the operation device 26 with his / her right hand. The operator can drive the rotator motor R1 by, for example, operating the left operation pedal of the operation device 26 with his / her left foot, or by operating the left operation switch provided on the left operation lever of the operation device 26 with his / her left hand.

[0054] Valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting pilot pump 15 and a pilot port of a control valve in control valve unit 17, and is configured so that the flow path area of ​​the pipe can be changed. In the illustrated example, valve 31 is a solenoid valve that operates in response to a control command output by controller 30. Therefore, controller 30 can use valve 31 to adjust the pilot pressure acting on the pilot port of the control valve, regardless of the operation of operating device 26 by the operator.

[0055] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when the specific operating device 26 is not being operated.

[0056] The controller 30 is configured to output a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14.

[0057] Furthermore, the controller 30 may be configured to perform control relating to a machine guidance function that guides (provides guidance for) the manual operation of the shovel 100 by the operator via the operation device 26. Furthermore, the controller 30 may be configured to perform control relating to a machine control function that automatically assists the manual operation of the shovel 100 by the operator via the operation device 26.

[0058] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0059] The display device D1 is provided in a location that is easily visible to the operator seated in the cab 10, and displays various information images under the control of the controller 30. In the illustrated example, the display device D1 is disposed on the front right side of the driver's seat in the cab 10, and is connected to the controller 30 via a dedicated line. The display device D1 displays various types of image information. The display device D1 includes a display screen that displays information such as the working conditions or operating state of the shovel 100. The operator seated in the driver's seat can perform work using the shovel 100 while checking the various types of information displayed on the display device D1. The display device D1 may be provided with an input device D2.

[0060] The input device D2 is provided within reach of the operator seated in the driver's seat in the driver's cab 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 that displays various information images, a knob switch provided at the tip of one or more levers of a plurality of operating levers included in the operating device 26, or a button switch, lever, toggle switch, rotary dial, or the like provided around the display device D1. A signal corresponding to the content of an operation on the input device D2 is taken into the controller 30.

[0061] Fig. 3 is a functional block diagram relating to the machine control function of the controller 30 shown in Fig. 2. Fig. 4 is a flow diagram relating to the machine control function of the controller 30. Fig. 5 is a schematic plan view showing an example of excavation work on a construction surface by the attachment AT of the shovel 100. Hereinafter, the "machine control function" may be referred to as the "MC function."

[0062] 3 , the controller 30 of this embodiment includes, for example, an operation content acquisition unit 3001, a target surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, and a bucket shape acquisition unit 3006. The controller 30 also includes, for example, a master element setting unit 3007, a control standard setting unit 3008, a master command value generation unit 3009, and a slave command value generation unit 3010.

[0063] Furthermore, controller 30 has, for example, a boom command generating unit 3011, an arm command generating unit 3012, a bucket command generating unit 3013, a bucket tilt command generating unit 3013T, and a bucket rotation command generating unit 3013R. Each unit of controller 30 shown in Fig. 3 represents, for example, each function of controller 30. Specifically, each function of controller 30 is realized, for example, by the CPU of controller 30 reading out a program stored in a non-volatile storage device, loading the program into a volatile storage device, and executing the program.

[0064] The operation content acquisition unit 3001 acquires the operation content of the operation device 26 by the operator, which is detected by the operation sensor 29. The operation content of the operation device 26 includes, for example, the rotation of the left crawler 1CL and the right crawler 1CR by the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR, the rotation of the upper rotating body 3 by the swing hydraulic motor 2A of the swing mechanism 2, and the operation content of the attachment AT. The operation content of the attachment AT includes, for example, the rotation of the boom 4 by the boom cylinder 7, the rotation of the arm 5 by the arm cylinder 8, the rotation of the bucket 6 by the bucket cylinder 9, the tilting of the bucket 6 by the tilt actuator T4, and the rotation of the bucket 6 by the rotator motor R1. The operation content of the operation device 26 also includes the operation direction and the operation amount.

[0065] The target surface acquisition unit 3002 acquires information about the target surface input to the controller 30 via, for example, the input device D2. Furthermore, the information about the target surface may be acquired by, for example, downloading it from an external server by the target surface acquisition unit 3002. The target surface is, for example, a surface that serves as a target when excavating the ground surface that will become a construction surface in ground leveling work or slope maintenance work by the shovel 100. In other words, the target surface is, for example, a flat surface or a slope that is formed by excavating the construction surface with the bucket 6. Note that the target surface may also be, for example, a curved surface or a surface with predetermined irregularities.

[0066] Information about the target surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, its X axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, its Y axis pointing in the direction of 90 degrees east longitude, and its Z axis pointing in the direction of the North Pole. The operator, for example, sets an arbitrary point on the construction site as a reference point via the input device D2, and sets the target surface based on its relative positional relationship with the reference point.

[0067] The target trajectory setting unit 3003 sets a target trajectory of the control reference for moving the control reference of the attachment AT along the target surface based on the acquired information about the target surface. As the control reference of the attachment AT, for example, the tip or back surface of the bucket 6 as an end attachment attached to the tip of the attachment AT is set. The control reference of the attachment AT is set, for example, by the control reference setting unit 3008 of the controller 30.

[0068] The control standard setting unit 3008, for example, accepts input of the control standard by the operator via the input device D2 and sets the control standard for the attachment AT. In addition, the control standard setting unit 3008 may automatically set the control standard for the attachment AT, for example, in response to the establishment of a predetermined condition.

[0069] The current position calculation unit 3004 calculates the current position of the control reference of the attachment AT, such as the tip of the bucket 6. Specifically, the current position calculation unit 3004 acquires the boom angle θ1, arm angle θ2, bucket angle θ3, bucket tilt angle θ3T, and bucket rotation angle θ3R from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, bucket tilt sensor S3T, and bucket rotation sensor S3R. The current position calculation unit 3004 then calculates the current position of the control reference of the attachment AT, such as the tip of the bucket 6, based on the angles of each part of the attachment AT acquired from each angle sensor.

[0070] For example, to realize the MC function, the target position calculation unit 3005 calculates the target position of the control reference set by the control reference setting unit 3008 based on the operation details by the operator acquired by the operation details acquisition unit 3001 and the target trajectory set by the target trajectory setting unit 3003. For example, if the control reference is the tip of the bucket 6, the target position of the control reference is the position on the target trajectory that the tip of the bucket 6 should reach during the current control cycle, assuming that the arm 5 operates according to the operation direction and operation amount included in the operation details by the operator. The target position calculation unit 3005 can calculate the target position of the control reference using, for example, a map or an arithmetic expression stored in advance in a nonvolatile storage device.

[0071] Furthermore, in order to realize the MC function, for example, the target position calculation unit 3005 may acquire the operation command generated by the operation content acquisition unit 3001, the target trajectory set by the target trajectory setting unit 3003, and the current position of the control reference of the attachment AT calculated by the current position calculation unit 3004. In this case, the target position calculation unit 3005 calculates the target position of the control reference of the attachment AT based on this information. This allows the controller 30 to autonomously control the shovel 100 without relying on operation by the operator.

[0072] The bucket shape acquisition unit 3006 acquires, for example, information about the shape of the bucket 6 that is stored in advance in a nonvolatile storage device. The bucket shape acquisition unit 3006 may acquire, for example, information about the shape of a specific bucket 6 by an operator selecting it via the input device D2 from information about multiple types of bucket shapes that is stored in the nonvolatile storage device.

[0073] The master element setting unit 3007 selects and sets a master element from among the various components of the attachment AT, such as the boom 4, arm 5, bucket 6, etc. The master element is a component that operates in accordance with the operation of the control device 26 by the operator, for example, in the MC function. The master element setting unit 3007 selects and sets a master element, for example, based on the operation mode of the excavator 100 input by the operator via the input device D2. The master element setting unit 3007 may also select and set a master element based on, for example, the operation of the control device 26 by the operator, information on the target surface, the current position of the control reference for the attachment AT, the detection results of each angle sensor, etc.

[0074] The master command value generation unit 3009 generates, for example, a command value for the master element set by the master element setting unit 3007. In the example shown in Fig. 3, the arm 5 is set as the master element by the master element setting unit 3007. In this case, the master command value generation unit 3009 generates a command value for operating the arm cylinder 8 in accordance with, for example, the operation content of the arm 5 by the operator acquired by the operation content acquisition unit 3001, and outputs the command value to the arm command generation unit 3012.

[0075] The slave command value generation unit 3010 generates a command value for controlling the operation of the slave elements, which are components of the attachment AT excluding the master element, in accordance with, for example, the operation of the master element set by the master element setting unit 3007. Specifically, the slave command value generation unit 3010 calculates the angular velocity of the slave element based on the angular velocity of the master element, information about the target surface, and the current position of the control reference, so that the angular velocity of the master element and the angular velocity of the slave element satisfy predetermined conditions.

[0076] 3, the arm 5 is set as the master element by the master element setting unit 3007. In this case, the slave command value generation unit 3010 calculates, for example, the angular velocity of the boom 4, which is the slave element. Furthermore, the slave command value generation unit 3010 calculates, for example, the angular velocity of the bucket 6, which is the slave element, about the first axis A1 caused by the bucket cylinder 9, the angular velocity about the second axis A2 caused by the rotator R, and the angular velocity about the fifth axis A5 caused by the tilt mechanism T.

[0077] Furthermore, slave command value generator 3010 generates command values ​​for operating boom cylinder 7, bucket cylinder 9, rotator motor R1, and tilt actuator T4 in accordance with the calculated angular velocity of each slave element. Slave command value generator 3010 outputs the generated command values ​​corresponding to the operation of each slave element to boom command generator 3011, bucket command generator 3013, bucket tilt command generator 3013T, and bucket rotation command generator 3013R, respectively.

[0078] The boom command generation unit 3011 acquires, for example, a command value input from the master command value generation unit 3009 or the slave command value generation unit 3010, and an angular velocity of the boom 4 based on the boom angle θ1 detected by the boom angle sensor S1. Based on the deviation between the acquired command value and the angular velocity, the boom command generation unit 3011 generates a pilot pressure command value to be applied to the control valve 171 corresponding to the boom cylinder 7 shown in FIG. 2 and outputs the pilot pressure command value to the valve 31.

[0079] The arm command generation unit 3012 acquires, for example, a command value input from the master command value generation unit 3009 or the slave command value generation unit 3010, and the angular velocity of the arm 5 based on the arm angle θ2 detected by the arm angle sensor S2. Based on the deviation between the acquired command value and the angular velocity, the arm command generation unit 3012 generates a pilot pressure command value to be applied to the control valve 172 corresponding to the arm cylinder 8 shown in FIG. 2 and outputs it to the valve 31.

[0080] Bucket command generation unit 3013 acquires, for example, a command value input from master command value generation unit 3009 or slave command value generation unit 3010, and the angular velocity of bucket 6 based on bucket angle θ3 detected by bucket angle sensor S3. Based on the deviation between the acquired command value and the angular velocity, bucket command generation unit 3013 generates a pilot pressure command value to be applied to control valve 173 corresponding to bucket cylinder 9 shown in FIG. 2 and outputs the pilot pressure command value to valve 31.

[0081] The bucket tilt command generation unit 3013T acquires, for example, a command value input from the master command value generation unit 3009 or the slave command value generation unit 3010, and the angular velocity of the bucket 6 based on the bucket tilt angle θ3T detected by the bucket tilt sensor S3T. Based on the deviation between the acquired command value and the angular velocity, the bucket tilt command generation unit 3013T generates a pilot pressure command value to be applied to the control valve 174 corresponding to the tilt actuator T4 shown in FIG. 2 and outputs the pilot pressure command value to the valve 31.

[0082] The bucket rotation command generation unit 3013R acquires, for example, a command value input from the master command value generation unit 3009 or the slave command value generation unit 3010, and the angular velocity of the bucket 6 based on the bucket rotation angle θ3R detected by the bucket rotation sensor S3R. Based on the deviation between the acquired command value and the angular velocity, the bucket rotation command generation unit 3013R generates a pilot pressure command value to be applied to the control valve 178 corresponding to the rotator motor R1 shown in FIG. 2 and outputs the pilot pressure command value to the valve 31.

[0083] With this configuration, the controller 30 can, for example, operate a component that is set as a master element among the multiple elements that make up the attachment AT in accordance with the operation of the operation device 26 by the operator. Furthermore, the controller 30 can operate other multiple components that are not set as master elements as slave elements among the multiple elements that make up the attachment AT in accordance with the operation of the master element, regardless of the operation of the operation device 26 by the operator.

[0084] Next, the MC function of the shovel 100 will be described with reference to Fig. 4 to Fig. 6. Fig. 4 is a flow chart showing an example of processing by the controller 30 that realizes the MC function of the shovel 100. Fig. 5 is a plan view showing an example of excavation work on a construction surface GS using an attachment AT of the shovel 100 of this embodiment. Fig. 6 is a plan view showing an example of excavation work on a construction surface GS using an attachment of a comparative shovel that is different from the shovel 100 of this embodiment.

[0085] The excavation work performed by the shovel 100 includes, for example, leveling work or slope maintenance work in which a construction surface GS, which is the ground surface before construction, is excavated with the bucket 6 of the attachment AT to form a preset target surface TS.

[0086] As shown in Fig. 6, an attachment of a shovel according to a comparative example, which differs from the shovel 100 of this embodiment, does not rotate the bucket 6 about the second axis A2 along the longitudinal direction Dl shown in Fig. 1 when excavating a construction surface GS with the bucket 6. Therefore, the tip of the bucket 6 (for example, a straight line connecting the tips of multiple claws provided at the tip of the bucket 6) is perpendicular to the movement direction MD of the bucket 6 when excavating. In this case, when the construction surface GS is excavated in the first excavation operation in which the bucket 6 is moved from the back to the front of the construction surface GS along the movement direction MD, earth and sand ES overflows on both sides of the bucket 6.

[0087] Therefore, in the second and subsequent excavation operations, the excavation range must overlap the range excavated in the previous excavation operation by a predetermined overlap width Wd to prevent soil ES from spilling backward in the work advance direction PD of the bucket 6. As this overlap width Wd increases, the number of excavation operations required to excavate the entire construction surface GS increases, and the work efficiency of the excavator decreases.

[0088] In contrast, in the shovel 100 of this embodiment, as shown in Fig. 1, the attachment AT includes a rotator R. When the bucket 6 as shown in Fig. 5 is excavating a construction surface GS, the rotator R rotates the bucket 6 about a second axis A2 along the longitudinal direction Dl shown in Fig. 1, causing soil ES to spill onto one side of the bucket 6. This reduces the overlap width Wd, which is the overlap between the excavation work area and the previous excavation work area, in subsequent excavation work by the bucket 6, thereby improving the work efficiency of the shovel 100.

[0089] The shovel 100 of this embodiment, for example, executes the processes shown in FIG. 4 using the controller 30, thereby assisting the operator with the MC function and performing the excavation work shown in FIG. 5 using the attachment AT.

[0090] 4, the controller 30 first executes a process P01 for acquiring information about the target surface TS. In this process P01, the controller 30 acquires, by the target surface acquisition unit 3002, information about the target surface TS that has been input via the input device D2 and stored in the nonvolatile storage device, for example.

[0091] Next, the controller 30 executes, for example, process P02 for calculating the target shown in Fig. 4. In this process P02, the target trajectory setting unit 3003 sets, for example, a target trajectory for moving the control reference of the attachment AT along the target surface TS. Here, for example, the control reference setting unit 3008 sets the control reference of the attachment AT to the tip of the bucket 6. Also, in this process P02, the bucket shape acquisition unit 3006 acquires information regarding the shape of the bucket 6, and the current position calculation unit 3004 calculates the current position of the tip of the bucket 6.

[0092] Next, the controller 30 executes a process P03 for acquiring an overlap width Wd of the excavation work, as shown in Fig. 4, for example. The overlap width Wd of the excavation work is input by the operator via the input device D2 and stored in a non-volatile storage device. In this case, for example, the target position calculation unit 3005 acquires the overlap width Wd stored in the non-volatile storage device.

[0093] Furthermore, the overlap width Wd required for excavation work varies according to the angle θb between the tip of the bucket 6 (for example, a straight line connecting the tips of the multiple claws provided at the tip of the bucket 6) and the work progression direction PD, as shown in FIG. 5, for example. Therefore, the overlap width Wd for excavation work is stored in advance in a non-volatile storage device as, for example, a table or function indicating its relationship with the angle θb. In this case, the target position calculation unit 3005 acquires the overlap width Wd corresponding to the angle θb based on, for example, the table or function stored in the non-volatile storage device.

[0094] Next, the controller 30 executes, for example, a process P04 for setting the work progress direction PD. The controller 30 can, for example, set the work progress direction PD in advance. Specifically, the work progress direction PD is, for example, input by the operator via the input device D2 and stored in a volatile storage device or non-volatile storage device that constitutes the controller 30. In this case, for example, the target position calculation unit 3005 acquires the work progress direction PD stored in the volatile storage device or non-volatile storage device.

[0095] Furthermore, the controller 30 may estimate the work progress direction PD based on the start position of the second excavation work relative to the range of the first excavation work, for example, as shown in Fig. 5. That is, the controller 30 can predict the work progress direction PD based on the movement direction of the bucket 6 between the first excavation and the second excavation of the construction surface GS. Specifically, the target position calculation unit 3005 can estimate the work progress direction PD based on, for example, position information of the bucket 6 during the first excavation work and position information of the bucket 6 during the second excavation work. In this case, the controller 30 may omit process P04.

[0096] Next, the controller 30 executes process P05 to acquire whether the MC function is enabled or disabled, as shown in Fig. 4. In process P05, the controller 30 displays a menu for selecting whether to enable or disable the MC function on the display device D1, and receives input from the operator via the input device D2 indicating whether to enable or disable the MC function. The controller 30 stores the information on whether to enable or disable the MC function, input via the input device D2, in a volatile storage device or a non-volatile storage device.

[0097] Next, the controller 30 executes process P06 to determine whether the MC function is permitted, as shown in Fig. 4, for example. In this process P06, the controller 30 references, for example, information on whether the MC function is permitted or not, which was stored in a volatile storage device or a non-volatile storage device in the previous process P05. In this process P06, if the referenced information indicates that the MC function is not permitted (NO), for example, the controller 30 ends the process flow shown in Fig. 4 and returns to the normal mode of the excavator 100, which does not use the MC function.

[0098] Also, in this process P06, if the referenced information indicates that the MC function is permitted (YES), the controller 30 enables the MC function of the shovel 100 that uses each function shown in Figure 3, and executes process P07 to obtain the operation details of the operating device 26 by the operator.

[0099] In this process P07, the controller 30 acquires the operation content of the operation device 26 by the operator via the operation sensor 29, for example, by the operation content acquisition unit 3001. Thereafter, the controller 30 executes machine control by the respective units shown in FIG. 3 (process P08).

[0100] Specifically, for example, when the bucket 6 is excavating the construction surface GS, the controller 30 controls the actuator and the rotator R based on the amount of operation of the arm 5 detected by the operation device 26 and the rotation angle detected by the angle sensor. The operation device 26 includes an operation sensor 29, and the angle sensors include a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a bucket tilt sensor S3T, and a bucket rotation sensor S3R. The rotation angles detected by the angle sensors include a boom angle θ1, an arm angle θ2, a bucket angle θ3, a bucket tilt angle θ3T, and a bucket rotation angle θ3R. The actuators also include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a tilt actuator T4.

[0101] As a result, the operator of the shovel 100 can operate the arm 5, which is the master element, by operating, for example, the left operating lever of the operating device 26, and can operate the boom 4 and bucket 6 in accordance with the operation of the arm 5.

[0102] 5, when the bucket 6 is excavating the construction surface GS, the rotator R of the attachment AT can rotate the bucket 6 about the second axis A2 along the length direction Dl, causing earth and sand ES to overflow to one side of the bucket 6. In other words, in the excavator 100 of this embodiment, the controller 30 controls the rotator R so as to rotate the bucket 6 about the second axis A2 along the length direction Dl, causing earth and sand ES to overflow to one side of the bucket 6, when the bucket 6 is excavating the construction surface GS.

[0103] During excavation of the construction surface GS, the operator of the shovel 100, for example, operates the operating device 26 to alternately perform excavation work and advancing work. The excavation work is, for example, the work of moving the toe of the bucket 6 from the back of the construction surface GS to the front in a movement direction MD along the target surface TS to scrape away earth and sand from the construction surface GS. The advancing work is, for example, the work of moving the bucket 6 in the movement direction MD, and then moving the bucket 6 in the work advancing direction PD for the next excavation work after completing one excavation work. The movement direction MD of the bucket 6 during excavation work and the work advancing direction PD intersect with each other. In the example shown in FIG. 5, the movement direction MD of the bucket 6 and the work advancing direction PD are perpendicular to each other.

[0104] In the shovel 100 of this embodiment, the side of the bucket 6 from which the rotator R overflows the soil ES is the forward side in the work proceeding direction PD that intersects the movement direction MD of the bucket 6 when excavating the construction surface GS. That is, in the shovel 100 of this embodiment, the rotator R rotates the bucket 6 in a rotational direction such that the opening surface of the bucket 6 faces the work proceeding direction PD when excavating the construction surface GS. In other words, in the shovel 100 of this embodiment, the controller 30 controls the rotator R so that the bucket 6 rotates in a rotational direction such that the opening surface of the bucket 6 faces the work proceeding direction PD when the bucket 6 excavates the construction surface GS. The angle by which the rotator R rotates the bucket 6 about the second axis A2 is, for example, 90° or less.

[0105] When one excavation operation in which the toe of the bucket 6 is moved along the target surface TS in the movement direction MD from the back to the front of the construction surface GS is completed, the controller 30 executes process P09 to determine whether or not the construction is complete, as shown in Fig. 4. If excavation of the entire target surface TS is not completed in process P09, the controller 30 repeats process P07 to acquire the operation content by the operator and process P08 to execute machine control.

[0106] For example, after completing one excavation operation in which the toe of the bucket 6 is moved along the target surface TS in a movement direction MD from the back to the front of the construction surface GS, the operator of the shovel 100 moves the bucket 6 in the work progression direction PD. Specifically, the operator moves the bucket 6 in the work progression direction PD by, for example, operating the operating device 26 to move the shovel 100 using the lower traveling structure 1. At this time, the operator of the shovel 100 overlaps the area to be excavated in the next excavation operation with the area excavated in the previous excavation operation by a predetermined overlap width Wd.

[0107] The overlap width Wd of the working ranges can be determined, for example, based on the width Wes of the soil ES that overflows to the side of the bucket 6 during excavation work. In the excavator 100 of this embodiment, when the bucket 6 excavates the construction surface GS, the rotator R rotates the bucket 6 about the second axis A2 along the length direction Dl, causing the soil ES to overflow to one side of the bucket 6.

[0108] In this case, the overlap width Wd required for excavation work on the construction surface GS changes depending on the orientation of the bucket 6, i.e., the angle θb of the toe of the bucket 6 relative to the work progression direction PD shown in Figure 5. The correlation between this overlap width Wd and the angle θb of the toe of the bucket 6 can be specified in advance and stored as a table or formula in a non-volatile storage device that constitutes the controller 30. The controller 30, for example, displays the overlap width Wd corresponding to the angle θb on the display device D1. The operator overlaps the excavation range using the overlap width Wd displayed on the display device D1.

[0109] For example, in process P08 that executes machine control, the controller 30 controls the bucket rotation angle θ3R, which is the angle of rotation of the bucket 6 about the second axis A2 by the rotator R, as follows: The controller 30 controls the bucket rotation angle θ3R, for example, based on the width Wgs of the construction surface GS, the width W of the bucket 6, the bucket rotation angle θ3R, and the overlap width Wd of the excavation work on the construction surface GS by the bucket 6, so as to minimize the number of excavation work operations N.

[0110] The number of excavation operations N can be expressed by the following equation (1), for example, as shown in FIG. 5, using the width Wgs of the construction surface GS, the width W of the bucket 6, the angle θb (0<θb<π / 2) of the bucket 6 relative to the work progress direction PD, and the ratio P (=Wd / W) of the overlap width Wd of the excavation operation to the bucket width W.

[0111] N=Wgs / (W·cosθb-P·W) ···(1)

[0112] When the angle θb of the bucket 6 is changed from θb0 to θb1 and the overlap width Wd of the excavation work is changed from Wd0 to Wd1, the work efficiency E=N0 / N1 can be expressed by the following equation (2).

[0113] E=N0 / N1=(cosθb1-P1) / (cosθb0-P0) ···(2)

[0114] In particular, as shown in FIG. 6, when there exists a ratio P0=X between the width W of the bucket 6 required when the angle θb0 of the bucket 6 is 0 (θb0=0) and the overlap width Wd of the excavation work, the work efficiency E can be expressed by the following equation (3).

[0115] E=N0 / N1=(cosθb1-P1) / (1-X) ···(3)

[0116] Here, the ratio P of the width W of the bucket 6 to the overlap width Wd of the excavation work changes according to the angle θb of the bucket 6, so P=P(θb).

[0117] Therefore, the work efficiency E can be expressed by the following equation (4).

[0118] E={cosθb1-P(θb1)} / (1-X)=E(θb1) ···(4)

[0119] Therefore, by specifying in advance the relationship between the ratio P (= Wd / W) and the angle θb of the bucket 6, that is, the relationship between the width Wes of the soil ES overflowing from the bucket 6 and the angle θb, it is possible to determine the angle θb of the bucket 6 that maximizes the work efficiency E(θb). Therefore, the controller 30 can minimize the number of excavation operations N, for example, by controlling the bucket rotation angle θ3R of the bucket 6 caused by the rotator R so as to maintain the angle θb of the bucket 6 that maximizes the work efficiency E(θb).

[0120] Thereafter, when the excavation work and the movement of the bucket 6 in the work progress direction PD are repeated to excavate the entire construction surface GS and form the entire target surface TS, the controller 30 determines that the construction is complete (YES) in process P09 shown in Fig. 4. Thereafter, the controller 30 executes process P10 to end machine control and ends the process flow shown in Fig. 4.

[0121] As described above, the excavator 100 of this embodiment includes the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, and the attachment AT mounted on the upper rotating body 3. The attachment AT includes the bucket 6 rotatable about the first axis A1 along the width direction Dw, and the rotator R that rotates the bucket 6 about the second axis A2 along the length direction Dl when the bucket 6 is excavating the construction surface GS, causing earth and sand to overflow to one side of the bucket 6.

[0122] With this configuration, the shovel 100 of this embodiment can reduce the overlap width Wd, which is the overlap width between the range of the second or subsequent excavation work and the range of the previous excavation work, compared to when earth and sand ES is allowed to overflow onto both sides of the bucket 6 during excavation of the construction surface GS. This makes it possible to reduce the number of excavation operations when excavating the construction surface GS, compared to when earth and sand ES is allowed to overflow onto both sides of the bucket 6 during excavation of the construction surface GS. Therefore, the shovel 100 of this embodiment can improve work efficiency E.

[0123] In the excavator 100 of this embodiment, the side of the bucket 6 from which the earth and sand ES overflows is the front side in the work progression direction PD that intersects with the movement direction MD of the bucket 6 when excavating the construction surface GS.

[0124] With this configuration, the bucket 6 can be moved in the work progression direction PD in the second and subsequent excavation operations, and the soil ES that has overflowed to one side of the bucket 6 during the previous excavation operation can be removed by the bucket 6 during the next excavation operation. In other words, after one excavation operation in which the bucket 6 is moved in the movement direction MD from the back to the front of the construction surface GS, it is no longer necessary to move the bucket 6 in the direction opposite to the work progression direction PD to remove the soil ES that has overflowed to the side of the bucket 6. Therefore, according to the excavator 100 of this embodiment, the work efficiency E can be improved when excavating the construction surface GS by repeatedly performing an excavation operation in which the bucket 6 excavates the construction surface GS from the back to the front and moving the bucket 6 in the work progression direction PD.

[0125] Furthermore, in the shovel 100 of this embodiment, the rotator R rotates the bucket 6 in a rotation direction in which the open surface of the bucket 6 faces the work progress direction PD when excavating the construction surface GS.

[0126] With this configuration, when the bucket 6 is moved from the back of the construction surface GS toward the front in the movement direction MD along the target surface TS to excavate the construction surface GS, earth and sand ES can be made to overflow from the opening of the bucket 6 toward the front in the work progress direction PD. Therefore, the excavator 100 of this embodiment can improve work efficiency E. The expression "from the back of the construction surface GS toward the front" can be rephrased as "from an arbitrary point on the construction surface GS located forward of the upper rotating body 3 to a point on the construction surface GS closer to the upper rotating body 3."

[0127] The excavator 100 of this embodiment also includes a controller 30 that controls the rotation of the bucket 6 by the rotator R. The controller 30 can predict the work progression direction PD based on the movement direction of the bucket 6 between the first excavation and the second excavation of the construction surface GS, or can set the work progression direction PD in advance. With this configuration, the controller 30 can rotate the bucket 6 after the first excavation work so that it faces the predicted work progression direction PD, or can rotate the bucket 6 from the beginning so that it faces the preset work progression direction PD.

[0128] Furthermore, in the shovel 100 of this embodiment, the controller 30 controls the bucket rotation angle θ3R so as to minimize the number of excavation operations N, based on the width of the construction surface GS, the width W of the bucket 6, the bucket rotation angle θ3R which is the rotation angle of the bucket 6 about the second axis A2, and the overlap width Wd of the excavation operation of the construction surface GS by the bucket 6. With this configuration, the shovel 100 of this embodiment can maximize the work efficiency E compared to when the bucket 6 is not rotated about the second axis A2.

[0129] Moreover, in the excavator 100 of this embodiment, the attachment AT includes an arm 5 that supports the bucket 6 rotatably about a first axis A1, and a boom 4 that supports the arm 5 rotatably about a third axis A3 parallel to the first axis A1 and is attached to the upper rotating body 3 rotatably about a fourth axis A4 parallel to the first axis A1. With this configuration, the excavator 100 of this embodiment can rotate the boom 4, arm 5, and bucket 6 about the fourth axis A4, the third axis A3, and the first axis A1, respectively, and move the toe of the bucket 6 from the back of the construction surface GS to the front in a movement direction MD along the target surface TS.

[0130] The excavator 100 of this embodiment also includes an actuator, an angle sensor, and an operating device 26. The actuator includes a bucket cylinder 9, an arm cylinder 8, and a boom cylinder 7, and rotates the bucket 6, the arm 5, and the boom 4 about the first axis A1, the third axis A3, and the fourth axis A4, respectively. The angle sensors include a bucket angle sensor S3, a bucket rotation sensor S3R, an arm angle sensor S2, and a boom angle sensor S1. The angle sensors detect bucket angle θ3 and bucket rotation angle θ3R, which are rotation angles of the bucket 6 about the first axis A1 and the second axis A2, and arm angle θ2 and boom angle θ1, which are rotation angles of the arm 5 and the boom 4 about the third axis A3 and the fourth axis A4. The operating device 26 includes an operation sensor 29 that detects the amount of operation of the boom 4, the arm 5, and the bucket 6 by the operator. During excavation of the construction surface GS, the controller 30 controls the actuator and the rotator R based on the operation amount of the arm 5 detected by the operation sensor 29 of the operating device 26 and the bucket rotation angle θ3R detected by the bucket rotation sensor S3R.

[0131] With this configuration, when the operator of the shovel 100 operates the operating device 26 to move the arm 5, the boom 4 and bucket 6 move in accordance with the movement of the arm 5, allowing excavation work on the construction surface GS to be performed. Furthermore, during excavation work on the construction surface GS, the bucket 6 can be automatically rotated by the rotator R to cause the soil ES to overflow to one side of the bucket 6. Therefore, according to the shovel 100 of this embodiment, the controller 30 can automatically rotate the bucket 6 about the second axis A2 to perform machine control to assist the operator in operation, thereby improving work efficiency E.

[0132] As described above, according to this embodiment, it is possible to provide a shovel 100 that can improve work efficiency.

[0133] [Embodiment 2] Next, a description will be given of a second embodiment of a shovel according to the present disclosure. The shovel 100 of this embodiment differs from the shovel 100 of the first embodiment in that only the rotator motor R1 of the rotator R is set as the slave element.

[0134] Specifically, the master element setting unit 3007 of the controller 30 shown in FIG. 3 sets, for example, each unit of the attachment AT except for the rotator R as the master element.

[0135] Master command value generation unit 3009 generates command values ​​for operating boom cylinder 7, arm cylinder 8, bucket cylinder 9, and tilt actuator T4, in accordance with, for example, the operation details of the boom 4, arm 5, and bucket 6 performed by the operator, which are acquired by operation detail acquisition unit 3001. Master command value generation unit 3009 outputs the generated command values ​​to boom command generation unit 3011, arm command generation unit 3012, bucket command generation unit 3013, and bucket tilt command generation unit 3013T.

[0136] The slave command value generation unit 3010 generates a command value for controlling the operation of the rotator R as a slave element, for example, in accordance with the operation of the attachment AT set as the master element by the master element setting unit 3007. Specifically, the slave command value generation unit 3010 calculates the angular velocity of rotation of the bucket 6 by the rotator R as a slave element, based on the angular velocities of the boom 4, arm 5, and bucket 6 as master elements, information related to the target surface TS, and the current position of the toe of the bucket 6 as a control reference, so that the angular velocity of the master element and the angular velocity of rotation of the bucket 6 by the rotator R as a slave element satisfy predetermined conditions. The slave command value generation unit 3010 outputs the generated command value to the bucket rotation command generation unit 3013R.

[0137] As a result, the operator of the shovel 100 can, for example, operate the operating device 26 to operate the boom 4, arm 5, and bucket 6, which are master elements, and can operate the rotator R in accordance with the operations of the boom 4, arm 5, and bucket 6. As a result, the shovel 100 of this embodiment uses the MC function to operate the rotator R of the attachment AT in accordance with the operations of the boom 4, arm 5, and bucket 6 when excavating the construction surface GS with the bucket 6, as shown in Fig. 5, thereby rotating the bucket 6 about the second axis A2 along the length direction Dl and causing soil ES to overflow to one side of the bucket 6.

[0138] Therefore, according to the shovel 100 of this embodiment, like the shovel 100 of the above-described first embodiment, it is possible to improve the work efficiency E when excavating the construction surface GS. Furthermore, according to the shovel 100 of this embodiment, each part of the attachment AT except for the rotator R can be operated based on the operation of the operating device 26 by the operator. Therefore, when excavating the construction surface GS, it is possible to flexibly operate the attachment AT based on the operation of the operating device 26 by the operator in response to changes in the situation.

[0139] [Embodiment 3] Next, a third embodiment of a shovel according to the present disclosure will be described. In the first and second embodiments described above, examples have been described in which a portion of the configuration of the attachment AT, excluding the rotator R, is operated based on the operation of the operating device 26 by the operator. In contrast, the shovel 100 of this embodiment differs from the shovel 100 of the first and second embodiments described above in that the shovel 100 is operated autonomously to perform excavation work on the construction surface GS without relying on the operation of the operator.

[0140] In the excavator 100 of this embodiment, the controller 30 generates a target trajectory for the toe of the bucket 6 based on information about the target surface TS, and calculates a target position for the toe of the bucket 6 based on the target trajectory. The controller 30 also calculates the angular velocities of each part of the attachment AT so that the angular velocities of each part of the attachment AT satisfy predetermined conditions. The controller 30 also generates command values ​​for operating the boom cylinder 7, arm cylinder 8, bucket cylinder 9, tilt actuator T4, and rotator motor R1 in accordance with the calculated angular velocities. The controller 30 then generates a pilot pressure command value based on the deviation between the angular velocities of the boom 4 and arm 5 and the angular velocities of the bucket 6 about the first axis A1, the second axis A2, and the fifth axis A5 and the calculated command value, and outputs the generated pilot pressure command value to the valve 31.

[0141] With this configuration, according to the shovel 100 of this embodiment, when the shovel 100 is operated autonomously to excavate the construction surface GS, the bucket 6 can be rotated about the second axis A2 along the longitudinal direction Dl, causing soil ES to overflow to one side of the bucket 6.

[0142] Therefore, according to the shovel 100 of this embodiment, like the shovel 100 of the above-described first embodiment, it is possible to improve the work efficiency E when excavating the construction surface GS. Furthermore, according to the shovel 100 of this embodiment, each part of the attachment AT, including the rotator R, can be operated autonomously. Therefore, it is possible to reduce the burden on the operator when excavating the construction surface GS.

[0143] [Embodiment 4] Next, a configuration example of the operation system SYS according to the embodiment of the present disclosure will be described with reference to Fig. 7. Fig. 7 is a schematic diagram showing a configuration example of the operation system SYS. As shown in Fig. 7, the operation system SYS includes a shovel 100 and a remote control room RC. Note that the detailed configuration of the shovel 100 is omitted from Fig. 7 because the shovel 100 shown in Fig. 7 has the same configuration as the shovel 100 shown in Fig. 1.

[0144] The shovel 100 and the remote control room RC are connected to each other so as to be able to send and receive data via a communication network NW. Note that the shovel 100 and the remote control room RC may also be connected to each other so as to be able to send and receive data directly to each other without going through the communication network NW. In the illustrated example, the shovel 100 transmits information about the work site to the remote control room RC. This allows the remote operator RO in the remote control room RC to understand the situation at the work site based on the information from the shovel 100.

[0145] The shovel 100 is provided with a sensor that can three-dimensionally recognize the position and shape of an object present at the work site. For example, the shovel 100 is provided with a spatial recognition device. Therefore, the shovel 100 can transmit the results of three-dimensionally measuring the work site to the remote control room RC.

[0146] The spatial recognition device is a device for recognizing the space around the shovel 100. In the illustrated example, the spatial recognition device is a LiDAR. The LiDAR measures the distance between the LiDAR and each of one million or more points within a monitoring range. The spatial recognition device may be any device that can measure the distance to an object. For example, the spatial recognition device may be a stereo camera, or may be a combination of the imaging device S6 and a distance measuring device such as a millimeter-wave radar.

[0147] The operation system SYS may include one or more shovels 100. When the operation system SYS includes multiple shovels 100, the remote operator RO of a specific shovel 100 can obtain information about the work site obtained by the specific shovel 100, as well as information about the work site obtained by one or more other shovels 100.

[0148] The remote control room RC is equipped with a remote communication device CD2, a remote controller 40, a remote operation device 26E, an operation sensor 43, and a display device D1E. The remote control room RC also is equipped with an operation seat DS where a remote operator RO who remotely operates the excavator 100 sits.

[0149] The remote communication device CD2 is configured to be able to communicate with the communication device CD attached to the excavator 100.

[0150] The remote controller 40 is a computing device that executes various calculations. In this embodiment, the remote controller 40 is configured as a microcomputer including a CPU and a memory. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

[0151] The display device D1E is a device capable of displaying various types of information. The display device D1E displays an image based on information transmitted from the shovel 100 so that the remote operator RO in the remote control room RC can visually recognize the surroundings of the shovel 100. In the illustrated example, the display device D1E is a liquid crystal display that displays an image captured by an imaging device S6 mounted on the shovel 100. Note that the display device D1E may be a display or projector that realizes naked-eye stereoscopic vision, or may be VR goggles or the like.

[0152] The remote control device 26E is provided with an operation sensor 43 for detecting the operation content of the remote control device 26E. The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 43 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information regarding the detected operation content of the remote control device 26E to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the shovel 100. The operation sensor 43 may be configured to generate the operation signal itself. In this case, the operation sensor 43 may output the operation signal to the remote communication device CD2 without passing through the remote controller 40. With this configuration, the remote operator RO can remotely operate the shovel 100 from the remote control room RC.

[0153] As described above, the excavator operation system SYS of this embodiment includes the shovel 100, the remote control device 26E, and the remote communication device CD2. The shovel 100 includes the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, the attachment AT mounted on the upper rotating body 3, and the communication device CD mounted on the upper rotating body 3. The remote communication device CD2 includes an operation sensor 43 that detects the amount of operation of the shovel 100 by the remote operator RO. The remote communication device CD2 transmits the amount of operation detected by the operation sensor 43 of the remote control device 26E to the communication device CD. The attachment AT of the shovel 100 includes the bucket 6 that is rotatable about a first axis A1 along the width direction Dw, and a rotator R that rotates the bucket 6 about a second axis A2 along the length direction Dl when the bucket 6 is excavating a construction surface GS, causing soil ES to spill onto one side of the bucket 6.

[0154] With this configuration, the shovel operation system SYS of this embodiment can reduce the overlap width Wd, which is the overlap width between the range of the second or subsequent excavation work and the range of the previous excavation work, compared to when the shovel 100 causes earth and sand ES to overflow onto both sides of the bucket 6 during excavation of the construction surface GS. This makes it possible to reduce the number of excavation operations when excavating the construction surface GS, compared to when the shovel 100 causes earth and sand ES to overflow onto both sides of the bucket 6 during excavation of the construction surface GS. Therefore, the shovel operation system SYS of this embodiment can improve work efficiency E.

[0155] The preferred embodiments of the present disclosure have been described above. However, the invention according to the present disclosure is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the invention according to the present disclosure. Furthermore, each of the features described with reference to the above-described embodiments may be combined as appropriate unless technically inconsistent. [Explanation of symbols]

[0156] 1 Undercarriage 3 Upper rotating body 4. Boom 5 Arm 6 buckets 7 Boom cylinder (actuator) 8 Arm cylinder (actuator) 9 Bucket cylinder (actuator) 26 Operating device 26E Remote Control Device 30 Controllers 100 Shovel A1 First axis A2 2nd axis A3 3rd axis A4 4th axis AT Attachment CD communication device CD2 Telecommunications Device Dl Lengthwise Dw width direction ES Sediment GS construction side MD movement direction N Number of excavation operations PD work progress direction R Rotator RO Remote Operator S1 Boom angle sensor (angle sensor) S2 Arm Angle Sensor (Angle Sensor) S3 Bucket angle sensor (angle sensor) S3R Bucket rotation sensor (angle sensor) SYS Excavator Operation System W Bucket width Wd overlap width Wgs Width of construction surface θ1 Boom angle (rotation angle around the 4th axis) θ2 Arm angle (rotation angle around the third axis) θ3 Bucket angle (rotation angle around the first axis) θ3R Bucket rotation angle (rotation angle around the second axis)

Claims

1. a lower running body; an upper rotating body rotatably provided on the lower traveling body; an attachment provided on the upper rotating body, The attachment includes a bucket that is rotatable around a first axis along the width direction, and a rotator that rotates the bucket around a second axis along the length direction when the bucket is excavating a construction surface, causing soil and gravel to overflow to one side of the bucket.

2. The side of the bucket from which the soil overflows is the front side in the work progress direction that intersects with the movement direction of the bucket when excavating the construction surface. The shovel according to claim 1.

3. the rotator rotates the bucket in a rotation direction such that an opening surface of the bucket faces the work progress direction when excavating the construction surface. The shovel according to claim 2.

4. a controller for controlling the rotation of the bucket by the rotator; The controller is capable of predicting the work progress direction based on the movement direction of the bucket between the first excavation and the second excavation of the construction surface, or of setting the work progress direction in advance. The shovel according to claim 3.

5. the controller controls the rotation angle of the bucket about the second axis based on the width of the construction surface, the width of the bucket, the rotation angle of the bucket about the second axis, and an overlap width of excavation work of the bucket on the construction surface so as to minimize the number of times the excavation work is performed. The shovel according to claim 4.

6. The attachment includes an arm that supports the bucket rotatably about the first axis, and a boom that supports the arm rotatably about a third axis parallel to the first axis and is attached to the upper rotating body rotatably about a fourth axis parallel to the first axis. The shovel according to claim 4 or claim 5.

7. an actuator that rotates the bucket, the arm, and the boom around the first axis, the third axis, and the fourth axis, respectively; an angle sensor that detects a rotation angle of the bucket about the first axis and the second axis and a rotation angle of the arm and the boom about the third axis and the fourth axis; an operation device that detects an operation amount of the boom, the arm, and the bucket by an operator, the controller controls the actuator and the rotator based on the operation amount of the arm detected by the operation device and the rotation angle detected by the angle sensor during excavation of the construction surface. The shovel according to claim 6.

8. a shovel including a lower traveling body, an upper rotating body rotatably provided on the lower traveling body, an attachment provided on the upper rotating body, and a communication device provided on the upper rotating body; a remote control device that detects an operation amount of the shovel by a remote operator; a remote communication device that transmits the operation amount detected by the remote control device to the communication device; Equipped with The attachment includes a bucket that is rotatable around a first axis along the width direction, and a rotator that rotates the bucket around a second axis along the length direction when the bucket excavates a construction surface, causing soil and sand to overflow to one side of the bucket. Excavator operating system.

Images