Shovel, operation support system

Abstract

To provide a technology capable of appropriately displaying information relating to machine control of a shovel to an operator.SOLUTION: A shovel 100 comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable, a cab 10 which is mounted on the upper rotating body 3 and in which an operator of the shovel 100 sits, a hydraulic actuator HA, an operating device 26 for the operator to operate the hydraulic actuator HA, a controller 30 that performs machine control, to control the operation of the hydraulic actuator HA in accordance with predetermined conditions in response to operation of the operating device 26, and a display device 50A provided inside the cab 10. The display device 50A displays information related to machine control when operation of the operating device 26 for machine control is started.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to excavators and the like. [Background technology]

[0002] Conventionally, there is known a technique (so-called "machine control") for controlling the operation of an actuator so as to comply with predetermined conditions in response to an operation by a person who operates a shovel (also referred to as an "operator") (see, for example, Patent Document 1).

[0003] In Patent Document 1, information relating to machine control is displayed to the operator on a display device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-112825 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, it is desirable that information relating to machine control be displayed appropriately to the operator.

[0006] In view of the above-mentioned problems, an object of the present invention is to provide a technology that can appropriately display information related to the machine control of an excavator to an operator. [Means for solving the problem]

[0007] In order to achieve the above object, in one embodiment of the present disclosure, a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an operator's cab mounted on the upper rotating body and in which an operator of the shovel sits; An actuator; an operating device for the operator to operate the actuator; a control device that executes machine control and controls the operation of the actuator so as to comply with predetermined conditions in response to an operation of the operation device; a display device provided inside the driver's cab, the display device displays information about the machine control when an operation of the operation device for the machine control is started. Shovels will be provided.

[0008] In another embodiment of the present disclosure, An operation support system for supporting remote operation of a shovel including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an actuator, an operating device for an operator to remotely operate the actuator; a control device that executes machine control and controls the operation of the actuator so as to comply with predetermined conditions in response to an operation of the operation device; a display device visible to the operator, the display device displays information about the machine control when an operation of the operation device for the machine control is started. An operation support system is provided. [Effects of the Invention]

[0009] According to the above-described embodiment, information relating to machine control of the shovel can be appropriately displayed to the operator. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a side view showing an example of a shovel. [Figure 2] FIG. 2 is a block diagram showing a hardware configuration of an example of a shovel. [Figure 3] FIG. 2 is a functional block diagram illustrating a functional configuration of an example of a shovel. [Figure 4]FIG. 2 is a diagram illustrating an example of display content on a display device. [Figure 5] FIG. 10 is a diagram showing another example of the display content of the display device. [Figure 6] FIG. 10 is a diagram illustrating a first example of a control process related to the display of information related to machine control. [Figure 7] FIG. 10 is a diagram illustrating a second example of a control process related to the display of information related to machine control. [Figure 8] FIG. 1 illustrates a configuration of an example of an operation support system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments of the present disclosure 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 each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant explanations may be omitted.

[0012] The shovel 100 according to the embodiment of the present disclosure is an example of a work machine. The work machine may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel 100 is an excavator equipped with a bucket 6 as an end attachment, but the shovel 100 may be an applied machine such as a forestry machine equipped with an end attachment other than the bucket 6.

[0013] [Outline of the Excavator] An overview of the shovel 100 will be described with reference to FIG.

[0014] FIG. 1 is a side view showing an example of a shovel 100. As shown in FIG.

[0015] Hereinafter, the direction in which the attachment AT extends when viewed from above the shovel 100 will be defined as "front," and the direction at the shovel 100 or the direction as seen from the shovel 100 may be described.

[0016] As shown in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper rotating body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cab 10.

[0017] The lower traveling structure 1 uses a pair of left and right crawlers 1C to travel the excavator 100. The left and right crawlers 1C are hydraulically driven by a left traveling hydraulic motor 1ML (see FIG. 2) and a right traveling hydraulic motor 1MR (see FIG. 2), respectively. This allows the lower traveling structure 1 to travel on its own.

[0018] The upper rotating body 3 is mounted to the lower traveling body 1 so as to be rotatable (i.e., freely rotatable) via the rotating mechanism 2. For example, the upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by a rotating hydraulic motor 2M (see FIG. 2).

[0019] Boom 4 is attached to the front center of upper rotating body 3 so as to be able to tilt up and down about a rotation axis that runs along the left-right direction. Arm 5 is attached to the tip of boom 4 so as to be able to rotate about a rotation axis that runs along the left-right direction. Bucket 6 is attached to the tip of arm 5 so as to be able to rotate about a rotation axis that runs along the left-right direction.

[0020] The bucket 6 is an example of an end attachment, and is used for, for example, excavation work, slope work, ground leveling work, and the like.

[0021] The bucket 6 is attached to the tip of the arm 5 in a manner that allows it to be appropriately replaced depending on the work content of the excavator 100. In other words, instead of the bucket 6, a bucket of a different type from the bucket 6, such as a relatively large bucket, a slope bucket, or a dredging bucket, may be attached to the tip of the arm 5. Also, a type of end attachment other than a bucket, such as a mixer, breaker, or crusher, may be attached to the tip of the arm 5. Also, a spare attachment such as a quick coupling or a tiltrotator may be provided between the arm 5 and the end attachment.

[0022] The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0023] The operator's cab 10 (also referred to as a "cabin" or "cab") is a control room where an operator sits and operates the excavator 100. The operator's cab 10 is mounted on the front left side of the upper rotating body 3, for example.

[0024] The excavator 100 operates driven elements such as the lower traveling body 1 (i.e., a pair of left and right crawlers 1CL, 1CR), upper rotating body 3, boom 4, arm 5, and bucket 6, for example, in response to operations by an operator seated in the cab 10.

[0025] Furthermore, the excavator 100 may operate driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 in response to remote control, as will be described later.

[0026] [Excavator configuration] Next, the configuration of the shovel 100 (specifically, the hardware configuration) will be described with reference to FIG. 2 in addition to FIG.

[0027] FIG. 2 is a block diagram showing an example of the configuration of the shovel 100.

[0028] In FIG. 2, the paths through which mechanical power is transmitted are indicated by double lines, the paths through which high-pressure hydraulic oil that drives the hydraulic actuator flows are indicated by solid lines, the paths through which pilot pressure is transmitted are indicated by dashed lines, and the paths through which electrical signals are transmitted are indicated by dotted lines.

[0029] The shovel 100 includes various components, such as a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with the user, a communication system for communicating with the outside world, and a control system for various controls.

[0030] <Hydraulic drive system> 2, the hydraulic drive system of the excavator 100 includes the hydraulic actuator HA that hydraulically drives each of the driven elements, such as the lower traveling structure 1 (specifically, the left and right crawlers 1C), the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6, as described above. The hydraulic drive system of the excavator 100 according to this embodiment also includes the engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0031] The hydraulic actuator HA includes traveling hydraulic motors 1ML, 1MR, a swing hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and the like.

[0032] Note that the hydraulic actuators HA of the shovel 100 may be partially or entirely replaced with electric actuators. In other words, the shovel 100 may be a hybrid shovel or an electric shovel.

[0033] The engine 11 is the prime mover of the excavator 100 and the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, on the rear of the upper rotating body 3. The engine 11 rotates at a constant speed at a preset target rotation speed under direct or indirect control by a controller 30 (described later), for example, and drives the main pump 14 and the pilot pump 15.

[0034] It should be noted that instead of or in addition to the engine 11, the excavator 100 may be equipped with another prime mover (for example, an electric motor).

[0035] The regulator 13 controls (adjusts) the discharge amount of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilting angle") in response to a control command from the controller 30.

[0036] The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, thereby adjusting the stroke length of the piston and controlling the discharge flow rate and discharge pressure.

[0037] The control valve 17 drives the hydraulic actuators HA in response to operation of the operating device 26 by an operator or remote operation. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to each hydraulic actuator HA in response to operation by the operator. The control valve 17 includes directional control valves 17A to 17F that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each hydraulic actuator HA.

[0038] The directional control valve 17A controls the flow rate and flow direction of the hydraulic oil supplied to the boom cylinder 7. This allows the directional control valve 17A to extend and retract the boom cylinder 7 at a variable speed. The directional control valve 17A is, for example, a spool valve.

[0039] The directional control valve 17B controls the flow rate and flow direction of the hydraulic oil supplied to the arm cylinder 8. This allows the directional control valve 17B to extend and retract the arm cylinder 8 at a variable speed. The directional control valve 17B is, for example, a spool valve.

[0040] The directional control valve 17C controls the flow rate and flow direction of the hydraulic oil supplied to the bucket cylinder 9. In this way, the directional control valve 17C can extend and retract the bucket cylinder 9 at a variable speed. The directional control valve 17C is, for example, a spool valve.

[0041] The directional control valve 17D controls the flow rate and direction of hydraulic oil supplied to the traveling hydraulic motor 1ML. This allows the directional control valve 17D to rotate the traveling hydraulic motor 1ML in both directions at variable speeds. The directional control valve 17D is, for example, a spool valve.

[0042] The directional control valve 17E controls the flow rate and direction of hydraulic oil supplied to the traveling hydraulic motor 1MR. This allows the directional control valve 17E to rotate the traveling hydraulic motor 1MR in both directions at variable speeds. The directional control valve 17E is, for example, a spool valve.

[0043] The directional control valve 17F controls the flow rate and direction of hydraulic oil supplied to the hydraulic swing motor 2M. This allows the directional control valve 17F to rotate the hydraulic swing motor 2M in both directions at variable speeds. The directional control valve 17F is, for example, a spool valve.

[0044] <Operation system> As shown in FIG. 2, the operating system of the excavator 100 includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31.

[0045] The pilot pump 15 supplies pilot pressure to various hydraulic devices via a pilot line 25. The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0046] The pilot pump 15 may be omitted. In this case, the relatively high-pressure hydraulic oil discharged from the main pump 14 may be reduced in pressure by a predetermined pressure reducing valve, and the resulting relatively low-pressure hydraulic oil may be supplied to various hydraulic devices as pilot pressure.

[0047] The operating device 26 is provided near the driver's seat inside the cab 10 and is used by the operator to operate various driven elements. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive the respective driven elements, thereby enabling the operator to operate the driven elements that are targets of the hydraulic actuators HA. For example, the operating device 26 includes lever devices for operating the respective hydraulic actuators HA. Furthermore, some of the hydraulic actuators HA may be operable by pedal devices instead of or in addition to the lever devices. Furthermore, the lever devices may be configured to allow the operator to operate two or more hydraulic actuators HA. For example, the lever devices may be configured to allow the operator to operate two hydraulic actuators HA by operating them in the forward / backward direction and left / right direction, respectively.

[0048] 2, the operating device 26 is of an electrical type. Specifically, the operating device 26 outputs an electric signal (hereinafter referred to as an "operation signal") corresponding to the operation content, and the operation signal is input to the controller 30. The controller 30 then outputs an operation command corresponding to the content of the operation signal, that is, an operation command control signal corresponding to the operation content for the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

[0049] For example, the lever device is configured so that the operator can tilt it in two opposing directions (for example, forward / backward or left / right). This allows the operator to operate the double-acting hydraulic actuator HA that can operate in the two opposing directions by tilting the lever device in either of the two opposing directions. The lever device outputs, for example, an electric signal (operation signal) according to the operation content thereof, and the output operation signal is taken into the controller 30.

[0050] The controller 30 has preset therein a correspondence relationship between the operation direction and operation amount of the lever device (for example, the tilt direction and tilt angle of the lever device) and the control signal (for example, control current) to the hydraulic control valve 31. This allows the controller 30 to control the hydraulic control valve 31 in accordance with the operation of the lever device.

[0051] The directional control valves 17A to 17F that are built into the control valve 17 and drive the hydraulic actuators HA may be of an electromagnetic solenoid type. In this case, an operation signal output from the operating device 26 may be directly input to the control valve 17 (specifically, each of the electromagnetic solenoid type directional control valves).

[0052] The operating device 26 may also be of a hydraulic pilot type. Specifically, the operating device 26 uses hydraulic oil supplied from the pilot pump 15 through a pilot line and outputs a pilot pressure corresponding to the operation to a secondary pilot line. The secondary pilot line is then connected to the control valve 17. As a result, a pilot pressure corresponding to the operation of the operating device 26 is input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation of the operating device 26 by an operator or the like. In this case, an operating state sensor capable of acquiring information regarding the operating state of the operating device 26 is provided, and the output of the operating state sensor is input to the controller 30. As a result, the controller 30 can grasp the operating state of the operating device 26. The operating state sensor is, for example, a pressure sensor (also referred to as an "operating pressure sensor") that acquires information regarding the pilot pressure (also referred to as "operating pressure") in the secondary pilot line of the operating device 26. The operating state sensor may also be a potentiometer or the like capable of detecting a displacement amount corresponding to the operation amount of a lever device or a pedal device.

[0053] As described above, some or all of the hydraulic actuators HA may be replaced with electric actuators. In this case, for example, the controller 30 may output an operation command corresponding to the operation content of the operation device 26 to the electric actuator or a driver that drives the electric actuator. Also, the configuration may be such that an operator can operate the electric actuator using the operation device 26 by directly inputting an operation signal from the operation device 26 to the electric actuator or a driver.

[0054] A hydraulic control valve 31 is provided for each hydraulic actuator HA to be operated by the operating device 26. As a result, the hydraulic control valve 31 can output a pilot pressure to the control valve 17 according to the operation of the corresponding hydraulic actuator HA. Furthermore, a hydraulic control valve 31 is provided for each of the two opposing directions in which the double-acting hydraulic actuator HA can operate. In other words, two hydraulic control valves 31 are provided for each hydraulic actuator HA to be operated by the operating device 26. Of the two hydraulic control valves 31, one hydraulic control valve 31 outputs a pilot pressure corresponding to operation of the corresponding hydraulic actuator HA in one direction, and the other hydraulic control valve 31 outputs a pilot pressure corresponding to operation of the corresponding hydraulic actuator HA in the other direction. For example, the hydraulic control valve 31 may be provided in a pilot line between the pilot pump 15 and the control valve 17 and configured to change its flow path area (i.e., the cross-sectional area through which hydraulic oil can flow). As a result, the hydraulic control valve 31 can output a predetermined pilot pressure to the secondary pilot line using hydraulic oil from the pilot pump 15 supplied through the primary pilot line. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 in accordance with an operation command from the controller 30. Therefore, for example, the controller 30 can cause the hydraulic control valve 31 to directly supply a pilot pressure in accordance with the operation content (operation signal) of the operating device 26 to the control valve 17, thereby realizing the operation of the excavator 100 based on the operation by the operator.

[0055] Furthermore, the controller 30 may control the hydraulic control valve 31 to realize a machine control (MC) function of the shovel 100 and a remote control function of the shovel 100. The machine control function and the remote control function of the shovel 100 will be described in detail later.

[0056] If the operating device 26 is of a hydraulic pilot type, shuttle valves are provided between each of the operating device 26 and the hydraulic control valve 31 and the control valve 17. For example, a shuttle valve is provided for each hydraulic actuator HA to be operated by the operating device 26, similar to the hydraulic control valve 31. Furthermore, similar to the hydraulic control valve 31, a shuttle valve may be provided for each of the two opposing directions in which a double-acting hydraulic actuator HA can operate. In other words, two shuttles are provided for each hydraulic actuator HA to be operated by the operating device 26. For example, the higher of the pilot pressure output from the operating device 26 corresponding to one direction operation of the target hydraulic actuator HA and the pilot pressure on the secondary side of one of the two hydraulic control valves 31 acts on the control valve 17 via the shuttle valve. Similarly, the higher of the pilot pressure output from the operating device 26 corresponding to the other direction operation of the target hydraulic actuator HA and the pilot pressure on the secondary side of the other of the two hydraulic control valves 31 acts on the control valve 17 via the shuttle valve. As a result, for example, when the operating device 26 is operated in a situation where no pilot pressure is output from the hydraulic control valve 31, a pilot pressure according to the operation of the operating device 26 acts on the control valve 17 through the shuttle valve. Therefore, the control valve 17 can realize the operation of the hydraulic actuator HA according to the operation of the operating device 26 by the operator. Also, for example, the controller 30 can make the pilot pressure on the secondary side of the hydraulic control valve 31 act on the control valve 17 through the shuttle valve by outputting a pilot pressure from the hydraulic control valve 31 that is higher than the pilot pressure on the secondary side of the operating device 26 that is input to the shuttle valve. Therefore, the controller 30 can realize a machine control function and a remote operation function.

[0057] Furthermore, when the operating device 26 is of a hydraulic pilot type, in addition to the shuttle valve, a pressure reducing valve may be provided in a pilot line between the operating device 26 and the shuttle valve. The pressure reducing valve is configured to operate in response to, for example, a control signal input from the controller 30 and to be able to change its flow path area. As a result, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by the operator. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the operating device 26. Furthermore, for example, even when the operating device 26 is being operated, the controller 30 can reduce the pilot pressure output from the operating device 26 using the pressure reducing valve to make it lower than the pilot pressure output from the hydraulic control valve 31. Therefore, by controlling the hydraulic control valve 31 and the pressure reducing valve, the controller 30 can reliably apply a desired pilot pressure to the control valve 17, for example, regardless of the operation of the operating device 26. Therefore, the controller 30 can more appropriately realize the machine control function and remote control function of the excavator 100 by controlling the pressure reducing valve in addition to the hydraulic control valve 31, for example.

[0058] <User Interface> As shown in FIG. 2, the user interface system of the shovel 100 includes an operation device 26, an output device 50, and an input device 52.

[0059] The output device 50 outputs various types of information to a user of the shovel 100 (for example, an operator of the cab 10), people around the shovel 100 (for example, a worker or a driver of a work vehicle), and the like.

[0060] For example, the output device 50 includes a display device 50A that outputs various information visually. The display device 50A is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. For example, as shown in FIG. 1 , the display device 50A may be provided inside the cab 10 and output various information visually to an operator or the like inside the cab 10.

[0061] The output device 50 may also include a lighting device that outputs various types of information visually. An example of the lighting device is a warning light (indicator lamp). The lighting device may be provided, for example, inside the cab 10, and output various types of information visually to an operator or the like inside the cab 10. The lighting device may also be mounted in a position on the upper rotating body 3 that is visible to people around the excavator 100, and output various types of information visually to people around the excavator 100.

[0062] The output device 50 may also include a sound output device 50B that outputs various types of information auditorily. The sound output device 50B is, for example, a buzzer or a speaker. The sound output device 50B is provided, for example, inside or outside the cab 10, and outputs various types of information auditorily to the operator inside the cab 10 and people (workers, etc.) around the excavator 100.

[0063] The output device 50 may also include a device that outputs various information in a tactile manner, such as by vibrating the cockpit.

[0064] The input device 52 receives various inputs from the user of the shovel 100, and signals corresponding to the received inputs are taken into the controller 30. For example, as shown in FIG. 1 , the input device 52 is provided inside the cab 10 and receives inputs from an operator or the like inside the cab 10. The input device 52 may also be provided, for example, on the side of the upper rotating body 3 and receive inputs from a worker or the like around the shovel 100.

[0065] For example, the input device 52 is a mechanical input device that accepts input from a user through mechanical operation. The mechanical input device may include a touch panel mounted on the display device 50A, a touch pad installed around the display device 50A, a button switch, a lever, a toggle, a knob switch provided on a lever device included in the operation device 26, and the like.

[0066] The input device 52 may also be an audio input device that accepts audio input from the user. The audio input device may include, for example, a microphone.

[0067] The input device 52 may be a gesture input device that accepts gesture inputs from the user. The gesture input device includes, for example, an imaging device that captures an image of a gesture made by the user.

[0068] The input device 52 may also be a biometric input device that accepts biometric input from the user, such as input of biometric information such as the user's fingerprint or iris.

[0069] The input device 52 includes, for example, a machine control ON / OFF switch (hereinafter referred to as "MC ON / OFF switch") 52A, a machine control operation switch (hereinafter referred to as "MC operation switch") 52B, and a screen operation device 52C (see FIG. 3).

[0070] The MC ON / OFF switch 52A is an alternate switch for switching the machine control function between ON (ie, enabled) and OFF (ie, disabled).

[0071] The MC ON / OFF switch 52A may be omitted. In this case, the machine control function is turned ON / OFF (i.e., enabled / disabled) by operating a predetermined setting screen displayed on the display device 50A via the screen operation device 52C, for example.

[0072] The MC operation switch 52B is a momentary switch that enables operation of the operating device 26 for machine control of the shovel 100 when the machine control function is ON (i.e., enabled). For example, when the operating device 26 is operated with the MC ON / OFF switch 52A turned ON and the MC operation switch 52B operated, the controller 30 executes machine control of the shovel 100 in accordance with the operation content of the operating device 26. On the other hand, when the MC ON / OFF switch 52A is turned ON but the MC operation switch 52B is not operated, the controller 30 does not execute machine control in accordance with the operation content of the operating device 26, even if the operating device 26 is operated. In this case, the controller 30 may prevent the corresponding hydraulic actuator HA from operating even when the operating device 26 is operated, or may cause the corresponding hydraulic actuator HA to operate in accordance with the operation content of the operating device 26 regardless of machine control. The MC operation switch 52B is a push-type switch that is provided at the tip of a lever device serving as the operating device 26, i.e., at the handle (also referred to as the "knob"). As a result, the operation device 26 for machine control of the excavator 100 can be operated by operating the lever device while pressing the MC operation switch 52B of the lever device serving as the operation device 26.

[0073] The MC operation switch 52B may be omitted. In this case, when the operation device 26 is operated while the machine control function is enabled (for example, when the MC ON / OFF switch 52A is turned ON), the controller 30 executes machine control in accordance with the operation of the operation device 26.

[0074] The screen operation device 52C is an input device for operating the screen displayed on the display device 50A. This allows the operator of the shovel 100 to operate the screen of the display device 50A using the screen operation device 52C. The screen operation device 52C is, for example, a button provided on the display device 50A, or a touch panel touchpad, joystick, trackball, or the like mounted in the display area of ​​the display device 50A.

[0075] <Communications> As shown in FIG. 2, the communication system of the shovel 100 according to this embodiment includes a communication device 60.

[0076] The communication device 60 is connected to an external communication line NW and communicates with devices provided separately from the shovel 100. The devices provided separately from the shovel 100 may include devices external to the shovel 100 as well as portable terminal devices (i.e., mobile terminals) brought into the operator's cab 10 by the user of the shovel 100. The communication device 60 may be, for example, a 4G (4 th Generation) and 5G (5 th The communication device 60 may include a mobile communication module conforming to standards such as the IEEE 802.11 standard (International IEEE 802.11 Generation). The communication device 60 may also include, for example, a satellite communication module. The communication device 60 may also include, for example, a WiFi communication module or a Bluetooth (registered trademark) communication module. If there are multiple types of connectable communication lines NW, the communication device 60 may include multiple communication devices 60 in accordance with the types of the communication lines NW.

[0077] For example, the communication device 60 communicates with an external device within the work site through a local communication line NW established at the work site. The local communication line NW is, for example, a local 5G (so-called local 5G) mobile communication line or a local network using WiFi6 established at the work site.

[0078] Furthermore, the communication device 60 may communicate with an external device outside the work site through a wide area communication line NW that includes the work site, that is, a wide area network.

[0079] The communication device 60 may be omitted.

[0080] <Control system> 2, the control system of the shovel 100 includes a controller 30. Furthermore, the control system of the shovel 100 according to this embodiment includes sensing devices S1 to S6.

[0081] The controller 30 performs various controls related to the shovel 100 .

[0082] The functions of the controller 30 may be realized by any hardware or any combination of hardware and software, etc. For example, as shown in Fig. 2, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, which are connected by a bus B1.

[0083] The auxiliary storage device 30A is a non-volatile storage means that stores the programs to be installed as well as necessary files, data, etc. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory.

[0084] For example, when an instruction to start a program is received, the memory device 30B loads the program from the auxiliary storage device 30A so that it can be read by the CPU 30C. The memory device 30B is, for example, an SRAM (Static Random Access Memory).

[0085] The CPU 30C executes, for example, a program loaded into the memory device 30B, and realizes various functions of the controller 30 according to instructions from the program.

[0086] The interface device 30D functions as, for example, a communication interface for connecting to a communication line inside the shovel 100. The communication line inside the shovel 100 includes, for example, a one-to-one communication line or an on-board network such as a CAN (Controller Area Network). The interface device 30D may include a plurality of different types of communication interfaces according to the types of communication lines to be connected.

[0087] The interface device 30D also functions as an external interface for reading data from a recording medium and writing data to a recording medium. The recording medium is, for example, a dedicated tool connected to a connector installed inside the operator's cab 10 via a detachable cable. The recording medium may also be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. As a result, a program for realizing various functions of the controller 30 is provided by, for example, a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. The program may also be downloaded from another computer external to the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0088] 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 distributed and realized by a plurality of controllers mounted on the shovel 100.

[0089] The sensing device S1 is attached to the boom 4 and measures the attitude of the boom 4. The sensing device S1 outputs measurement data representing the attitude of the boom 4. The attitude of the boom 4 is, for example, the attitude angle (hereinafter referred to as the "boom angle") around the rotation axis of the base end of the boom 4, which corresponds to the connection part between the boom 4 and the upper rotating body 3. The sensing device S1 includes, for example, a rotary potentiometer, a rotary encoder, an acceleration sensor, an angular acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same may be true for the sensing devices S2 to S4 below. The sensing device S1 may also include a cylinder sensor that detects the extension / retraction position of the boom cylinder 7. The same may be true for the sensing devices S2 and S3 below. The output of the sensing device S1, i.e., the measurement data representing the attitude of the boom 4, is input to the controller 30. This allows the controller 30 to grasp the attitude of the boom 4.

[0090] The sensing device S2 is attached to the arm 5 and measures the posture of the arm 5. The sensing device S2 outputs measurement data representing the posture of the arm 5. The posture of the arm 5 is, for example, the posture angle (hereinafter referred to as "arm angle") around the rotation axis of the base end of the arm 5, which corresponds to the connection part between the arm 5 and the boom 4. The output of the sensing device S2 (measurement data representing the posture of the arm 5) is input to the controller 30. This enables the controller 30 to grasp the posture of the arm 5.

[0091] The sensing device S3 is attached to the bucket 6 and measures the attitude of the bucket 6. The sensing device S3 outputs measurement data that indicates the attitude of the bucket 6. The attitude of the bucket 6 is, for example, the attitude angle around the rotation axis of the base end of the bucket 6, which corresponds to the connection part with the arm 5 (hereinafter referred to as the "bucket angle"). The output of the sensing device S3 (measurement data that indicates the attitude of the bucket 6) is input to the controller 30. This enables the controller 30 to grasp the attitude of the bucket 6.

[0092] The sensing device S4 measures the attitude state of the shovel 100's machine body. The machine body of the shovel 100 corresponds to the main body of the shovel 100 and includes the undercarriage 1 and the upper rotating body 3. The sensing device S4 outputs measurement data representing the attitude state of the shovel 100's machine body. The attitude state of the shovel 100's machine body is, for example, the inclination state of the machine body with respect to a predetermined reference plane (for example, a horizontal plane). For example, the sensing device S4 is attached to the upper rotating body 3 and measures the inclination angles of the shovel 100 about two axes in the fore-aft and lateral directions (hereinafter referred to as the "fore-aft inclination angle" and the "lateral inclination angle"). The output of the sensing device S4 (measurement data representing the attitude state of the shovel 100's machine body) is input to the controller 30. This allows the controller 30 to grasp the attitude state (inclination state) of the machine body (upper rotating body 3).

[0093] The sensing device S5 is attached to the upper rotating body 3 and measures the rotation state of the upper rotating body 3. The sensing device S5 outputs measurement data that indicates the rotation state of the upper rotating body 3. The sensing device S5 measures, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The sensing device S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc. The output of the sensing device S5 (measurement data that indicates the rotation state of the upper rotating body 3) is input into the controller 30. This allows the controller 30 to grasp the rotation state of the upper rotating body 3, such as the rotation angle.

[0094] For example, the controller 30 can grasp (specifically, estimate) the position of the tip of the attachment AT (specifically, the bucket 6) based on the outputs of the sensing devices S1 to S5. Therefore, the controller 30 can control the operation of the excavator 100 using the machine control function while grasping the position of the tip of the attachment AT.

[0095] If the sensing device S4 includes a gyro sensor, a six-axis sensor, an IMU, or the like that can detect angular velocities around three axes, the rotation state (e.g., rotation angular velocity) of the upper rotating body 3 may be measured based on the detection signal of the sensing device S4. In this case, the sensing device S5 may be omitted.

[0096] Furthermore, in addition to the sensing devices S1 to S5, the shovel 100 may be provided with a sensing device (i.e., a positioning device) that measures the position of the shovel 100. The positioning device may measure the position in world coordinates (also referred to as "global coordinates"), or may measure the position in local coordinates at the work site. In the former case, the positioning device is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, the positioning device is a transceiver (e.g., a transponder) that communicates with equipment that serves as a reference for the position at the work site and can output a signal corresponding to the position relative to the reference. The output of the positioning device is taken into the controller 30.

[0097] The sensing device S6 is an imaging device that acquires images showing the state of the periphery of the shovel 100. Furthermore, the sensing device S6 may acquire (e.g., generate) three-dimensional data (hereinafter simply referred to as "three-dimensional data of objects") that represents the positions and outer shapes of objects around the shovel 100 within the imaging range (i.e., the angle of view) based on the acquired images and data related to distances, which will be described later. The three-dimensional data of objects around the shovel 100 is, for example, data of coordinate information of a point cloud that represents the surface of the object, range image data, etc.

[0098] 1, the sensing device S6 includes a front camera S6F that captures an image in front of the upper rotating body 3. The sensing device S6 may also include a rear camera S6B that captures an image in rear of the upper rotating body 3, a left camera S6L that captures an image to the left of the upper rotating body 3, a right camera S6R that captures an image to the right of the upper rotating body 3, etc. This allows the sensing device S6 to capture an image of the entire circumference around the shovel 100, that is, a range covering an angular direction of 360 degrees, when viewed from above the shovel 100. Furthermore, the operator can view peripheral images based on images captured by the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B through the display device 50A, and check the conditions in front, left, right, and rear of the upper rotating body 3.

[0099] The sensing device S6 is, for example, a monocular camera. Alternatively, the sensing device S6 may be, for example, a stereo camera, a TOF (Time Of Flight) camera, or the like (hereinafter collectively referred to as a "3D camera") that can acquire data related to distance (i.e., depth) in addition to two-dimensional images.

[0100] The output data of the sensing device S6 (for example, image data or three-dimensional data of objects around the shovel 100) is input to the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30 to monitor objects around the shovel 100 based on the output data of the sensing device S6. Also, for example, the controller 30 can determine the surrounding environment of the shovel 100 (for example, weather conditions and the positions and types of objects around the shovel 100) based on the output data of the sensing device S6. Also, for example, the controller 30 can determine the attitude state of the attachment AT shown in a captured image based on the output data of the sensing device S6 (front camera). Also, for example, the controller 30 can determine the attitude state of the body of the shovel 100 (for example, the upper rotating body 3) based on the output data of the sensing device S6, using objects around the shovel 100 as a reference.

[0101] Furthermore, instead of or in addition to the sensing device S6, a sensing device (i.e., a distance sensor) capable of measuring the distance between the shovel 100 and surrounding objects may be provided on the upper rotating body 3. The distance sensor is attached, for example, to the top of the upper rotating body 3, and acquires data relating to the distance and direction of surrounding objects relative to the shovel 100. Furthermore, the distance sensor may acquire (e.g., generate) three-dimensional data (e.g., point cloud coordinate information data) of objects around the shovel 100 within the sensing range based on the acquired data. The distance sensor is, for example, a LiDAR (Light Detection and Ranging). Furthermore, for example, the distance sensor may be, for example, a millimeter-wave radar, an ultrasonic sensor, an infrared sensor, or the like.

[0102] Depending on the application of the sensing device S6, some of the front camera S6F, rear camera S6B, left camera S6L, and right camera S6R may be omitted. Furthermore, if the shovel 100 is not remotely controlled or objects around the shovel 100 are not monitored, the sensing device S6 may be omitted.

[0103] [Machine control functional configuration] Next, the functional configuration relating to machine control of the shovel 100 will be described with reference to FIG. 3 in addition to FIG. 1 and FIG.

[0104] FIG. 3 is a functional block diagram showing an example of the functional configuration of the shovel 100.

[0105] The machine control function is a function in which the controller 30 controls the operation of the hydraulic actuator HA in accordance with predetermined conditions in response to the operation of the hydraulic actuator HA by the operator via the operating device 26.

[0106] For example, in response to the operation of one hydraulic actuator HA, the controller 30 controls the operation of the other hydraulic actuators HA so as to be linked to the operation of the other hydraulic actuators HA in accordance with predetermined conditions. This allows the controller 30 to realize so-called semi-automatic operation through machine control. For example, in response to the operation of the arm cylinder 8 via the operating device 26, the controller 30 controls the operation of the boom cylinder 7 and the bucket cylinder 9 in accordance with predetermined conditions, thereby operating the attachment AT. This allows the controller 30 to operate the boom 4 and the bucket 6 in conjunction with the operation of the arm 5 in accordance with the operation of the operating device 26 by the operator, thereby enabling semi-automatic operation of the excavation operation and the compaction operation of the excavator 100. Furthermore, the controller 30 may also control the operation of the boom cylinder 7 in accordance with predetermined conditions, in response to the operation of the upper rotating body 3 via the operating device 26, thereby causing the boom 4 to perform a raising operation or a lowering operation. As a result, the controller 30 raises and lowers the boom 4 in conjunction with the rotation of the upper rotating body 3 in response to the operator's operation of the operating device 26, thereby enabling semi-automatic operation of the boom-raising and boom-lowering rotation operations. The boom-raising and rotation operation is a combined operation in which the boom 4 is raised and the upper rotating body 3 is rotated simultaneously, and the boom-lowering and rotation operation is a combined operation in which the boom 4 is lowered and the upper rotating body 3 is rotated simultaneously. The controller 30 may also control the operation of one operated hydraulic actuator HA in accordance with predetermined conditions in accordance with the operation of the hydraulic actuator HA. As a result, the controller 30 can realize an assist operation in which the operation of one operated hydraulic actuator is adjusted in accordance with predetermined conditions through machine control. The controller 30 may also perform machine control by combining semi-automatic operation and assist operation. For example, the controller 30 adjusts the operation of one hydraulic actuator HA in accordance with the operation of the hydraulic actuator HA, and controls the operation of other hydraulic actuators HA in conjunction with the adjusted operation of the hydraulic actuator HA.This allows the operating speed of one hydraulic actuator HA to be adjusted to be lowered, for example, when the operating speed of one hydraulic actuator HA corresponding to the operation content of the operating device 26 is so high that it exceeds the range in which the operation of other hydraulic actuators HA can be linked.

[0107] The predetermined condition is, for example, when the shovel 100 performs excavation work, compaction work, etc., the shovel 100 performs excavation operations, compaction operations, etc. so that the ground in the area to be worked on (hereinafter referred to as the "working area") achieves a predetermined target shape. More specifically, the predetermined condition is to operate the attachment AT within a range in which the bucket 6 does not penetrate below the predetermined target shape. Alternatively, the predetermined condition may be to operate the attachment AT so that a predetermined portion of the bucket 6 (hereinafter referred to as the "working portion") moves along the target shape. The working portion of the bucket 6 is, for example, the portion of the bucket 6 that comes into contact with the ground in the working area. For example, in the case of excavation work by the shovel 100, the working portion of the bucket 6 is the toe of the bucket 6, and in the case of compaction work by the shovel 100, the back surface of the bucket 6. Another predetermined condition is, for example, when the excavator 100 loads earth and sand onto a truck, to move the earth and sand scooped into the bucket 6 from the pile of earth and sand to the top of the truck bed by a boom-raising and swinging operation so that the bucket 6 does not collide with an obstacle such as the tailgate of the truck bed. Another predetermined condition is, for example, when the excavator 100 loads earth and sand onto a truck, to move the bucket 6 from the top of the truck bed to the pile of earth and sand by a boom-lowering and swinging operation so that the bucket 6 does not collide with an obstacle such as the tailgate of the truck bed. Another predetermined condition is, for example, when the excavator 100 loads earth and sand onto a truck, to discharge the earth and sand inside the bucket 6 onto the truck bed so that the earth and sand in the truck bed ultimately assumes a predetermined target shape.

[0108] Below, the functional configuration relating to machine control will be described, focusing on when the excavator 100 performs excavation work and compaction work.

[0109] 3, the controller 30 includes, as functional units related to machine control of the shovel 100, a terrain shape acquisition unit 301, a target shape information storage unit 302, a target trajectory generation unit 303, an operation control unit 304, a screen information acquisition unit 305, and a display control unit 306. For example, the functions of the terrain shape acquisition unit 301, the target trajectory generation unit 303, the operation control unit 304, the screen information acquisition unit 305, and the display control unit 306 are realized by, for example, loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing it on the CPU 30C. Also, for example, the target shape information storage unit 302 is realized by, for example, a storage area defined in the auxiliary storage device 30A.

[0110] The terrain shape acquisition unit 301 acquires information representing the current shape of the ground around the shovel 100 (hereinafter referred to as "terrain shape") based on the output of the sensing device S6. The information representing the terrain shape is, for example, three-dimensional point cloud data of objects around the shovel 100.

[0111] For example, the terrain shape acquisition unit 301 acquires information representing the current terrain shape around the shovel 100, regardless of the output of the MC operation switch 52B, on the condition that the output of the MC ON / OFF switch 52A is ON. Alternatively, the terrain shape acquisition unit 301 may acquire information representing the current terrain shape around the shovel 100, on the condition that the output of the MC ON / OFF switch 52A is ON and the output of the MC operation switch 52B is ON. Alternatively, the terrain shape acquisition unit 301 may acquire information representing the current terrain shape around the shovel 100, regardless of the outputs of both the MC ON / OFF switch 52A and the MC operation switch 52B.

[0112] The target shape information storage unit 302 stores information representing the target shape of the work area around the shovel 100. The information representing the target shape is, for example, information representing a target construction surface, and may be three-dimensional data on a predefined three-dimensional coordinate system, or may be a combination of two-dimensional data corresponding to a cross section on the three-dimensional coordinate system and information representing the range thereof. The information representing the target shape is acquired from an external device, for example, via the communication device 60. Alternatively, the information representing the target shape may be acquired based on information input by the operator via the input device 52.

[0113] The target trajectory generating unit 303 generates a target trajectory for the working portion of the bucket 6 based on the operation signal of the operating device 26, the outputs of the sensing devices S1 to S5, information representing the current terrain shape around the excavator 100, and information representing the target shape. For example, the target trajectory generating unit 303 generates a target trajectory for the working portion of the bucket 6 in response to the operation signal of the operating device 26, taking into account the difference between the current terrain shape of the working area and the target shape, so that the working area will become the target shape. Specifically, when the difference between the current terrain shape of the working area and the target shape is relatively large, the target trajectory generating unit 303 may generate a target trajectory corresponding to rough excavation within a range where the toe of the bucket 6 does not penetrate below the target shape. On the other hand, when the difference between the current terrain shape of the working area and the target shape is relatively small, the target trajectory generating unit 303 may generate a target trajectory for the working portion of the bucket 6 corresponding to finish excavation, compaction, etc., so that the working portion, such as the toe or back of the bucket 6, moves along the target shape (e.g., the target construction surface).

[0114] The operation control unit 304 operates the hydraulic actuator HA by machine control. Specifically, the operation control unit 304 outputs a control signal to the hydraulic control valve 31 in response to an operation signal from the operating device 26, and controls the operation of the hydraulic actuator HA so that the working portion of the bucket 6 moves along the target trajectory generated by the target trajectory generating unit 303.

[0115] Target trajectory generating unit 303 generates a target trajectory for the working portion of bucket 6, regardless of the output of MC operation switch 52B, on the condition that the output of MC ON / OFF switch 52A is ON, for example. In this case, operation control unit 304 operates hydraulic actuator HA by machine control, on the condition that the output of MC operation switch 52B is ON, for example. Alternatively, target trajectory generating unit 303 may generate a target trajectory for the working portion of bucket 6 on the condition that the output of MC ON / OFF switch 52A is ON and the output of MC operation switch 52B is ON. In this case, operation control unit 304 operates hydraulic actuator HA by machine control, on the condition that the target trajectory has been generated by target trajectory generating unit 303, for example.

[0116] The screen information acquisition unit 305 acquires information (hereinafter referred to as "screen information") to be displayed on the display device 50A. The screen information acquisition unit 305 includes a surrounding image acquisition unit 305A and a machine control information acquisition unit (hereinafter referred to as "MC information acquisition unit") 305B.

[0117] The surrounding image acquisition unit 305A acquires an image showing the surroundings of the shovel 100 (hereinafter referred to as a "surrounding image") based on the output of the sensing device S6 as an imaging device.

[0118] The surrounding image is, for example, the captured image itself output from the imaging device. Alternatively, the surrounding image may be a processed image obtained by processing the captured image output from the imaging device. For example, the processed surrounding image is a virtual viewpoint image obtained by applying a known viewpoint conversion process to the captured image of the imaging device.

[0119] The MC information acquisition unit 305B acquires information relating to the machine control function of the excavator 100 (hereinafter referred to as "MC information").

[0120] The MC information includes, for example, information representing the positional relationship between the bucket 6 and the target construction surface of the work area. This information is acquired based on information representing the current terrain shape around the shovel 100 acquired by the terrain shape acquisition unit 301 and the position of the bucket 6 ascertained from the output of the sensing devices S1 to S5. The MC information may also include setting information related to machine control of the shovel 100. The setting information related to machine control includes, for example, information for making settings related to machine control and information representing the current state of the settings related to machine control. For example, when machine control functions corresponding to each of a plurality of different types of work for the shovel 100 (for example, excavation work and earth loading work, etc.) are prepared in advance, the settings related to machine control include the setting of one work selected from a plurality of different types of work.

[0121] The display control unit 306 causes the display device 50A to display the screen information acquired by the screen information acquisition unit 305. For example, the display control unit 306 generates an image to be displayed on the display device 50A based on the screen information acquired by the screen information acquisition unit 305 at each predetermined processing cycle, and causes the image to be displayed on the display device 50A.

[0122] The display control unit 306 causes the display device 50A to display the MC information in response to a predetermined input from the screen operation device 52C, which corresponds to a predetermined operation on a predetermined screen displayed on the display device 50A. This allows the operator of the shovel 100 to display the MC information on the display device 50A by using the screen operation device 52C to operate a predetermined screen displayed on the display device 50A. In other words, the operator of the shovel 100 can cause the MC information to be displayed on the display device 50A by an intentional action using the input device 52. Hereinafter, for convenience, a method of displaying MC information on the display device 50A in response to an intentional action by the operator of the shovel 100 using the input device 52 may be referred to as a "first display method of MC information."

[0123] The display mode of the MC information displayed on the display device 50A using the first display method may be fixed or may be changeable by the operator of the shovel 100 via the input device 52. The display mode of the MC information includes, for example, elements such as the type of MC information to be displayed, its arrangement on the screen, and its size on the screen. The arrangement of the MC information includes at least one of the arrangement of different types of MC information with each other and the arrangement of the MC information with other information of a different type. For example, the operator of the shovel 100 may be able to use the screen operation device 52C to select the type of MC information to be displayed on the display device 50A using the first display method from among multiple types of MC information that can be displayed on the display device 50A. Furthermore, the operator of the shovel 100 may be able to use the screen operation device 52C to change the arrangement of the MC information displayed on the display device 50A using the first display method.

[0124] In addition, in the first display method, instead of a predetermined input to a general-purpose input device 52 such as a screen operation device 52C, a dedicated input device 52 for displaying MC information (for example, a button switch for displaying MC information) may be adopted.

[0125] Furthermore, when operation of the operation device 26 for machine control is started, the display control unit 306 causes the display device 50A to display the MC information regardless of any intentional action using the input device 52 by the operator of the shovel 100. In other words, the display control unit 306 causes the display device 50A to display the MC information on the condition that operation of the operation device 26 for machine control is started. Specifically, the display control unit 306 causes the display device 50A to display the MC information, triggered by the satisfaction of a predetermined condition corresponding to the start of operation of the operation device 26 for machine control (hereinafter, for convenience, referred to as the "MC operation start condition"). In this way, the display control unit 306 can automatically display the MC information at the timing when the operator of the shovel 100 starts operating the operation device 26 for machine control. In other words, the operator of the shovel 100 can unconsciously cause the MC information to be displayed on the display device 50A by starting operation of the operation device for machine control. Therefore, the controller 30 can improve the convenience for the operator of the shovel 100 and can improve the work efficiency of the shovel 100. Hereinafter, for convenience, the method of automatically displaying the MC information on the display device 50A in synchronization with the start of operation of the operating device 26 for machine control will be referred to as the "second display method of the MC information."

[0126] The MC operation start condition may be, for example, that the output of the MC ON / OFF switch 52A is ON and that the operation of the MC operation switch 52B is initiated. As described above, the MC operation switch 52B may be omitted. In this case, the MC operation start condition may be, for example, that the output of the MC ON / OFF switch 52A is ON, and the MC operation start condition may be, for example, that there is a sign that operation of the control device 26 will soon begin when the output of the MC ON / OFF switch 52A is ON. Signs that operation of the control device 26 will soon begin include, for example, the operator gripping a lever device serving as the control device 26 without operating the lever device. For example, the controller 30 can detect that the operator is gripping the lever device based on the output of a contact sensor provided on the lever device or an interior camera provided inside the cab 10. The MC operation start condition may be, for example, that the output of the MC ON / OFF switch 52A is ON and that operation of the control device 26 for the hydraulic actuator HA that is the machine control target (hereinafter referred to as the "MC target" for convenience) is initiated. The hydraulic actuator HA subject to MC is the hydraulic actuator HA whose operation triggers the machine control. For example, when the machine control is performed so that the operations of the boom cylinder 7 and the bucket cylinder 9 are linked in response to the operation of the arm cylinder 8, the hydraulic actuator HA subject to MC is the arm cylinder 8.

[0127] The display mode of the MC information displayed on the display device 50A using the second display method may be fixed, or may be changeable by the operator of the shovel 100 via the input device 52. Furthermore, the display mode of the MC information displayed on the display device 50A using the second display method may be the same as or different from that of the first display method. For example, the operator of the shovel 100 may be able to use the screen operation device 52C to pre-select the type of MC information to be displayed on the display device 50A using the second display method from among multiple types of MC information that can be displayed on the display device 50A. Furthermore, the operator of the shovel 100 may be able to change the arrangement of the MC information displayed on the display device 50A using the screen operation device 52C. The arrangement of the MC information includes at least one of an arrangement of different types of MC information together and an arrangement of the MC information together with other information of a different type.

[0128] The function of the display control unit 306 may be transferred to the display device 50A. In addition to the function of the display control unit 306, the function of the screen information acquisition unit 305 may be transferred to the display device 50A.

[0129] [Example of display content on the display device] Next, an example of the display content of the display device 50A will be described with reference to FIG.

[0130] FIG. 4 is a diagram showing an example of the display content of the display device 50A.

[0131] 4, in this example, the display device 50A displays a screen 41. The screen 41 in this example is a specific example of the display content of the standard display device 50A when no operation of the operating device 26 for machine control is being performed.

[0132] The screen 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel efficiency display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, and a remaining fuel amount display area 41h. The screen 41 also includes a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic oil temperature display area 41k, an air conditioner operating status display area 41m, a surrounding image display area 41n, and a menu display area 41p.

[0133] The travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas that display information related to the setting state of the excavator 100. The fuel consumption display area 41d, the engine operation time display area 41f, the coolant temperature display area 41g, the remaining fuel amount display area 41h, the remaining urea water amount display area 41j, and the hydraulic oil temperature display area 41k are areas that display operating state information, which is information related to the operating state of the excavator 100.

[0134] Specifically, the date and time display area 41a is an area for displaying the current date and time, the driving mode display area 41b is an area for displaying the current driving mode, and the attachment display area 41c is an area for displaying an image representing the currently attached end attachment.

[0135] The fuel efficiency display area 41d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 41d includes an average fuel efficiency display area 41d1 that displays lifetime average fuel efficiency or section average fuel efficiency, and an instantaneous fuel efficiency display area 41d2 that displays instantaneous fuel efficiency.

[0136] The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The rotation speed mode display area 41i is an area that displays, as an image, the current rotation speed mode set by the engine rotation speed adjustment dial. In this example, an icon image that indicates "SP mode" is displayed in the rotation speed mode display area 41i. The SP mode is an rotation speed mode that is selected when priority is to be given to the amount of work, and is the rotation speed mode that has the highest engine rotation speed.

[0137] The urea water remaining amount display area 41j is an area that displays the remaining amount of urea water stored in the urea water tank using an image. The hydraulic oil temperature display area 41k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0138] The air conditioner operation status display area 41m is a display area that displays information indicating the operation status of the air conditioner.

[0139] The air conditioner operation status display area 41m includes an air outlet display area 41m1 that displays the current air outlet position, an operation mode display area 41m2 that displays the current operation mode, a temperature display area 41m3 that displays the current set temperature, and an air volume display area 41m4 that displays the current set air volume.

[0140] The surrounding image display area 41n is an area that displays an image captured by the sensing device S6 as an imaging device. In this example, the surrounding image display area 41n displays an overhead image FV, a rear image CBT, and a right image CRT. The overhead image FV is a virtual viewpoint image generated by the surrounding image acquisition unit 305A, and is generated based on images acquired by the rear camera S6B, the left camera S6L, and the right camera S6R. In addition, an shovel figure GE corresponding to the shovel 100 is placed in the center of the overhead image FV. This is to allow the operator to more intuitively grasp the positional relationship between the shovel 100 and objects existing around the shovel 100.

[0141] The rear image CBT is an image that shows the space behind the shovel 100, and includes an image GC of the counterweight. The rear image CBT is a real viewpoint image acquired by the surrounding image acquisition unit 305A, and is generated based on an image acquired by the rear camera S6B. The right image CRT is an image that shows the space to the right of the shovel 100. The right image is a real viewpoint image acquired by the surrounding image acquisition unit 305A, and is generated based on an image acquired by the right camera S6R.

[0142] The surrounding image display region 41n has an upper surrounding image display region 41n1 and lower surrounding image display regions 41n2 and 41n3. In this example, the overhead image FV is arranged in the surrounding image display region 41n1, the rearward image CBT is arranged in the surrounding image display region 41n2, and the rightward image CRT is arranged in the surrounding image display region 41n3. Alternatively, the overhead image FV may be arranged in the surrounding image display region 41n2, and the rearward image CBT may be arranged in the surrounding image display region 41n1.

[0143] Furthermore, in this example, the overhead image FV, the rearward image CBT, and the rightward image CRT are arranged adjacent to each other vertically, but they may be arranged with a gap therebetween. Furthermore, in this example, the surrounding image display area 41n is a vertically elongated area, but it may also be a horizontally elongated area. When the surrounding image display area 41n is a horizontally elongated area, the surrounding image display area 41n may have a surrounding image display area 41n1 including the overhead image FV arranged on the left side, and a surrounding image display area 41n2 and a surrounding image display area 41n3 including the rearward image CBT and the rightward image CRT, respectively, arranged on the right side. In this case, they may be arranged with a gap therebetween on the left and right, or the positions of the overhead image FV and the rearward image CBT may be swapped.

[0144] Additionally, an icon image 41x is displayed in each of the surrounding image display areas 41n1, 41n2, and 41n3. The icon image 41x is an image that represents the relative relationship between the position of the sensing device S6 as an imaging device and the orientation of the attachment of the upper rotating body 3.

[0145] The icon image 41x includes an image 41xM of the shovel 100, an image 41xF showing the front of the shovel 100, and an image 41xB showing the rear of the shovel 100. The icon image 41x also includes an image 41xL showing the left side of the shovel 100 and an image 41xR showing the right side of the shovel 100.

[0146] Images 41xF, 41xB, 41xL, and 41xR correspond to the front camera S6F that captures images in front of the shovel 100, the rear camera S6B that captures images behind the shovel 100, the left camera S6L that captures images to the left of the shovel 100, and the right camera S6R that captures images to the right of the shovel 100, respectively.

[0147] For example, when an image associated with a camera is selected in the icon image 41x, image data captured by the camera corresponding to the selected image is displayed in the surrounding image display area 41n.

[0148] In this example, in the surrounding image display area 41n1, the display manner of the images 41xB, 41xL, and 41xR is different from the display manner of the image 41xF. This allows the operator of the excavator 100 to see that the surrounding image display area 41n1 displays overhead images generated from images captured by the rear camera S6B, left camera S6L, and right camera S6R corresponding to the images 41xB, 41xL, and 41xR, respectively.

[0149] Furthermore, in this example, in the surrounding image display area 41n2, the display mode of the image 41xB is different from the display modes of the images 41xF, 41xL, and 41xR. Therefore, the operator of the excavator 100 can see that the image captured by the rear camera S6B corresponding to the image 41xB is displayed in the surrounding image display area 41n2. Furthermore, in this example, the display mode of the image 41xR is different from the display modes of the images 41xF, 41xL, and 41xB in the surrounding image display area 41n3. Therefore, the operator of the excavator 100 can see that the image captured by the right camera S6R corresponding to the image 41xR is displayed in the surrounding image display area 41n3.

[0150] The menu display area 41p has tabs 41p1 to 41p7. In this example, the tabs 41p1 to 41p7 are arranged in the left-right direction at intervals from one another at the bottom of the screen 41. Icons for displaying various types of information are displayed on the tabs 41p1 to 41p7.

[0151] Tab 41p1 displays menu detail item icons for displaying menu detail items. When tab 41p1 is selected by the operator, the icons displayed on tabs 41p2 to 41p7 are switched to icons associated with the menu detail items.

[0152] Tab 41p4 displays an icon for displaying information about the digital level. When the operator selects tab 41p4, the rear image CBT switches to a screen showing information about the digital level. However, the screen showing information about the digital level may be displayed by superimposing the information on the rear image CBT or by reducing the rear image CBT. Furthermore, the overhead image FV may switch to a screen showing information about the digital level, or the screen showing information about the digital level may be displayed by superimposing the information on the overhead image FV or by reducing the overhead image FV.

[0153] An icon for displaying information related to information-based construction is displayed on tab 41p6. When tab 41p6 is selected by the operator, the rear image CBT is switched to a screen showing information related to information-based construction. However, a screen showing information related to information-based construction may be displayed by superimposing the information on the rear image CBT or by reducing the rear image CBT. Furthermore, the overhead image FV may be switched to a screen showing information related to information-based construction, or a screen showing information related to information-based construction may be displayed by superimposing the information on the overhead image FV or by reducing the overhead image FV.

[0154] Tab 41p7 displays an icon for displaying information about the crane mode. When the operator selects tab 41p7, the rear image CBT is switched to a screen showing information about the crane mode. The screen showing the information about the crane mode may be displayed by superimposing the information on the rear image CBT or by reducing the rear image CBT. The overhead image FV may be switched to information about the crane mode, or the information about the crane mode may be displayed by superimposing the information on the overhead image FV or by reducing the overhead image FV.

[0155] No icons are displayed on the tabs 41p2, 41p3, and 41p5, so even if the operator operates the tabs 41p2, 41p3, and 41p5, the image displayed on the screen 41 does not change.

[0156] The icons displayed on the tabs 41p1 to 41p7 are not limited to the above-mentioned examples, and icons for displaying other information may be displayed.

[0157] [Another example of what is displayed on the display device] Next, another example of the display content of the display device 50A will be described with reference to FIG.

[0158] In the following, in this example, the same reference numerals are used to designate the same or corresponding components as those in the above example (FIG. 4), and the following description will focus on the differences from the above example (FIG. 4).

[0159] FIG. 5 is a diagram showing another example of the display content of the display device 50A.

[0160] 5, a screen 41 is displayed on the display device 50A. The screen 41 of this example is a specific example of the display content of the display device 50A including MC information. For example, the screen 41 of this example is displayed on the display device 50A when the operation device 26 for machine control is being operated. The screen 41 of this example may also be displayed on the display device 50A when the above-mentioned predetermined input for displaying the MC information is performed via the input device 52 (for example, the screen operation device 52C).

[0161] The screen 41 of this example differs from the example described above (FIG. 4) in that the display content of the surrounding image display area 41n is different and in that an MC information display area 41q is included.

[0162] As shown in FIG. 5, in this example, a part of the area corresponding to the surrounding image display area 41n in the above example (FIG. 4) is allocated to the MC information display area 41q, and the area allocated to the surrounding image display area 41n is reduced.

[0163] The surrounding image display area 41n is arranged adjacent to and below the fuel efficiency display area 41d arranged at the top of the screen 41, and includes a surrounding image display area 41n4 arranged in the left half and a surrounding image display area 41n5 arranged in the right half.

[0164] A rearward image CBT is arranged in the surrounding image display area 41n4, and a rightward image CRT is arranged in the surrounding image display area 41n5. This allows the operator of the excavator 100 to operate the excavator 100 while checking the conditions behind and to the right of the upper rotating body 3, which are not visible from inside the cab 10 directly or through a mirror or the like, among the surroundings of the excavator 100.

[0165] In this example, the size of the surrounding image display area 41n on the screen 41 is small, so the overhead image FV of the above example (FIG. 4) is not displayed on the screen 41. In other words, in the screen 41 of this example, the overhead image FV is switched to MC information, as compared to the above example.

[0166] In addition, the above-mentioned overhead image FV may be displayed in the surrounding image display region 41n instead of at least one of the rear image BRT and the right image CRT.

[0167] The MC information display area 41q is an area that displays MC information. In this example, the MC information display area 41q is disposed below the surrounding image display area 41n and adjacent to and above the engine operating time display area 41f and the air conditioner operating state display area 41m. In other words, the MC information display area 41q is allocated as a portion of the area below the area corresponding to the surrounding image display area 41n on the screen 41 in the example (FIG. 4) described above.

[0168] Furthermore, the MC information display area 41q may be allocated as a portion of the upper side of the area corresponding to the surrounding image display area 41n on the screen 41 in the example described above (Figure 4), and may be arranged adjacent to and above the surrounding image display area 41n.

[0169] The MC information display area 41q includes an MC information display area 41q1 arranged on the upper side, and an MC information display area 41q2 and an MC information display area 41q3 arranged on the lower side. The MC information display area 41q2 and the MC information display area 41q3 are arranged side by side on the left and right.

[0170] In this example, the MC information display areas 41q1 to 41q3 display an image showing the current positional relationship between the bucket 6 and the target construction surface of the work area.

[0171] In the MC information display area 41q1, a model image G1 representing the shovel 100, which reflects the current position and posture on a coordinate system defining the target construction surface, and a model image G2 representing the target construction surface are displayed three-dimensionally as viewed from a predetermined viewpoint. This allows the operator of the shovel 100 to grasp the positional relationship between the bucket 6 and the target construction surface three-dimensionally from the model images G1 and G2. The viewpoint from which the model images G1 and G2 in the MC information display area 41q1 are viewed may be fixed or may be changeable in response to a predetermined input by the operator of the shovel 100 via the input device 52. In this example, the target construction surface includes a slope, and a state in which the shovel 100 is performing construction on the slope is displayed.

[0172] The MC information display area 41q2 displays an image that two-dimensionally shows the current positional relationship between the bucket 6 and the target construction surface as seen from the side of the shovel 100. In this example, images G3 to G5 are displayed in the MC information display area 41q2.

[0173] Image G3 shows the bucket 6 in a side view, reflecting its current position and posture on a coordinate system that defines the target construction surface. Image G4 is a straight line that represents the target construction surface. This allows the operator of the shovel 100 to visually grasp the positional relationship between the bucket 6 and the target construction surface in a side view of the shovel 100.

[0174] Image G5 numerically represents the positional relationship between the bucket 6 and the target construction surface. Image G5 includes images G5a and G5b. Image G5a numerically represents the distance between the left end of the working portion of the bucket 6 (in this example, the tip of the left end of the bucket 6) and the target construction surface. In this example, "0.30 m" is displayed ("m" is a unit of distance, meter). This allows the operator of the excavator 100 to grasp the distance between the bucket 6 and the target construction surface numerically through image G5a. Image G5b is an icon representing the direction of the target construction surface when viewed from the left end of the working portion of the bucket 6. In this example, image G4 corresponding to the target construction surface is lower than image G3 corresponding to the bucket 6, so image G5b is drawn as a downward-facing triangle. On the other hand, if the left end of the working portion of the bucket 6 is lower than the target construction surface, image G5b is drawn as an upward-facing triangle. This allows the operator of the shovel 100 to grasp the direction of the target construction surface when viewed from the current position of the bucket 6.

[0175] The MC information display area 41q3 displays an image that two-dimensionally shows the current positional relationship between the bucket 6 and the target construction surface as seen from the front of the shovel 100. In this example, images G6 to G9 are displayed in the MC information display area 41q3.

[0176] Image G6 represents the bucket 6 as viewed from the front, reflecting its current position and posture on a coordinate system that defines the target construction surface. Image G7 is a straight line that represents the target construction surface. This allows the operator of the shovel 100 to visually grasp the positional relationship between the bucket 6 and the target construction surface when viewed from the front of the shovel 100. Image G8 is an image showing the right end of the working portion of the bucket 6 (the toe in this example). In this example, image G8 is displayed as an image of a downward-pointing triangle at the toe portion of the right end of the bucket 6 in image G6. This allows the operator of the shovel 100 to easily grasp the distance between the right end of the working portion of the bucket 6 and the target construction surface.

[0177] Image G9 numerically represents the positional relationship between the bucket 6 and the target construction surface. Image G9 includes images G9a and G9b. Image G9a numerically represents the distance between the right end of the working portion of the bucket 6 (in this example, the tip of the right end of the bucket 6) and the target construction surface. In this example, "0.34 m" is displayed. This allows the operator of the excavator 100 to grasp the distance between the bucket 6 and the target construction surface as a numerical value through image G9a. Furthermore, by comparing images G5a and G9a, the operator of the excavator 100 can compare the distances between the left and right ends of the working portion of the bucket 6 and the target construction surface as numerical values, and grasp the degree of inclination of the bucket 6 relative to the target construction surface when viewed from the front. Image G9b is an icon representing the direction of the target construction surface when viewed from the right end of the working portion of the bucket 6. In this example, image G7 corresponding to the target construction surface is located below image G6 corresponding to the bucket 6, so image G9b is drawn as a downward-facing triangle. On the other hand, if the right end of the working portion of the bucket 6 is located below the target construction surface, image G9b is drawn as an upward-facing triangle. This allows the operator of the excavator 100 to grasp the direction of the target construction surface when viewed from the current position of the bucket 6.

[0178] Note that other types of MC information may be displayed in the MC information display area 41q. For example, the MC information display area 41q may display components to be operated by the operator via the screen operation device 52C for setting the machine control function.

[0179] [Example 1 of control processing for displaying information about machine control] Next, a first example of control processing related to the display of information related to machine control (MC information) will be described with reference to Fig. 6. Specifically, a first example of control processing related to the display of MC information using the second display method will be described.

[0180] FIG. 6 is a flowchart showing an outline of a first example of a control process related to the display of information related to machine control (MC information).

[0181] The flowchart in FIG. 6 is repeatedly executed at predetermined processing intervals while the excavator 100 is in operation.

[0182] 6, in step S102, the display control unit 306 determines whether or not the machine control function of the shovel 100 is enabled (ON state). Specifically, the display control unit 306 determines whether or not the output of the MC ON / OFF switch 52A is ON. If the machine control function of the shovel 100 is enabled, the display control unit 306 proceeds to step S104, and if it is not enabled, the display control unit 306 ends the processing of this flowchart.

[0183] In step S104, display control unit 306 determines whether or not MC information is displayed on display device 50 A. If MC information is not displayed on display device 50 A, display control unit 306 proceeds to step S106, and if MC information is displayed, ends the processing of this flowchart.

[0184] If the display mode of the MC information displayed on the display device 50A differs between the first display method and the second display method, in step S104, the display control unit 306 may determine whether the MC information is displayed in a predetermined display mode on the display device 50A. The predetermined display mode is the display mode of the MC information defined for the second display method.

[0185] In step S106, the display control unit 306 determines whether the MC operation switch 52B is operated, specifically, whether the output of the MC operation switch 52B is in the ON state. If the output of the MC operation switch 52B is in the ON state, the display control unit 306 proceeds to step S108, and if it is not in the ON state, the display control unit 306 ends the processing of this flowchart.

[0186] In this example, the start of operation of the MC operation switch 52B is determined based on the fact that no MC information is displayed on the display device 50A (NO in step S104) and the output of the MC operation switch 52B is ON (YES in step S106). This is because when no MC information is displayed on the display device 50A, the processing in the immediately preceding flowchart indicates that the output of the MC operation switch 52B is OFF. However, in step S106, the display control unit 306 may also determine whether the output of the MC operation switch 52B has changed from OFF to ON.

[0187] In step S108, the display control unit 306 causes the display device 50A to display the MC information in a display mode that is predefined for the second display method.

[0188] For example, when the screen 41 of FIG. 4 is displayed on the display device 50A and operation of the operating device 26 for machine control is started, the display control unit 306 switches the display content of the display device 50A from the screen 41 of FIG. 4 to the screen 41 of FIG. 5.

[0189] When the process of step S108 is completed, the controller 30 proceeds to step S110.

[0190] In step S110, the display control unit 306 determines whether the MC operation switch 52B has transitioned to a non-operated state. Specifically, the display control unit 306 determines whether the output of the MC operation switch 52B is in an OFF state. If the output of the MC operation switch 52B is in an OFF state, the display control unit 306 proceeds to step S112, and if not in an OFF state, the display control unit 306 repeats the processing of step S112 at predetermined processing intervals until the output of the MC operation switch 52B is in an OFF state.

[0191] In step S112, the display control unit 306 restores the display content of the display device 50A to the display content before the MC information was displayed in step S108.

[0192] When the process of step S112 is completed, the controller 30 ends the process of this flowchart.

[0193] In this way, in this example, the controller 30 can cause the display device 50A to display the MC information in synchronization with the start of operation of the MC operation switch 52B by the operator of the shovel 100.

[0194] [Second example of control process for displaying information about machine control] Next, a second example of the control process related to the display of information related to machine control (MC information) will be described with reference to Fig. 7. Specifically, a second example of the control process related to the display of MC information using the second display method will be described.

[0195] This example is based on the premise that the MC operation switch 52B is not provided on the excavator 100. Hereinafter, in this example, the description of the same processing as in the first example (FIG. 6) described above may be omitted or simplified.

[0196] FIG. 7 is a flowchart schematically showing a second example of a control process related to the display of information related to machine control (MC information).

[0197] The flowchart in FIG. 7 is repeatedly executed at predetermined processing intervals while the excavator 100 is in operation.

[0198] As shown in FIG. 7, steps S202 and S204 are the same as steps S102 and S104 in FIG. 6, and in step S204, if the MC information is not displayed on the display device 50A, the display control unit 306 proceeds to step S206.

[0199] As in step S104 of FIG. 6, if the display manner of the MC information displayed on the display device 50A differs between the first display method and the second display method, in step S204, the display control unit 306 may determine whether the MC information is displayed on the display device 50A in a predetermined display manner.

[0200] In step S206, the display control unit 306 determines whether or not the hydraulic actuator HA that is the MC target is being operated via the operation device 26. If the hydraulic actuator HA that is the MC target is being operated, the display control unit 306 proceeds to step S208, and if that operation is not being performed, the display control unit 306 ends the processing of this flowchart.

[0201] In this example, the start of operation of the hydraulic actuator HA that is the MC target is determined based on the fact that the MC information is not displayed on the display device 50A (NO in step S204) and the hydraulic actuator HA that is the MC target is being operated (YES in step S206). If the MC information is not displayed on the display device 50A, this indicates that the hydraulic actuator HA that is the MC target was not being operated in the processing of the immediately preceding flowchart. However, in step S206, the display control unit 306 may determine whether the hydraulic actuator HA that is the MC target has transitioned from a state in which it is not being operated to a state in which it is being operated. Also, in step S206, the display control unit 306 may determine whether the operating device 26 is being operated, regardless of whether the hydraulic actuator HA that is the MC target is being operated.

[0202] The processes of steps S208, S210, and S212 are the same as the processes of steps S102 and S104 in FIG. 6, and when the process of step S212 is completed, the controller 30 ends the process of this flowchart.

[0203] In this way, in this example, the controller 30 can cause the display device 50A to display the MC information in synchronization with the start of operation of the hydraulic actuator HA that is the MC target by the operator of the excavator 100.

[0204] [Configuration of operation support system] Next, the configuration of the operation support system SYS according to this embodiment will be described with reference to FIG.

[0205] FIG. 8 is a diagram showing an example of the configuration of the operation support system SYS.

[0206] As shown in FIG. 8, the operation support system SYS includes an excavator 100, a remote control room RC, and a management center RM.

[0207] In this example, the shovel 100 has the same configuration as that shown in the above-described Figures 1 and 2. Therefore, in Figure 8, the detailed configuration of the shovel 100 is not shown.

[0208] The shovel 100, the remote control room RC, and the management center RM are connected to one another so as to be able to send and receive data via a communication line NW. Alternatively, the shovel 100, the remote control room RC, and the management center RM may be connected to one another so as to be able to send and receive data directly to one another without going through the communication line NW. For 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.

[0209] As described above, the shovel 100 is provided with a sensing device S6 that can three-dimensionally recognize the position and shape of an object present at the work site. Therefore, the shovel 100 can transmit the results of three-dimensionally measuring the work site to the remote control room RC.

[0210] The operation support system SYS may include one or more shovels 100. When the system 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.

[0211] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 42, 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.

[0212] The communication device T2 is configured to be able to communicate with the communication device 60 attached to the excavator 100 and a communication device (for example, a communication interface built into the management device 200) provided in the management center RM.

[0213] The remote controller 40 is a control device that executes control processing related to the remote operation of the shovel 100. The remote controller 40 is configured, for example, similar to the controller 30 of the shovel 100, mainly with a computer including a CPU, a memory device, an auxiliary storage device, and an interface device. In this case, the various functions of the remote controller 40 are realized by programs installed in the auxiliary storage device being loaded into the memory device and executed on the CPU.

[0214] The display device D1E displays various information toward the remote operator RO in the operator seat DS. Specifically, the display device D1E displays the same images as the images that the display device 50A inside the cab 10 displays toward the operator. For example, the display device D1E displays a surrounding 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 this example, the display device D1E is a liquid crystal display that displays an image captured by a sensing device S6 as an imaging device mounted on the shovel 100. The display device D1E may also be a display or projector that realizes stereoscopic vision with the naked eye, or may be VR (Virtual Reality) goggles or the like.

[0215] The operation device 42 is provided with an operation sensor 43 for detecting the operation content of the operation device 42. 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 operation device 42 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. In this case, the operation sensor 43 may output the operation signal to the communication device T2 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.

[0216] In this example, the above configuration realizes a machine control function of the excavator 100 in response to remote operation by the remote operator RO inside the remote control room RC.

[0217] For example, the remote control room RC is provided with an input device having the same functions as the MC ON / OFF switch 52A, the MC operation switch 52B, and the screen operation device 52C provided in the driver's cab 10.

[0218] Furthermore, with regard to the machine control function of the excavator 100, the display of MC information on the display device D1E may be executed by a method similar to the above-described method of displaying MC information on the display device 50A by the controller 30 (specifically, the first display method and the second display method). In this case, the above-described description of the method of displaying MC information is applicable by replacing the terms "operator," "cab 10," "operation device 26," "controller 30," and "display device 50A" with "remote operator RO," "remote control room RC," "operation device 42," "remote controller 40," and "display device D1E," respectively. In this case, the process related to the display of MC information on the display device D1E may be executed by the remote controller 40 in cooperation with the controller 30, or may be executed by the controller 30, with the remote controller 40 simply operating according to instructions from the controller 30. For example, the display control unit 306 generates a screen to be displayed on the display device D1E, and transmits the generated screen and a display command for that screen to the remote controller 40 via the communication device 60, thereby causing the display device D1E to display a predetermined screen. Furthermore, the function of the display control unit 306 may be transferred to the remote controller 40, and the remote controller 40 may display a predetermined screen based on screen information acquired by the screen information acquisition unit 305, which is received from the shovel 100 via the communication device 60. Furthermore, in addition to the function of the display control unit 306, the function of the screen information acquisition unit 305 may be transferred to the remote controller 40.

[0219] Furthermore, the machine control function of the shovel 100 may be realized by a remote controller 40 instead of the controller 30. In this case, the functions of the target shape information storage unit 302, the target trajectory generation unit 303, and the operation control unit 304 are transferred to the remote controller 40. For example, the remote controller 40 generates a target trajectory for the working part of the bucket 6 based on the operation content of the operation device 42 (i.e., the output signal of the operation sensor 43), the outputs of the sensing devices S1 to S5, information representing the current terrain shape around the shovel 100, and information representing the target shape. The outputs of the sensing devices S1 to S5 and the information representing the current terrain shape around the shovel 100 are transmitted from the shovel 100 to the remote controller 40 via the communication device 60 and received by the remote controller 40 via the communication device T2. Furthermore, in addition to the functions of the target shape information storage unit 302, the target trajectory generation unit 303, and the operation control unit 304, the function of the terrain shape acquisition unit 301 may be transferred to the remote controller 40. Then, in response to an operation signal from the operating device 42, the remote controller 40 generates a control signal for the hydraulic control valve 31 for moving the working portion of the bucket 6 along the generated target trajectory, and transmits the generated control signal to the excavator 100 via the communication device T2. As a result, the controller 30 outputs the control signal received from the remote controller 40 via the communication device 60 to the hydraulic control valve 31, and as a result, the remote controller 40 can operate the hydraulic actuator HA by machine control.

[0220] The management center RM is a facility where various devices are installed to manage the shovel 100 at the work site or the remote operation of the shovel 100 by the remote operator RO in the remote control room RC. In this example, the management center RM is installed in a location away from both the work site of the shovel 100 and the remote control room RC.

[0221] The management device 200 is, for example, a server device. The server device may be a so-called on-premise server or a cloud server, or may be an edge server. The management device 200 may also be a terminal device. The terminal device may be a stationary terminal device or a portable terminal device (for example, a laptop computer, a tablet, a smartphone, or the like).

[0222] The manager at the management center RM can, for example, use a sound collection device (for example, a microphone) attached to the shovel 100 and a sound output device (for example, a speaker) provided in the management center RM to listen to sounds emitted at the work site. Therefore, the manager at the management center RM can, for example, check the operator and what is being said inside the cab 10 of the shovel 100 and the sounds around the shovel 100. Furthermore, the manager at the management center RM can, for example, use a sound collection device (for example, a microphone) provided in the remote control room RC and a sound output device in the management center RM to listen to sounds emitted in the remote control room RC. Therefore, the manager at the management center RM can, for example, check the what is being said by the remote operator RO in the remote control room RC. Furthermore, the manager at the management center RM can use, for example, a sound collection device (for example, a microphone) provided in the management center RM and a sound output device (for example, a speaker) attached to the shovel 100 to transmit the voice he or she makes to the operator inside the cab 10 of the shovel 100 or to workers around the shovel 100. Furthermore, the manager at the management center RM can use, for example, a sound collection device provided in the management center RM and a sound output device (for example, a speaker) provided in the remote control room RC to transmit the voice he or she makes to the remote operator RO in the remote control room RC.

[0223] [Effect] Next, the operation of the shovel and operation support system according to this embodiment will be described.

[0224] In a first aspect of this embodiment, the excavator includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a cab mounted on the upper rotating body and in which an operator of the excavator sits, an actuator, an operating device for the operator to operate the actuator, a control device that performs machine control and controls the operation of the actuator so as to comply with predetermined conditions in response to operation of the operating device, and a display device provided inside the cab. The excavator is, for example, the above-described excavator 100. The lower traveling body is, for example, the above-described lower traveling body 1. The upper rotating body is, for example, the above-described upper rotating body 3. The cab is, for example, the above-described cab 10. The actuator is, for example, the above-described hydraulic actuator HA. The operating device is, for example, the above-described operating device 26. The control device is, for example, the above-described controller 30. The display device is, for example, the above-described display device 50A. The display device displays information related to the machine control when operation of the operating device for the machine control is started.

[0225] In addition, in a first aspect of this embodiment, the operation assistance system may assist in remote operation of an excavator including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an actuator. The operation assistance system is, for example, the above-described operation assistance system SYS. Specifically, the operation assistance system may include an operation device for an operator to remotely operate the actuator, a control device that executes machine control and controls the operation of the actuator so as to comply with predetermined conditions in response to operation of the operation device, and a display device visible to the operator. The operation device is, for example, the above-described operation device 42. The control device is, for example, the above-described controller 30. The control device may also be the above-described remote controller 40. The display device is, for example, the above-described display device D1E. The display device may display information related to the machine control when operation of the operation device for the machine control is started.

[0226] As a result, the shovel and operation support system (hereinafter referred to as "shovel, etc." for convenience) can allow the operator to reliably check information related to the machine control when operating the machine control. Therefore, the shovel, etc. can improve the convenience when the operator operates the machine control and can also improve the efficiency of work performed by the machine control.

[0227] In a second aspect of the present embodiment, based on the first aspect described above, there may be a plurality of the actuators, and the control device may execute the machine control to control the operation of a second actuator of the plurality of actuators in accordance with the predetermined condition in response to an operation of the control device on a first actuator of the plurality of actuators.

[0228] This allows for improved convenience for the operator and improved work efficiency in a machine control mode in which the operation of a second actuator is controlled in accordance with predetermined conditions in response to the operation of a first actuator, such as in a shovel.

[0229] In a third aspect of this embodiment, based on the first or second aspect described above, the display device may display information related to the machine control in response to an input from the operator that is different from the operation of the operation device for the machine control. The input from the operator that is different from the operation of the operation device for the machine control is, for example, a predetermined input via the above-described screen operation device 52C.

[0230] This allows the excavator or the like to present information about machine control to the operator when the operator operates the machine control, regardless of any intentional input action by the operator.

[0231] In addition, in a fourth aspect of this embodiment, assuming any one of the first to third aspects described above, the information regarding the machine control may include information representing the positional relationship between the target construction surface and the bucket.

[0232] This allows the operator of the excavator or the like to confirm information that indicates the positional relationship between the target construction surface and the bucket.

[0233] Furthermore, in a fifth aspect of this embodiment, based on any one of the first to fourth aspects described above, an input device may be provided that accepts an input for enabling operation of the operating device for the machine control. The input device is, for example, the MC operating switch 52B described above. The case where operation of the operating device for the machine control is started may be the case where the input device starts accepting input when the machine control function is enabled. The case where the machine control function is enabled is, for example, the case where the output of the MC ON / OFF switch 52A described above is ON.

[0234] This allows the operator of the excavator or the like to confirm information related to machine control when the operator starts to operate the operating device for machine control.

[0235] Furthermore, in a sixth aspect of this embodiment, assuming any one of the first to fourth aspects described above, the case where operation of the operating device for the machine control is started may be the case where operation of the operating device is started in a situation where the function of the machine control is enabled.

[0236] This allows the operator of the excavator or the like to confirm information related to machine control when the operator starts to operate the operating device for machine control.

[0237] Furthermore, in a seventh aspect of this embodiment, assuming any one of the first to sixth aspects described above, when operation of the operating device for the machine control is started while the display device is not displaying information about the machine control, the display device may switch part of the display content to information about the machine control.

[0238] This allows the excavator or the like to present information about machine control to the operator when an operation for machine control is started, while maintaining part of the previous display content on the display device.

[0239] In addition, in an eighth aspect of this embodiment, based on the seventh aspect described above, an imaging device may be provided on the upper rotating body and capture images of the surroundings of the upper rotating body. The imaging device is, for example, the sensing device S6 described above. The display device may display a plurality of images representing the surroundings of the upper rotating body based on images captured by the imaging device when information related to the machine control is not displayed, and may switch some of the plurality of images to information related to the machine control when operation of the operating device for the machine control is started when information related to the machine control is not displayed.

[0240] This allows the excavator or the like to present information regarding machine control to the operator when an operation for machine control is initiated, while continuing to present an image showing the situation around the upper rotating body.

[0241] Furthermore, in a ninth aspect of this embodiment, assuming any one of the first to eighth aspects described above, when operation of the operating device for the machine control is terminated, the display device may return to the display content that was present before operation of the operating device for the machine control was started.

[0242] This allows the excavator or the like to improve the convenience for the operator when the operation for machine control is completed, and also improves work efficiency.

[0243] 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]

[0244] 1 Undercarriage 1ML Travel Hydraulic Motor 1MR travel hydraulic motor 2. Swivel mechanism 2M Swing Hydraulic Motor 3 Upper rotating body 4. Boom 5 Arm 6 buckets 7 Boom cylinder 8 Arm Cylinder 9 Bucket cylinder 10 Driver's cab 11 Engine 26 Operating device 30 Controllers 31 Hydraulic control valve 40 Remote Controller 42 Operating device 43 Operation Sensor 50A display device 52 Input Device 52A Machine Control ON / OFF Switch 52B Machine control operation switch 52C Screen operation device 60 Communication Equipment 100 Shovel 200 Management device AT Attachment D1E display device HA Hydraulic Actuator Network communication line RC remote control room RM Management Center S1~S6 Sensing devices S6B rear camera S6F front camera S6L left camera S6R right camera SYS Operation Support System T2 communications equipment

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an operator's cab mounted on the upper rotating body and in which an operator of the shovel sits; An actuator; an operating device for the operator to operate the actuator; a control device that executes machine control and controls the operation of the actuator so as to comply with predetermined conditions in response to an operation of the operation device; a display device provided inside the driver's cab, the display device displays information about the machine control when an operation of the operation device for the machine control is started. Shovel.

2. There are a plurality of the actuators, the control device executes the machine control by controlling an operation of the second actuator among the plurality of actuators in accordance with the predetermined condition in response to an operation of the operating device on the first actuator among the plurality of actuators; The shovel according to claim 1.

3. the display device displays information related to the machine control in response to an input from the operator that is different from the operation of the operation device for the machine control. The shovel according to claim 1 or 2.

4. The information regarding the machine control includes information indicating a positional relationship between a target construction surface and a bucket. The shovel according to claim 1 or 2.

5. an input device for receiving an input for validating the operation of the operation device for the machine control; The case where the operation of the operating device for the machine control is started means the case where the reception of an input by the input device is started in a situation where the function of the machine control is enabled. The shovel according to claim 1 or 2.

6. The case where the operation of the operating device for the machine control is started refers to the case where the operation of the operating device is started in a situation where the function of the machine control is enabled. The shovel according to claim 1 or 2.

7. When an operation of the operation device for the machine control is started in a situation where the display device is not displaying information about the machine control, the display device switches part of the display content to information about the machine control. The shovel according to claim 1 or 2.

8. an imaging device provided on the upper rotating body for imaging the periphery of the upper rotating body; the display device displays a plurality of images representing the surroundings of the upper rotating body based on the captured image of the imaging device in a state where information related to the machine control is not being displayed, and when operation of the operating device for the machine control is started in a state where information related to the machine control is not being displayed, switches some of the plurality of images to information related to the machine control. The shovel according to claim 7.

9. When the operation of the operation device for the machine control is completed, the display device returns to the display content that was displayed before the operation of the operation device for the machine control was started. The shovel according to claim 1 or 2.

10. An operation support system for supporting remote operation of a shovel including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an actuator, an operating device for an operator to remotely operate the actuator; a control device that executes machine control and controls the operation of the actuator so as to comply with predetermined conditions in response to an operation of the operation device; a display device visible to the operator, the display device displays information about the machine control when an operation of the operation device for the machine control is started. Operation support system.

Images