Shovel

Abstract

This technology provides a way to improve the visibility of lighting devices used to communicate the status of work machinery to people in the vicinity of the machinery. [Solution] An excavator 100 according to one embodiment of the present disclosure comprises a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1, an attachment AT attached to the upper rotating body 3 and having a boom 4, an arm 5, and a bucket 6, an external indicator light 70 provided on the upper rotating body 3 for informing workers around the excavator 100 of the load status of the excavator 100 during crane operation, and a controller 30 that adjusts the brightness of the external indicator light 70 according to the brightness conditions of the location where the excavator 100 is located.

Description

Technical Field

[0001] The present disclosure relates to an excavator.

Background Art

[0002] Conventionally, a working machine having a lighting device for communicating the state of the working machine (for example, the load state of the working machine during crane operation) to a person around the working machine (for example, a slinger during crane operation) is known (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the visibility of the light of the lighting device may change depending on various situations.

[0005] Therefore, in view of the above problems, an object is to provide a technology capable of improving the visibility of a lighting device for communicating the state of a working machine to a person around the working machine.

Means for Solving the Problems

[0006] To achieve the above object, in one embodiment of the present disclosure, a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an attachment attached to the upper revolving body and having a boom, an arm, and an end attachment, a lighting device provided on the upper revolving body for communicating the state of the excavator to a person around the excavator, and a control device for adjusting the brightness of the lighting device according to the situation at the location where the excavator is located. A shovel will be provided. [Effects of the Invention]

[0007] According to the above-described embodiment, the visibility of a lighting device for informing people around a work machine of its status can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view showing an example of an excavator. [Figure 2] This is a top view showing an example of a shovel. [Figure 3] This is a diagram showing an example of the configuration of a shovel. [Figure 4] This figure shows an example of the positional relationship between the shovel and the worker during crane operation. [Figure 5] This figure shows an example of a configuration for dimming control of an external indicator light. [Figure 6] This flowchart provides a schematic example of the process for controlling the dimming of external indicator lights. [Modes for carrying out the invention]

[0009] The embodiments will be described below with reference to the drawings.

[0010] [Shovel Overview] Referring to Figures 1 to 3, an overview of the shovel 100 according to this embodiment will be described.

[0011] Figure 1 is a side view showing an example of the shovel 100. Figure 2 is a top view showing an example of the shovel 100. Hereinafter, the direction in which the attachment AT extends from the top view of the shovel 100 (upward direction in Figure 2) will be defined as "forward," and directions in the shovel 100 and upper slewing body 3, or directions viewed from the shovel 100 and upper slewing body 3, will be described.

[0012] As shown in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper revolving body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cab 10.

[0013] The lower traveling body 1 uses crawlers 1C to move the excavator 100. The crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL and the right crawler 1CR are hydraulically driven by traveling hydraulic motors 1ML and 1MR (see FIG. 2), respectively. Thereby, the lower traveling body 1 can self - propel.

[0014] The upper revolving body 3 is mounted on the lower traveling body 1 via a slewing mechanism 2 so as to be slewing - free. For example, the upper revolving body 3 can slew with respect to the lower traveling body 1 when the slewing mechanism 2 is hydraulically driven by a slewing hydraulic motor 2M.

[0015] The upper revolving body 3 includes a slewing frame 3B corresponding to its bottom and a house part 3H. Various components mounted inside the upper revolving body 3 are mounted directly or indirectly on the slewing frame 3B via a pedestal or the like, and the upper and side portions are covered by the house part 3H. In addition, on the front right side of the upper revolving body 3, a lifting step 3S for an operator or the like to climb onto or descend from the upper surface of the house part 3H is provided.

[0016] The boom 4 is attached to the center of the front part of the upper revolving body 3 so as to be able to pitch about a rotation axis along the left - right direction. The arm 5 is attached to the tip of the boom 4 so as to be able to rotate about a rotation axis along the left - right direction. The bucket 6 is attached to the tip of the arm 5 so as to be able to rotate about a rotation axis along the left - right direction.

[0017] The bucket 6 is an example of an end attachment and is used, for example, in excavation work, slope work, leveling work, etc.

[0018] The bucket 6 is attached to the tip of the arm 5 in a replaceable manner as appropriate according to the work content of the excavator 100. That is, instead of the bucket 6, a bucket of a different type from the bucket 6, for example, a relatively large large bucket, a slope bucket, a dredging bucket, etc. may be attached to the tip of the arm 5. Also, an end attachment of a type other than the bucket, for example, a stirrer, a breaker, a crusher, etc. may be attached to the tip of the arm 5. Further, a preliminary attachment such as a quick coupling or a tilt rotator may be provided between the arm 5 and the end attachment.

[0019] Also, a hook HK for crane work (referred to as "lifting work") is attached to the bucket 6. Thereby, the excavator 100 can move the suspended load SL by suspending the suspended load SL on the hook HK and operating at least one of the lower traveling body 1, the upper revolving body 3, and the attachment AT.

[0020] The base end of the hook HK is rotatably connected to a bucket pin that connects between the arm 5 and the bucket 6. Thereby, the hook HK is stored in the space provided between the two bucket links when work other than crane work such as excavation work is performed.

[0021] The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0022] The cab 10 is a driver's cab (also referred to as an "operation cab") for an operator to board and drive and operate the excavator 100. The cab 10 is mounted, for example, on the front left side of the upper revolving body 3.

[0023] For example, the excavator 100 operates driven elements such as the lower traveling body 1 (that is, the crawler 1C), the upper revolving body 3, the boom 4, the arm 5, and the bucket 6 according to the operation of an operator boarding the cab 10.

[0024] Furthermore, instead of being configured to be operable by an operator sitting in the cabin 10, or in addition to being configured to be operable by an operator sitting in the cabin 10, the shovel 100 may also be configured to be remotely operated from outside the shovel 100. When the shovel 100 is remotely operated, the cabin 10 may be left unoccupied. Also, if the shovel 100 is for remote operation only, the cabin 10 may be omitted. The following explanation will proceed on the premise that operator operation includes at least one of operation of the operator's control device 26 in the cabin 10 and remote operation by an external operator.

[0025] For example, remote operation includes a mode in which the shovel 100 is operated by operation inputs related to the actuators of the shovel 100, which are performed by a remote operation support device capable of communicating with the shovel 100.

[0026] The remote control support device is installed, for example, in a control center that manages the operation of the shovel 100 from outside the work site. Alternatively, the remote control support device may be a portable control terminal, in which case the operator can remotely control the shovel 100 while directly checking the operation status of the shovel 100 from its vicinity.

[0027] The excavator 100 may, for example, transmit an image (hereinafter referred to as "surrounding image") representing the area in front of the excavator 100, based on an image output by an imaging device (for example, a forward-facing camera described later) mounted on it, to the remote control support device via a communication device mounted on it. Alternatively, the excavator 100 may transmit an image output by the imaging device to the remote control support device via a communication device, and the remote control support device may process the image received from the excavator 100 to generate a surrounding image. The remote control support device may then display the surrounding image, including the area in front of the excavator 100, on its display device. Similarly, various information images (information screens) displayed on the display device 50B inside the cabin 10 may also be displayed on the display device of the remote control support device. This allows an operator using the remote control support device to remotely operate the excavator 100 while checking, for example, the displayed content of images representing the area around the excavator 100 and information screens displayed on the display device. The shovel 100 may then operate actuators in response to remote control signals, which are received from a remote control support device via a communication device and represent the content of the remote control operation, thereby driving driven elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0028] Furthermore, remote operation may include, for example, a mode in which the shovel 100 is operated by external voice input or gesture input from a person (e.g., a worker) in the vicinity of the shovel 100. Specifically, the shovel 100 recognizes voices spoken or gestures made by surrounding workers through a voice input device (e.g., a microphone) or gesture input device (e.g., an imaging device) mounted on it. The shovel 100 may then operate actuators according to the content of the recognized voices or gestures to drive driven elements such as the lower traveling body 1 (left and right crawlers), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0029] Furthermore, the excavator 100 may operate its actuators automatically, regardless of the operator's actions. This allows the excavator 100 to automatically operate at least some of its driven elements, such as the lower traveling body 1, the upper rotating body 3, and the attachment AT, thus realizing what is known as an "automatic driving function." This automatic driving function is also referred to as a "machine control (MC) function."

[0030] The automatic driving function includes, for example, a semi-automatic driving function. The semi-automatic driving function is also called an "operation-assistance type MC function." The semi-automatic driving function is a function that automatically operates driven elements (actuators) other than the target driven element (actuator) in response to the operator's operation. The automatic driving function may also include a fully automatic driving function. The fully automatic driving function is also called a "fully automatic type MC function." The fully automatic driving function is a function that automatically operates at least some of the multiple driven elements (hydraulic actuators) without operator intervention. In the case of the excavator 100, if the fully automatic driving function is enabled, the cabin 10 may be unoccupied. Also, if the excavator 100 is dedicated to fully automatic driving, the cabin 10 may be omitted. Furthermore, the semi-automatic driving function and the fully automatic driving function may also include, for example, a rule-based automatic driving function. The rule-based automatic driving function is an automatic driving function in which the operation content of the driven elements (actuators) that are the target of automatic driving is automatically determined according to predetermined rules. Furthermore, the semi-automatic driving function and the fully automatic driving function may also include an autonomous driving function. The autonomous driving function is an autonomous driving function in which the shovel 100 makes various decisions autonomously, and the operation of the driven elements (hydraulic actuators) that are the target of the autonomous driving is determined according to the results of those decisions.

[0031] Furthermore, the operation of the shovel 100 may be remotely monitored. In this case, a remote monitoring support device having the same functions as a remote operation support device may be provided. This allows the monitor, who is the user of the remote monitoring support device, to monitor the status of the shovel 100's operation while checking the surrounding image displayed on the display device of the remote monitoring support device. Also, for example, if the monitor deems it necessary from a safety standpoint, they can use the input device of the remote monitoring support device to make a predetermined input, thereby intervening in the operation or automatic operation of the shovel 100 by the operator and causing the shovel 100 to make an emergency stop.

[0032] [Shovel configuration] Next, the configuration of the shovel 100 will be described with reference to Figures 3 and 4, in addition to Figures 1 and 2.

[0033] Figure 3 shows an example of the configuration of the shovel 100. Figure 4 shows an example of the positional relationship between the shovel 100 and the worker W1 during crane operation.

[0034] In Figure 3, the paths through which mechanical power is transmitted are shown as double lines, the paths through which high-pressure hydraulic fluid that drives the hydraulic actuators are flowed are shown as thick solid lines, the paths through which pilot pressure is transmitted are shown as dashed lines, the fuel paths are shown as dotted lines, and the paths through which electrical signals are transmitted are shown as dotted lines.

[0035] Excavator 100 includes various components such as a hydraulic drive system, an operating system, a user interface system, and a control system.

[0036] <Hydraulic drive system> The hydraulic drive system of the shovel 100 is a group of components related to the hydraulic drive of the driven elements of the shovel 100.

[0037] As shown in Figure 3, the hydraulic drive system of the excavator 100 includes hydraulic actuators HA that hydraulically drive each of the driven elements, such as the lower traveling body 1 (left and right crawlers 1C), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, as described above. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, a control valve 17, and a fuel tank FT.

[0038] The hydraulic actuator HA includes travel hydraulic motors 1ML and 1MR, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, among others.

[0039] Furthermore, the excavator 100 may have some or all of its hydraulic actuator HA replaced with an electric actuator. In other words, the excavator 100 may be a hybrid excavator or an electric excavator.

[0040] Engine 11 is the prime mover for the shovel 100 and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, on the slewing frame 3B at the rear of the upper slewing body 3. Engine 11 rotates at a constant speed at a preset target rotational speed, for example, under direct or indirect control by a controller 30, which will be described later, and drives the main pump 14 and the pilot pump 15.

[0041] Furthermore, in place of or in addition to engine 11, another prime mover (for example, an electric motor) may be mounted on the shovel 100.

[0042] The regulator 13 controls (adjusts) the discharge rate 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 "tilt angle") in response to a control command from the controller 30.

[0043] The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The main pump 14 is driven by the engine 11, as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate and discharge pressure.

[0044] The control valve 17 drives the hydraulic actuator HA in accordance with the operator's operation of the control device 26, the content of remote operation, or operation commands corresponding to the automatic operation function. The control valve 17 is mounted, for example, on the slewing frame 3B in the central part of the upper slewing 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 fluid supplied from the main pump 14 to each hydraulic actuator in accordance with the operator's operation or operation commands corresponding to the automatic operation function. Specifically, the control valve 17 includes a plurality of control valves (directional control valves) that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each of the hydraulic actuators HA.

[0045] The fuel tank FT stores fuel for the engine 11. For example, as shown in Figures 1 to 3, the fuel tank FT is mounted on the slewing frame 3B so as to be adjacent to the front right side of the upper slewing body 3, more specifically, behind the lifting step 3S. The fuel tank FT is connected to the engine 11 by fuel piping and supplies fuel to the engine 11 with the power of a fuel pump (not shown).

[0046] <Operation system> The control system of the Shovel 100 consists of a group of components related to the operation of the driven element.

[0047] As shown in Figure 3, the operating system of the shovel 100 includes a pilot pump 15 and an operating device 26.

[0048] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., operating devices 26) mounted on the excavator 100 via the pilot line 25. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump and is driven by the engine 11 as described above.

[0049] The pilot pump 15 may be omitted. In this case, the hydraulic fluid discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like may be supplied to the various hydraulic devices such as the operating device 26.

[0050] The operating device 26 is located within reach of the operator seated in the driver's seat inside the cabin 10 and is used by the operator to control each of the driven elements (i.e., the left and right crawlers of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, etc.). In other words, the operating device 26 is used by the operator to control the hydraulic actuators HA that drive each of the driven elements.

[0051] For example, as shown in Figure 3, the operating device 26 is hydraulically pilot operated. The operating device 26 uses the hydraulic fluid supplied through the pilot line 25 as the base pressure and outputs a pilot pressure to the pilot line 27 according to the operation performed on the operating device 26. The pilot pressure on the secondary side of the operating device 26 then acts on the control valve 17 (specifically, the pilot port of the control valve corresponding to the hydraulic actuator HA to be operated) through the pilot line 27. As a result, the control valve 17 operates the hydraulic actuator HA in response to the operator's operation on the operating device 26, thereby operating the driven element that the operator controls on the operating device 26.

[0052] Furthermore, the operating device 26 may be electrically operated. In this case, the operating device 26 outputs an electrical signal (hereinafter referred to as "operation signal") corresponding to the operator's operation, and the operation signal output from the operating device 26 may be received by the controller 30. The controller 30 may then output a control command corresponding to the operation signal to the hydraulic control valve connected to the control valve 17 (specifically, the pilot port corresponding to the hydraulic actuator HA to be operated) by a pilot line. As a result, the controller 30 can control the hydraulic control valve and control the operation of the driven elements (actuators) of the shovel 100 in accordance with the operator's operation and operation commands corresponding to the automatic operation function.

[0053] Furthermore, in the case of an electric operating device 26, the control valve 17 may be composed of an electromagnetic pilot-operated hydraulic control valve (directional control valve). In this case, the operating signal of the electric operating device 26 is directly input to the control valve 17, and each hydraulic control valve may perform an operation according to the operation of the operating device 26.

[0054] <User Interface System> The user interface system of Shovel 100 consists of a set of components related to the interaction between the user and Shovel 100.

[0055] As shown in Figure 3, the user interface system of the shovel 100 includes an operating device 26, an output device 50, and an input device 52.

[0056] The output device 50 outputs various information to the user of the shovel 100 (for example, the operator in the cabin 10 or an external remote operator) and people in the vicinity of the shovel 100 (for example, workers or drivers of work vehicles).

[0057] For example, the output device 50 includes a lighting device 50A and a display device 50B that output various information in a visual manner. The lighting device 50A is, for example, a warning light (indicator lamp). The display device 50B is, for example, a liquid crystal display or an organic EL (electroluminescence) display. For example, as shown in Figure 2, the lighting device 50A and the display device 50B are installed inside the cabin 10 and output various information in a visual manner to the operator inside the cabin 10. Alternatively, instead of installing the lighting device 50A and the display device 50B inside the cabin 10, or in addition, they may be installed, for example, on the top surface or side surface of the housing section 3H of the upper rotating body 3 and output various information in a visual manner to workers around the shovel 100.

[0058] Furthermore, the output device 50 may include a sound output device 50C that outputs various information in an audible manner. The sound output device 50C may include, for example, a buzzer or a speaker. The sound output device 50C may be provided, for example, inside and outside the cabin 10, and output various information in an audible manner to the operator inside the cabin 10 or to people (workers, etc.) around the shovel 100.

[0059] Furthermore, the output device 50 may also include a device that outputs various types of information through tactile means such as vibrations in the cockpit.

[0060] In this example, the output device 50 also includes an external indicator light 70.

[0061] The external indicator light 70 is a lighting device used to inform workers around the shovel 100 of the status of the shovel 100. Specifically, the external indicator light 70 illuminates in a manner that allows it to represent the load state of the shovel 100 by the suspended load SL in multiple stages (for example, three stages) during crane operation of the shovel 100. For example, the external indicator light 70 is configured to emit multiple colors and, under the control of the controller 30, emits a different color for each stage (level) of the load state of the shovel 100 by the suspended load SL. The external indicator light 70 is, for example, a multicolor light in which one light unit is capable of emitting multiple colors. Alternatively, the external indicator light 70 may be a stacked light in which multiple light units capable of emitting different colors from each other are stacked vertically. The light unit of the external indicator light 70 is the globe portion that covers the internal light-emitting part. The light-emitting part is, for example, an LED (Light Emitting Diode). Alternatively, the light-emitting part may be a light bulb.

[0062] The external indicator light 70 may be placed anywhere on the upper slewing body 3, as long as it is visible to workers around the shovel 100 during crane operation. For example, as shown in Figures 1 and 2, the external indicator light 70 is provided on the upper surface of the housing section 3H on the front right side of the upper slewing body 3. More specifically, in this example, the external indicator light 70 is provided on the upper surface of the housing section 3H behind the lifting step 3S and above the fuel tank FT.

[0063] For example, as shown in Figure 4, a worker W1 assisting with crane operations (e.g., a rigging worker) often assists (supports) the lifting operation of the shovel 100 from a position to the left front of the upper slewing body 3 of the shovel 100, in order to communicate with the operator in the cabin 10. For example, worker W1 checks whether the suspended load SL, which has been lifted by the operation of attachment AT, is stable from a position a certain distance to the right front of the upper slewing body 3 of the shovel 100. If worker W1 determines that the suspended load SL is unstable due to a large sway or the like and needs correction, he signals the operator to lower the suspended load SL back to the ground. Then, worker W1 corrects the position of the suspended load SL attached to the hook HK, and the operator then lifts the suspended load SL again and performs the operation to lift it off the ground. In this case, the external indicator light 70 is positioned on the upper surface of the housing section 3H on the front right side of the upper slewing body 3, allowing the operator W1 to see the illuminated part of the external indicator light 70 through the space between the boom 4 and the arm 5. In this case, the operator inside the cabin 10 may also be able to see the illuminated part of the external indicator light 70 through the window on the right side of the cabin. This allows the operator to check in advance, for example, whether the external indicator light 70 is lit correctly at the start of crane operation. In this case, the operator inside the cabin 10 may be able to see the external indicator light 70 in a normal posture while seated in the driver's seat and operating the control device 26, or they may only be able to see the external indicator light 70 when transitioning to a posture different from the normal posture.

[0064] Furthermore, the external indicator light 70 may be installed on the upper rotating body 3 in a location that is not visible to the operator inside the cabin 10 (for example, on the top surface of the cabin 10).

[0065] The input device 52 receives various inputs from the user of the shovel 100, and the signals corresponding to the received inputs are taken up by the controller 30. For example, as shown in Figures 2 and 3, the input device 52 is installed inside the cabin 10 and receives inputs from operators inside the cabin 10. Alternatively, the input device 52 may be installed, for example, on the side of the upper rotating body 3 and receive inputs from workers around the shovel 100.

[0066] For example, the input device 52 includes an operation input device that accepts input from the user through mechanical operation. The operation input device may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), etc.

[0067] Furthermore, the input device 52 may include a voice input device that accepts voice input from the user. The voice input device may include, for example, a microphone.

[0068] Furthermore, the input device 52 may include a gesture input device that receives gesture input from the user. The gesture input device may include, for example, an imaging device that captures images of the gestures performed by the user.

[0069] Furthermore, the input device 52 may include a biometric input device that accepts biometric input from the user. Biometric input may include, for example, the input of biometric information such as the user's fingerprints or iris scan.

[0070] <Control System> The control system for Shovel 100 consists of a group of components related to the various controls of Shovel 100.

[0071] As shown in Figure 3, the control system of the shovel 100 includes a controller 30. Furthermore, the control system of the shovel 100 according to this embodiment includes an operating pressure sensor 29, an imaging device 40, an information acquisition device 80, and sensors S1 to S5, S7 to S9.

[0072] The controller 30 performs various controls related to the excavator 100. For example, the controller 30 is mounted inside the cabin 10 of the upper rotating body 3.

[0073] The functions of the controller 30 can be arbitrarily implemented using any hardware, or any combination of hardware and software. For example, as shown in Figure 3, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, all connected via bus BS1.

[0074] The auxiliary storage device 30A is a non-volatile storage means that stores the installed program as well as necessary files and data. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory.

[0075] The memory device 30B loads the program from the auxiliary storage device 30A into the CPU 30C's readable state, for example, when a program startup command is received. The memory device 30B is, for example, SRAM (Static Random Access Memory).

[0076] The CPU 30C, for example, executes a program loaded into the memory device 30B and implements various functions of the controller 30 according to the program's instructions.

[0077] The interface device 30D functions, for example, as a communication interface for connecting to a communication line inside the shovel 100. The interface device 30D may include multiple different types of communication interfaces to match the type of communication line to be connected.

[0078] Furthermore, the interface device 30D functions as an external interface for reading data from and writing data to a recording medium. The recording medium is, for example, a dedicated tool connected by a detachable cable to a connector installed inside the cabin 10. Alternatively, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the program that realizes the various functions of the controller 30 may be provided, for example, by a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Alternatively, the program may be downloaded from another computer outside the shovel 100 via a communication device (not shown) and installed in the auxiliary storage device 30A.

[0079] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a distributed manner by multiple controllers mounted on the shovel 100.

[0080] The operating pressure sensor 29 detects the pilot pressure on the secondary side (pilot line 27) of the hydraulic pilot-operated operating device 26, that is, the pilot pressure corresponding to the operating state of each driven element (hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure corresponding to the operating state of each driven element (hydraulic actuator HA) in the operating device 26, detected by the operating pressure sensor 29, is received by the controller 30.

[0081] Furthermore, if the operating device 26 is electrically operated, the operating pressure sensor 29 is omitted. This is because the controller 30 can understand the operating state of each driven element through the operating device 26 based on the operating signals received from the operating device 26.

[0082] The imaging device 40 captures images of the area around the shovel 100.

[0083] For example, as shown in Figures 1 and 2, the imaging device 40 includes cameras 40B and 40R. Camera 40B captures the area behind the upper rotating body 3. This allows the operator in the cabin 10 to easily check the area behind the shovel 100, which is their blind spot, by viewing the surrounding image based on the image captured by camera 40B through the display device 50B. Camera 40R captures the area to the right of the shovel 100. This allows the operator in the cabin 10 to easily check the area to the right of the shovel 100, which is their blind spot, by viewing the surrounding image based on the image captured by camera 40R through the display device 50B.

[0084] Furthermore, the imaging device 40 may include, in addition to cameras 40B and 40R, at least one of a camera that images the left side of the upper rotating body 3 (left camera) and a camera that images the front of the upper rotating body 3 (front camera). This allows the operator to check the situation in front of the shovel 100 by viewing a surrounding image based on the image captured by the front camera via the display device 50B or remote control support device. The operator can also check the situation to the left of the shovel 100 by viewing a surrounding image based on the image captured by the left camera via the display device 50B or remote control support device.

[0085] Hereafter, cameras 40B, 40R, the front camera, and the left camera may be collectively or individually referred to as "camera 40X".

[0086] The output data from camera 40X (i.e., the captured image data) is received by controller 30 via a one-to-one communication line or an in-vehicle network. This allows controller 30 to detect objects around the shovel 100 based on the output data from camera 40X. Furthermore, controller 30 can generate an image of the area around the shovel 100 based on the output data from camera 40X and display it on display device 50B.

[0087] The information acquisition device 80 acquires information regarding the location of the shovel 100. The location of the shovel 100 is, for example, the work site where the shovel 100 is performing its work, including the shovel 100's current position. Specifically, the information acquisition device 80 acquires information regarding the location of the shovel 100 related to how the external indicator light 70 is visible to people. Specifically, how the external indicator light 70 is visible to people means how the illuminated part of the external indicator light 70 is visible to people. How the external indicator light 70 is visible to people includes how the external indicator light 70 is visible to workers around the shovel 100. In addition, how the external indicator light 70 is visible to people may also include how the external indicator light 70 is visible to the operator inside the cabin 10.

[0088] For example, the information acquisition device 80 includes a solar radiation sensor 82 (see Figure 5) that measures the amount of solar radiation at the location of the shovel 100, and an illuminance sensor that measures the brightness (illuminance) at the location of the shovel 100. This is because the appearance of the external indicator light 70 to a person changes depending on the brightness conditions at the location of the shovel 100. The solar radiation sensor 82 and the illuminance sensor are installed, for example, in a location inside the cabin 10 that is easily exposed to sunlight. Also, for example, the information acquisition device 80 may include an imaging device 40 that captures images of the area around the shovel 100. This is because, for example, the brightness at the location of the shovel 100 can be estimated from the captured images of the area around the shovel 100. Furthermore, the appearance of the external indicator light 70 to a person may change depending on the scenery (background) behind the external indicator light 70 as seen by a person. Therefore, for example, by applying known image processing to the image captured by the imaging device 40, or by inputting the image captured by the imaging device 40 into a predetermined trained model, the controller 30 can evaluate the visibility of the external indicator light 70 based on the scenery (background) of the work site around the shovel 100. The information acquisition device 80 may also include a clock capable of acquiring the current time at the location of the shovel 100. This is because the brightness at the location of the shovel 100 changes depending on the time of day (time zone) in which the shovel 100 is being operated, and the visibility of the external indicator light 70 to a person changes as a result. The clock may be a hardware clock, a software clock, or a combination of both. The clock may also be implemented in the controller 30 or provided outside the controller 30. The information acquisition device 80 may also include a communication device capable of acquiring weather data for the location of the shovel 100 from a weather server outside the shovel 100. This is because the brightness of the area where the Shovel 100 is located changes depending on the weather, and this changes how the external indicator light 70 appears to a person.

[0089] The information acquired by the information acquisition device 80 is received by the controller 30 via a one-to-one communication line or an in-vehicle network. Based on the information acquired by the information acquisition device 80, the controller 30 can perform control (hereinafter referred to as "dimming control") to adjust the brightness of the external indicator light 70 (specifically, the brightness of the light-emitting part).

[0090] Sensor S1 is attached to the boom 4 and measures the attitude state of the boom 4. Sensor S1 outputs measurement data representing the attitude state of the boom 4. The attitude state of the boom 4 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection part of the boom 4 with the upper slewing body 3 (hereinafter referred to as "boom angle"). Sensor S1 includes, for example, a rotary potentiometer, rotary encoder, acceleration sensor, angular acceleration sensor, 6-axis sensor, IMU (Inertial Measurement Unit), etc. The same may apply to sensors S2 to S4 below. Sensor S1 may also include a cylinder sensor that detects the extension and retraction position of the boom cylinder 7. The same may apply to sensors S2 and S3 below. The output of sensor S1 (measurement data representing the attitude state of the boom 4) is taken up by the controller 30. This allows the controller 30 to understand the attitude state of the boom 4.

[0091] Sensor S2 is attached to arm 5 and measures the attitude state of arm 5. Sensor S2 outputs measurement data representing the attitude state of arm 5. The attitude state of arm 5 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection point between arm 5 and boom 4 (hereinafter referred to as "arm angle"). The output of sensor S2 (measurement data representing the attitude state of arm 5) is received by controller 30. This allows controller 30 to understand the attitude state of arm 5.

[0092] Sensor S3 is attached to the bucket 6 and measures the attitude of the bucket 6. Sensor S3 outputs measurement data representing 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 corresponding to the connection point between the bucket 6 and the arm 5 (hereinafter referred to as the "arm angle"). The output of sensor S3 (measurement data representing the attitude of the bucket 6) is taken up by the controller 30. This allows the controller 30 to understand the attitude of the bucket 6.

[0093] Sensor S4 measures the attitude of the excavator 100 (for example, the upper rotating body 3). Sensor S4 outputs measurement data representing the attitude of the excavator 100. The attitude of the excavator 100 is, for example, the inclination of the excavator with respect to a predetermined reference plane (for example, the horizontal plane). For example, Sensor S4 is attached to the upper rotating body 3 and measures the inclination angle of the excavator 100 around two axes: the longitudinal direction and the lateral direction. The output of Sensor S4 (measurement data representing the attitude of the excavator 100) is taken up by the controller 30. This allows the controller 30 to understand the attitude (inclination) of the excavator (upper rotating body 3).

[0094] Sensor S5 is attached to the upper rotating body 3 and measures the rotation state of the upper rotating body 3. Sensor S5 outputs measurement data representing the rotation state of the upper rotating body 3. Sensor S5 measures, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. Sensor S5 includes, for example, a gyro sensor, resolver, rotary encoder, etc. The output of sensor S5 (measurement data representing the rotation state of the upper rotating body 3) is taken up by the controller 30. This allows the controller 30 to understand the rotation state of the upper rotating body 3, such as the rotation angle.

[0095] Based on the outputs of sensors S1 to S5, the controller 30 can determine (estimate) the position of the tip of the attachment AT (bucket 6).

[0096] Furthermore, if sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc., capable of detecting angular velocity around three axes, the rotation state of the upper rotating body 3 (e.g., rotational angular velocity) may be detected based on the detection signal from sensor S4. In this case, sensor S5 may be omitted. Also, if the automatic operation function of the shovel 100 is not employed, sensors S1 to S5 may be omitted.

[0097] Sensor S7 measures the pressure (cylinder pressure) in the oil chamber of the boom cylinder 7. Sensor S7 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the boom cylinder 7 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side. The output of sensor S7 (measured data of the cylinder pressure of the boom cylinder 7) is taken up by the controller 30.

[0098] Sensor S8 measures the pressure (cylinder pressure) in the oil chamber of the arm cylinder 8. Sensor S8 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the arm cylinder 8 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side of the arm cylinder 8. The output of sensor S8 (measurement data of the cylinder pressure of the arm cylinder 8) is taken up by the controller 30.

[0099] Sensor S9 measures the pressure (cylinder pressure) in the oil chamber of the bucket cylinder 9. Sensor S9 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the bucket cylinder 9 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side of the bucket cylinder 9. The output of sensor S9 (measured data of the cylinder pressure of the bucket cylinder 9) is taken up by the controller 30.

[0100] The controller 30 can determine the load (weight) of the suspended load SL based on the output of sensors S7 to S9.

[0101] For example, the controller 30 switches the working mode of the shovel 100 in response to a predetermined input to the input device 52. The working modes include, for example, a crane mode for performing crane operations and a normal mode for performing excavation work, etc.

[0102] When crane mode is selected, the controller 30 sets the operating speed of the attachment to a lower speed than in normal mode, in response to the operation of the hydraulic actuator HA by the operator or the automatic operation function. This prevents situations in which the lower traveling body 1, the upper slewing body 3, and the attachment AT operate at relatively high speeds while the load SL is suspended from the hook HK.

[0103] Furthermore, when crane mode is selected, the controller 30 calculates the load state of the shovel 100 based on the suspended load SL, and based on the calculation result, notifies the operator of the load state of the shovel 100 through the output device 50. For example, the controller 30 displays the load state of the shovel 100 on the display device 50B. Alternatively, the controller 30 may notify the operator of the load state of the shovel 100 by turning on or flashing the lighting device 50A. Alternatively, the operator may notify the operator of the load state of the shovel 100 through the sound output device 50C. This allows the operator in the cabin 10 to proceed with crane work while being aware of the load state of the shovel 100 based on the suspended load SL. Furthermore, when the shovel 100 is remotely controlled, the controller 30 may display the calculation result of the load state of the shovel 100 based on the suspended load SL on the remote control support device. In this case, the controller 30 may calculate the load state of the shovel 100 itself and transmit the calculation result to the remote operation support device via a communication device (not shown in the diagram), or it may transmit the raw data for calculating the load state of the shovel 100 to the remote operation support device. As a result, the remote operation support device can notify the remote operator of the load state of the shovel 100 via its display device or sound output device. Therefore, the remote operator can proceed with the crane operation remotely while being aware of the load state of the shovel 100 due to the suspended load SL.

[0104] The load state of the shovel 100 is divided into several stages, as defined by the load (weight) W of the suspended load SL. The load W of the suspended load SL is measured based on the output of sensors S7 to S9, as described above. For example, the load state of the shovel 100 is defined in three stages, from lowest to highest: Stage 1, Stage 2, and Stage 3. Stage 1 represents a state where the load W of the suspended load SL is less than the threshold Wth1. Threshold Wth1 is predetermined as a value less than the predetermined rated load Wlim. Stage 2 represents a state where the load W of the suspended load SL is greater than or equal to threshold Wth1 and less than threshold Wth2. Threshold Wth2 is predetermined as a value greater than threshold Wth1 and less than the rated load Wlim. Stage 3 represents a state where the load W of the suspended load SL is greater than or equal to threshold Wth2.

[0105] Furthermore, when crane mode is selected, the controller 30 changes the color of the external indicator light 70 according to the load state of the shovel 100 by the suspended load SL. For example, the controller 30 controls the external indicator light 70 to emit green or blue light when the load state of the shovel 100 by the suspended load SL is in the first stage. The controller 30 also controls the external indicator light 70 to emit yellow or orange light when the load state of the shovel 100 by the suspended load SL is in the second stage. The controller 30 also controls the external indicator light 70 to emit red light when the load state of the shovel 100 by the suspended load SL is in the third stage. As a result, the shovel 100 allows workers around the shovel 100, such as rigging workers performing rigging work on the suspended load SL, to confirm the load state of the shovel 100 by the color of the external indicator light 70.

[0106] Furthermore, the load condition of the shovel 100 may take into account not only the load of the suspended load SL but also the attitude of the attachment AT. The attitude of the attachment AT is measured based on the output of sensors S1 to S5 as described above. For example, the controller 30 may calculate the tipping moment of the shovel 100 from the load of the suspended load SL and the attitude of the attachment, and then calculate the load condition of the shovel 100 due to the suspended load SL based on the magnitude of the tipping moment.

[0107] [An example of a method for controlling the dimming of external indicator lights] Referring to Figures 5 and 6, an example of a method for controlling the dimming of the external indicator light 70 will be described.

[0108] <Configuration related to dimming control of external indicator lights> Figure 5 shows an example of a configuration for dimming control of the external indicator light 70.

[0109] In this example, the shovel 100 includes a controller 30, the external indicator light 70, and a solar radiation sensor 82 as a configuration for controlling the dimming of the external indicator light 70.

[0110] The controller 30 includes a CPU 30C, a power supply circuit 30E, and a semiconductor switch 30F.

[0111] The CPU 30C executes a predetermined program loaded from the auxiliary storage device 30A into the memory device 30B, thereby performing processing related to the dimming control of the external indicator light 70.

[0112] The power supply circuit 30E is a DC stabilized power supply circuit that generates the driving power for the controller 30. The power supply circuit 30E is also electrically connected to the external indicator light 70 and the solar radiation sensor 82, and functions as their power source as well.

[0113] For example, the power supply circuit 30E is a DC stabilized power supply that generates a relatively lower voltage (e.g., about 5V) DC from a predetermined voltage (e.g., about 12V or about 24V) DC supplied from an energy storage device (e.g., a lead-acid battery) mounted on the shovel 100.

[0114] The semiconductor switch 30F is provided in the power supply path for emitting light from the light-emitting part (LED) of the external indicator light 70, and switches the drain-source (or emitter-collector) ON / OFF in response to a signal input from the CPU 30C to the gate terminal (or base terminal). This allows the semiconductor switch 30F to switch between supplying and de-supplying power to the external indicator light 70 from the power supply circuit 30E. For example, as shown in Figure 5, the semiconductor switch 30F is a MOSFET (Metal Oxide Semiconductor Field Effect Transistor). Alternatively, the semiconductor switch 30F may be an IGBT (Insulated Gate Bipolar Transistor) or a HEMT (High Electron Mobility Transistor), etc. The semiconductor switch 30F may also be made of a wide-bandgap semiconductor material such as silicon carbide (SiC) or gallium nitride (GaN).

[0115] The external indicator light 70 is electrically connected to the power supply circuit 30E. When the semiconductor switch 30F is ON, the LED, which acts as a light-emitting part, is energized, and when the semiconductor switch 30F is OFF, the LED, which acts as a light-emitting part, is de-energized.

[0116] The solar radiation sensor 82 has one terminal electrically connected to the power supply circuit 30E and the other terminal electrically connected to the CPU 30C, and outputs a current to the CPU 30C corresponding to the amount of solar radiation (for example, a current proportional to the amount of solar radiation). As a result, the CPU 30C of the controller 30 can measure the amount of solar radiation based on the current value input from the solar radiation sensor 82.

[0117] The CPU 30C of the controller 30 controls the dimming of the light-emitting part (LED) of the external indicator light 70 by performing PWM (Pulse Width Modulation) control of the semiconductor switch 30F based on the current value input from the solar radiation sensor 82.

[0118] Specifically, the CPU 30C increases the duty cycle D in the PWM control of the semiconductor switch 30F as the current value input from the solar radiation sensor 82 increases, that is, as the amount of solar radiation at the location of the shovel 100 increases. This allows the light-emitting part of the external indicator light 70 to be made brighter as the amount of solar radiation at the location of the shovel 100 increases, that is, as the area where the shovel 100 is located becomes brighter. Therefore, it is possible to prevent situations where workers around the shovel 100 cannot see whether the external indicator light 70 is lit or its color due to the brightness or glare at the location of the shovel 100, thereby improving the visibility of the external indicator light 70 to workers. In other words, the CPU 30C decreases the duty cycle D in the PWM control of the semiconductor switch 30F as the current value input from the solar radiation sensor 82 decreases, that is, as the amount of solar radiation at the location of the shovel 100 decreases. This allows the light-emitting part of the external indicator light 70 to be made dimmer as the amount of sunlight around the shovel 100 decreases, that is, as the area around the shovel 100 becomes darker. Therefore, for example, in situations where the area around the shovel 100 is relatively dark, the illuminated part of the external indicator light 70 may be too bright or dazzling, which can reduce the visibility of the color of the illuminated part of the external indicator light 70 to workers around the shovel 100. Also, for example, in situations where the area around the shovel 100 is relatively dark, the illuminated part of the external indicator light 70 may enter the operator's field of vision, and the illuminated part of the external indicator light 70 may be too bright or dazzling, which can reduce the impact on the operation of the shovel 100.

[0119] <Processing related to dimming control of external indicator lights> Referring to Figure 6, an example of the process for controlling the dimming of the external indicator light 70 will be described.

[0120] FIG. 6 is a flowchart schematically showing an example of a process related to the dimming control of the external display lamp 70.

[0121] This flowchart is repeatedly executed at every predetermined processing cycle, for example, during the operation of the excavator 100. Also, this flowchart may be repeatedly executed at every predetermined processing cycle when the working mode of the excavator 100 is the crane mode.

[0122] As shown in FIG. 6, in step S102, the CPU 30C of the controller 30 acquires the output of the solar sensor 82, specifically, the latest current value Id input from the solar sensor 82.

[0123] When the processing of step S102 is completed, the CPU 30C proceeds to step S104.

[0124] In step S104, the CPU 30C determines whether the current value Id acquired in step S102 is greater than or equal to a threshold value Ith (>0). When the current value Id is greater than or equal to the threshold value Ith, the CPU 30C proceeds to step S106, and when it is less than the threshold value Ith, the CPU 30C proceeds to step S108.

[0125] In step S106, the CPU 30C sets the duty ratio D in the PWM control of the external display lamp 70 to a relatively large predetermined value D1 (0 < D1 < 1) (D = D1).

[0126] Thereby, the CPU 30C can cause the light emitting part (LED) of the external display lamp 70 to emit light relatively brightly in a situation where the current value Id is greater than or equal to the threshold value Ith and the solar radiation amount is relatively large. Therefore, the CPU 30C can improve the visibility of the external display lamp 70 in a situation where the surroundings of the excavator 100 are relatively bright.

[0127] On the other hand, in step S108, the CPU 30C sets the duty ratio D in the PWM control of the external display lamp 70 to a relatively small predetermined value D2 (0 < D2 < D1 < 1) (D = D2).

[0128] As a result, the CPU30C can make the light-emitting part (LED) of the external indicator light 70 emit light at a relatively low level when the current value Id is below the threshold Ith and the amount of sunlight is relatively low. Therefore, the CPU30C can prevent the illuminated part of the external indicator light 70 from being too bright or dazzling to workers around the shovel 100, and can improve the visibility of the illuminated part of the external indicator light 70 in relatively dark conditions around the shovel 100. In addition, the CPU30C can prevent the illuminated part of the external indicator light 70 from being too bright or dazzling when it comes into the operator's field of vision in relatively dark conditions around the shovel 100, which could affect the operation of the shovel 100.

[0129] CPU30C terminates the processing of this flowchart once the processing of step S106 or step S108 is completed.

[0130] [Other examples of methods for controlling the dimming of external indicator lights] Another example of a method for controlling the dimming of the external indicator light 70 will be described.

[0131] The example of the dimming control method for the external indicator light 70 described above may be modified or changed as appropriate.

[0132] For example, the controller 30 may switch to increase (or decrease) the duty cycle D in three or more stages, rather than just two, in response to an increase (or decrease) in the current value Id of the solar radiation sensor 82.

[0133] Furthermore, the controller 30 may continuously increase (or decrease) the duty cycle D in response to an increase (or decrease) in the current value Id of the solar radiation sensor 82. For example, the controller 30 may increase (or decrease) the duty cycle D in proportion to the increase (or decrease) in the current value Id of the solar radiation sensor 82.

[0134] Furthermore, the controller 30 may change the duty cycle D based on the output (current value) of the illuminance sensor, in the same manner as when using the current value Id of the solar radiation sensor 82, instead of the current value Id of the solar radiation sensor 82.

[0135] Furthermore, the controller 30 may estimate the brightness of the location of the shovel 100 based on the image captured by the imaging device 40. The controller 30 may then change the duty cycle D in the same manner as when using the current value Id of the solar radiation sensor 82, such that the duty cycle D increases (or decreases) as the estimated brightness increases (or decreases).

[0136] Furthermore, the controller 30 may set the duty cycle D to a predetermined value D1 if the current time is in a first time zone where it is assumed to be relatively bright, based on the clock output, and set the duty cycle D to a predetermined value D2 if it is in a second time zone. The first time zone is, for example, from 10 a.m. to 4 p.m. The first time zone may also be variable depending on the season, because the times of sunrise and sunset change depending on the season.

[0137] Furthermore, a day may be divided into three or more time zones, and the controller 30 may switch the duty cycle D in three or more steps depending on whether the current time falls within one of these three or more time zones. In this case, the duty cycle D for each of the three or more time zones is predetermined such that the duty cycle D decreases in stages from the brightest expected time zone to the darkest expected time zone, based on the expected brightness for each time zone.

[0138] Furthermore, the controller 30 may set the duty cycle D to a predetermined value D1 if the current weather at the location of the shovel 100 is sunny, based on weather data received from a weather server via a communication device, and set the duty cycle D to a predetermined value D2 if the current weather at the location of the shovel 100 is anything other than sunny.

[0139] Furthermore, the controller 30 may change the duty cycle D in three or more stages according to the current weather at the location of the shovel 100. For example, the controller 30 changes the duty cycle D depending on whether the current weather at the location of the shovel 100 is sunny, cloudy, or something else. In this case, the duty cycle D is largest when the current weather at the location of the shovel 100 is sunny, the next largest when it is cloudy, and the smallest when it is anything other than sunny or cloudy.

[0140] Furthermore, the controller 30 may evaluate the visibility of the external indicator light 70 based on the image captured by the imaging device 40, using the scenery of the location where the shovel 100 is located as a reference, and change the duty cycle D according to the evaluation result. For example, the controller 30 will decrease (or increase) the duty cycle D the higher (or lower) the visibility evaluation result. In this way, the controller 30 can make the external indicator light 70 brighter as the visibility of the external indicator light 70 with respect to the scenery (background) of the location where the shovel 100 is located worsens. In this case, the controller 30 may change the duty cycle D in two or more steps, or in three or more steps, or continuously, according to the visibility evaluation result.

[0141] Furthermore, the controller 30 may perform dimming control of the external indicator light 70 by a control method other than PWM control (for example, phase control).

[0142] Furthermore, if the light-emitting part of the external indicator light 70 is composed of multiple LEDs or light bulbs, the controller 30 may control the dimming of the external indicator light 70 by varying the number of LEDs or light bulbs that are illuminated.

[0143] [Effect] Next, the operation of the shovel according to this embodiment will be described.

[0144] In the first aspect of this embodiment, the shovel comprises a lower traveling body, an upper rotating body, an attachment, a lighting device, and a control device. The shovel is, for example, the shovel 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The attachment is, for example, the attachment AT described above. The lighting device is, for example, the external indicator light 70 described above. The control device is, for example, the controller 30 described above. Specifically, the upper rotating body is rotatably mounted on the lower traveling body. The attachment is attached to the upper rotating body and has a boom, an arm, and an end attachment. The boom is, for example, the boom 4 described above. The arm is, for example, the arm 5 described above. The end attachment is, for example, the bucket 6 described above. The lighting device is provided on the upper rotating body to inform people around the shovel of its status. The control device then adjusts the brightness of the lighting device according to the conditions of the location where the shovel is located.

[0145] This allows the control device to adjust the brightness of the lighting system according to the conditions of the shovel's location, improving the visibility of the lighting system to workers around the shovel.

[0146] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, the shovel may be equipped with a cabin in which an operator sits. The cabin is, for example, the cabin 10 described above. The lighting device may be positioned so that the lighting unit is visible to the operator inside the cabin.

[0147] This allows the control device to adjust the brightness of the lighting system according to the conditions of the excavator's location, preventing situations where the lighting is too bright or dazzling when viewed by the operator, thus preventing interference with the operator's operation.

[0148] Furthermore, in a third aspect of this embodiment, based on the first or second aspect described above, the shovel may be equipped with an acquisition device for acquiring information about the conditions of the location where the shovel is located. The acquisition device is, for example, the information acquisition device 80 described above. The control device may then adjust the brightness of the lighting device based on the information acquired by the acquisition device.

[0149] This allows the control device to adjust the brightness of the lighting system according to the conditions of the location where the shovel is situated, thereby improving the visibility of the lighting system to workers around the shovel.

[0150] Furthermore, in a fourth aspect of this embodiment, based on the third aspect described above, the control device may adjust the brightness of the lighting device so that the brighter the area where the shovel is located, the brighter the lighting device becomes.

[0151] This allows the control system to improve the visibility of the lighting device to workers around the shovel.

[0152] Furthermore, in a fifth aspect of this embodiment, based on the third aspect described above, the acquisition device may be a clock capable of outputting the current time. The control device may then adjust the brightness of the lighting device based on the current time.

[0153] This allows the control device to adjust the brightness of the lighting system according to the expected brightness of the area where the shovel is located, based on the current time. As a result, the visibility of the lighting system to workers around the shovel can be improved.

[0154] Although embodiments have been described in detail above, this disclosure is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims. [Explanation of symbols]

[0155] 1. Lower running body 1C Crawler 1ML Hydraulic Motor for Travel 1MR Hydraulic Motor for Travel 2M Swivel Hydraulic Motor 3. Upper rotating body 3B Swivel Frame 3H House Department 3S Lifting Step 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 cabins 26 Operating device 30 controllers 30A auxiliary storage 30B Memory Device 30C CPU 30D Interface Device 30E power circuit 30F Semiconductor Switch 40 Imaging device 50 Output device 50A lighting device 50B display device 50C Sound Output Device 70 External indicator light 80 Information acquisition device 82 Solar radiation sensor 100 Shovel AT attachment HK Hook S1 Sensor S2 Sensor S3 Sensor S4 Sensor S5 Sensor S7 Sensor S8 Sensor S9 Sensor SL hanging load W1 Worker

Claims

1. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An attachment that is attached to the upper rotating body and has a boom, arm, and end attachment, A lighting device is provided on the upper rotating body to inform people around the shovel of its status, The system includes a control device that adjusts the brightness of the lighting device according to the conditions of the location where the shovel is located. Shovel.

2. Equipped with a cabin for the operator, The lighting device is positioned so that the illuminating part is visible to the operator inside the cabin. The shovel according to claim 1.

3. Equipped with an acquisition device that obtains information about the conditions of the location where the shovel is located, The control device adjusts the brightness of the lighting device based on the information acquired by the acquisition device. The shovel according to claim 1 or 2.

4. The control device adjusts the brightness of the lighting device so that the brighter the area where the shovel is located, the brighter the lighting device becomes. The shovel according to claim 3.

5. The acquisition device is a clock capable of outputting the current time. The control device adjusts the brightness of the lighting device based on the current time. The shovel according to claim 3.

Images