Shovel, shovel operating system

Abstract

This disclosure provides an excavator that can overcome the problem of insufficient number of operating levers or switches provided around the driver's seat, in an excavator configured to allow switching between multiple operating modes. [Solution] The shovel comprises a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment mounted on the upper rotating body, and a driver's cab 10 provided on the upper rotating body. The shovel also comprises a driver's seat 70 installed inside the driver's cab 10, operating levers (left lever device 26A and right lever device 26B) arranged around the driver's seat 70 and used to operate the attachment, and a plurality of switches SW provided around the operating levers or the driver's seat 70. The shovel is configured to allow switching between multiple operating modes, and the functions assigned to the plurality of switches SW are changed when switching between the multiple operating modes.

Description

Technical Field

[0001] The present disclosure relates to an excavator and an operating system of the excavator.

Background Art

[0002] Conventionally, an excavator capable of switching between a plurality of modes has been known (see Patent Document 1 below). The excavator described in Patent Document 1 can be switched from a normal operation mode to a surveying mode by pressing a surveying mode button provided on an operation lever for operating an attachment.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As in the aforementioned Patent Document 1, an excavator may have a plurality of operation modes, but the number of switches provided around the operation lever or the driver's seat is limited. Therefore, if functions specific to each operation mode are assigned to each switch of the operation lever, there is a risk that the number of switches will be insufficient.

[0005] The present disclosure provides an excavator and an operating system of the excavator that can solve the shortage of the number of switches provided around the operation lever or the driver's seat in an excavator configured to be able to switch between a plurality of operation modes.

Means for Solving the Problems

[0006] One aspect of the present disclosure provides an excavator comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; an attachment mounted on the upper rotating body; a cab provided on the upper rotating body; a driver's seat installed inside the cab; an operating lever or the area around the driver's seat used for operating the attachment; and a plurality of switches provided on the operating lever, wherein the excavator is configured to switch between a plurality of operating modes, and the functions assigned to the plurality of switches are changed when switching between the plurality of operating modes.

[0007] Another aspect of the present disclosure provides an operating system for an excavator comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment mounted on the upper rotating body, and a communication device provided on the upper rotating body, configured to switch between a plurality of operating modes; a remote control device installed outside the excavator and used for operating the excavator; and a remote communication device that transmits the operation content of the remote control device to the communication device, wherein the remote control device comprises an operating lever used for operating the attachment and a plurality of switches provided around the operating lever or the driver's seat, and the functions assigned to the plurality of switches are changed when switching between the plurality of operating modes. [Effects of the Invention]

[0008] According to the above-described aspects of this disclosure, it is possible to provide an excavator and an excavator operating system that can resolve the issue of insufficient number of operating levers or switches provided around the operator's seat in an excavator configured to switch between multiple operating modes. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view showing an embodiment of the excavator according to this disclosure. [Figure 2] A block diagram showing an example of the configuration of the excavator shown in Figure 1. [Figure 3]A plan view showing an example of the configuration of the operator's cab of the excavator shown in Figure 1. [Figure 4] Figure 3 shows an example of the screen of a display device placed inside the driver's cab. [Figure 5] This figure shows an example of an image displayed on the screen of the display device shown in Figure 4. [Figure 6] This figure shows an example of an image displayed on the display device shown in Figure 4. [Figure 7] This is a schematic diagram showing an embodiment of the excavator operating system according to this disclosure. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the excavator according to this disclosure will be described with reference to the drawings. The embodiments described below are illustrative and do not limit the invention. Not all features and combinations thereof in the embodiments of this 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 descriptions may be omitted.

[0011] Referring to Figure 1, the outline of the shovel 100 of this embodiment will be described.

[0012] As shown in Figure 1, the shovel 100 comprises a lower traveling body 1, an upper slewing body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a driver's cab 10. The driver's cab 10 is also referred to as, for example, a cab or cabin.

[0013] The front of the shovel 100 (upper rotating body 3) corresponds to the side on which the attachment AT is attached to the upper rotating body 3 when the shovel 100 is viewed from directly above along the rotation axis of the upper rotating body 3. The left, right, and rear sides of the shovel 100 (upper rotating body 3) correspond to the left, right, and rear sides, respectively, as viewed from the perspective of an operator seated in the driver's seat inside the cab 10.

[0014] The lower traveling body 1 uses a pair of left and right crawlers 1C to move the excavator 100. The crawlers 1C include the left crawler 1C and the right crawler 1C. The left crawler 1C and the right crawler 1C are hydraulically driven by traveling hydraulic motors 1ML and 1MR respectively. Thereby, the lower traveling body 1 can self - propel.

[0015] The upper slewing body 3 is mounted on the lower traveling body 1 via a slewing mechanism 2 so as to be slewing - capable. For example, the upper slewing body 3 can slew with respect to the lower traveling body 1 when the slewing mechanism 2 is hydraulically driven by a slewing hydraulic motor 2M.

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

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

[0019] In addition, for example, a hook HK is attached to the bucket 6. Thus, the excavator 100 can move a suspended load by suspending the suspended load on the hook HK and operating at least one of the lower traveling body 1, the upper swing 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, when operations other than lifting operations such as excavation work (also referred to as "crane work") are performed, the hook HK can be stored in the space formed between the two bucket links.

[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 cab for an operator to board and operate the excavator 100. The cab 10 is mounted, for example, on the front left side of the upper swing body 3.

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

[0024] In addition, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 can realize a function of automatically operating at least a part of driven elements such as the lower traveling body 1, the upper swing body 3, and the attachment AT, that is, a so-called "automatic operation function" or "Machine Control (MC) function".

[0025] The automatic driving function may include, for example, a semi-automatic driving function (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 (fully automatic type MC function). The fully automatic driving function is a function that automatically operates at least some of multiple driven elements (actuators) without operator intervention. In the case of the excavator 100, if the fully automatic driving function is enabled, the interior of the operator's cab 10 may be unoccupied. 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. 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 (actuators) that are the subject of the autonomous driving is determined according to the results of those decisions.

[0026] Figure 2 is a block diagram showing an example configuration of the excavator 100 shown in Figure 1. Figure 3 is a plan view showing an example configuration inside the operator's cab 10 of the excavator 100 shown in Figure 1. In Figure 2, the paths through which mechanical power is transmitted are shown by double lines, the paths through which high-pressure hydraulic fluid that drives the hydraulic actuators are shown by thick solid lines, the paths through which pilot pressure is transmitted are shown by dashed lines, the fuel paths are shown by dashed lines, and the paths through which electrical signals are transmitted are shown by dotted lines.

[0027] Excavator 100 includes various components such as a hydraulic drive system, an operating system, a user interface system, and a control system.

[0028] 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. As described above, the hydraulic drive system of the shovel 100 includes hydraulic actuators HA that hydraulically drive each of the driven elements, such as the lower traveling body 1 (i.e., the left and right crawlers 1C), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. Furthermore, the hydraulic drive system of the shovel 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0029] 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.

[0030] 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.

[0031] 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, at the rear of the upper rotating body 3. Engine 11 rotates at a constant speed at a preset target 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.

[0032] In addition, other prime movers (such as electric motors) may be mounted on the shovel 100 instead of, or in addition to, the engine 11.

[0033] The regulator 13 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.

[0034] The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted at the rear of the upper slewing body 3, for example, 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. As described above, under the control of the controller 30, the piston stroke length of the main pump 14 is adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate and discharge pressure.

[0035] The control valve 17 drives the hydraulic actuators HA in response to an operation command from the operator's control device 26 or an operation command corresponding to the automatic operation function. The control valve 17 is mounted, for example, in the center 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 from the main pump 14 to each of the hydraulic actuators HA in response to an operation from the operator's control device 26 or an operation command corresponding to the automatic operation function. Specifically, the control valve 17 includes a plurality of directional control valves that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each of the hydraulic actuators HA.

[0036] The control system of the Shovel 100 consists of a group of components related to the operation of the driven element.

[0037] As shown in Figures 2 and 3, the operating system of the shovel 100 includes a pilot pump 15, a gate lock valve 25V, an operating device 26, a hydraulic control valve 31, a shuttle valve 32, and a hydraulic control valve 33.

[0038] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., operating devices 26) via the pilot line 25. The pilot pump 15 is mounted at the rear of the upper slewing 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.

[0039] 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.

[0040] The gate lock valve 25V is located upstream of all hydraulic equipment receiving hydraulic fluid from the pilot pump 15 in the pilot line 25. The gate lock valve 25V switches the connection and disconnection (deconnection) of the pilot line 25 by switching a limit switch 25s ON / OFF, which is linked to the operating state of the gate lever 23 located inside the operator's cab 10.

[0041] The gate lever 23 is a mechanical input device for switching between a state in which the shovel 100 can be operated by the shovel 100 starting and operating device 26 and a state in which the shovel 100 cannot be started or operated. For example, the gate lever 23 is located on the upper surface of the console 72L, which is installed to the left of the driver's seat 70. For example, the controller 30 controls whether or not to start the shovel 100, including starting the engine 11, according to the operating state of the gate lever 23. Also, as mentioned above, the gate lever 23 can switch the connection and disconnection of the pilot line 25 according to its operating state, and as a result, it can switch between a state in which the hydraulic actuator HA of the shovel 100 can be operated and a state in which it cannot.

[0042] Furthermore, a gate bar 24, which is linked to the operating state of the gate lever 23, is positioned on the front of the console 72L located to the left of the driver's seat 70. When the gate lever 23 is in a state where the shovel 100 can be operated, the gate bar 24 is raised forward to block lateral movement between the driver's seat 70 and the entrance / exit of the driver's cab 10 (see Figure 4). On the other hand, when the gate lever 23 is in a state where the shovel 100 cannot be operated, the gate bar 24 is retracted downward and housed inside the console 72L to allow lateral movement between the driver's seat 70 and the entrance / exit of the driver's cab 10. As a result, unless the gate bar 24 is raised forward in response to the operation of the gate lever 23, the operator cannot operate the shovel 100, thereby improving the safety of the shovel 100.

[0043] The operating device 26 is located within reach of the operator's hands or feet while seated in the driver's seat 70 of the cab 10, and is used by the operator to operate each of the driven elements, namely the left and right crawlers 1C of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuator HA that drives each of the driven elements.

[0044] For example, as shown in Figure 2, the operating device 26 is hydraulically pilot operated. Specifically, the operating device 26 uses hydraulic fluid supplied from the pilot pump 15 through the pilot line 25 and the pilot line 25A branching from it, and outputs a pilot pressure corresponding to the operation to the secondary pilot line 27A. The pilot line 27A is connected to one inlet port of the shuttle valve 32 and, via the pilot line 27 connected to the outlet port of the shuttle valve 32, is connected to the control valve 17. As a result, the control valve 17 receives a pilot pressure corresponding to the operation of each hydraulic actuator HA in the operating device 26 via the shuttle valve 32. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation performed on the operating device 26 by an operator or the like.

[0045] Furthermore, the operating device 26 may be electrically operated. In this case, the pilot line 27A, shuttle valve 32, and hydraulic control valve 33 are omitted. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as "operating signal") corresponding to the operation content, and the operating signal is received by the controller 30. The controller 30 then outputs a control command corresponding to the content of the operating signal, that is, a control signal corresponding to the operation content of 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.

[0046] Furthermore, the control valves (directional control valves) built into the control valve 17 that drive each hydraulic actuator HA may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the control valve 17 (i.e., to the electromagnetic solenoid type control valve).

[0047] Furthermore, as mentioned above, some or all of the hydraulic actuator HA may be replaced with an electric actuator. In this case, the controller 30 may output control commands to the electric actuator or a driver that drives the electric actuator, etc., according to the operation content of the operating device 26 and the content of the remote operation specified by the remote operation signal.

[0048] As shown in Figure 3, the operating device 26 includes a left lever device 26A, a right lever device 26B, and a pedal device 26C.

[0049] The left lever device 26A is located, for example, at the front of the upper surface of the console 72L installed to the left of the driver's seat 70 inside the driver's cab 10, and its base is covered by a lever cover CVA. The left lever device 26A is used by the operator to operate any two of the following: the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. This allows the operator seated in the driver's seat 70 to operate two hydraulic actuators HA from the slewing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 by operating the left lever device 26A with their left hand. For example, the left lever device 26A operates the slewing hydraulic motor 2M and the arm cylinder 8. Specifically, the slewing hydraulic motor 2M is operated by lateral operation of the left lever device 26A, and the arm cylinder 8 is operated by vertical operation of the left lever device 26A. The vertical and horizontal directions of the left lever device 26A correspond to the front-to-back and left-to-right directions of the shovel 100, respectively, and the same applies to the vertical and horizontal directions of the right lever device 26B, which will be described later.

[0050] The right lever device 26B is located, for example, at the front of the upper surface of the console 72R installed to the right of the driver's seat 70 inside the driver's cab 10, and its base is covered by a lever cover CVB. The right lever device 26B is used by the operator to operate the remaining two of the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that are not operated by the left lever device 26A. As a result, the operator seated in the driver's seat 70 can operate the remaining two hydraulic actuators HA of the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 by operating the right lever device 26B with their right hand. For example, the targets of the right lever device 26B are the boom cylinder 7 and the bucket cylinder 9. Specifically, vertical operation of the right lever device 26B operates the boom cylinder 7, and horizontal operation of the right lever device 26B operates the bucket cylinder 9.

[0051] As described above, the attachment AT can be operated by operating the left lever device 26A and the right lever device 26B, thereby operating the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. In other words, the left lever device 26A and the right lever device 26B are operating levers used to operate the attachment AT. Multiple switches SW are provided at the tip of each of the left lever device 26A and the right lever device 26B.

[0052] The multiple switches SW provided on the left lever device 26A and the right lever device 26B include, for example, multiple push buttons provided on the tips of these operating levers. The switches SW may also include, for example, slide switches. Operating each switch SW generates a signal, which is received by the controller 30. Specifically, the controller 30 receives, for example, the number of times and the duration of the press, as well as the on or off state of the switches SW.

[0053] The number of switches SW provided on the left lever device 26A and the right lever device 26B is not particularly limited. Furthermore, although details will be described later, each switch SW can be assigned various functions, such as sounding the horn provided on the upper rotating body 3, operating the wipers provided on the windows of the driver's cab 10, or allowing the operator in the driver's cab 10 to communicate with an external party.

[0054] The pedal device 26C is located inside the driver's cab 10, on the floor in front of the driver's seat 70. The pedal device 26C is used by the operator to operate the travel hydraulic motor 1ML and the travel hydraulic motor 1MR. The pedal device 26C includes a left pedal 26C1, a right pedal 26C2, a left lever 26C3, and a right lever 26C4.

[0055] The left pedal 26C1 is used by the operator to control the hydraulic motor 1ML that drives the left crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1ML by operating the left pedal 26C1 with their left foot.

[0056] The right pedal 26C2 is used by the operator to control the hydraulic motor 1MR that drives the right crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1MR by operating the right pedal 26C2 with their right foot.

[0057] The left lever 26C3 is used by the operator to control the hydraulic motor 1ML that drives the left crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1ML by operating the left lever 26C3 with their left hand.

[0058] The right lever 26C4 is used by the operator to control the hydraulic motor 1MR that drives the right crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1MR by operating the right lever 26C4 with their right hand.

[0059] A hydraulic control valve 31 is provided for each hydraulic actuator HA that the operating device 26 controls, and for each driving direction of the hydraulic actuator HA (for example, the extension and retraction directions of the boom cylinder 7). For example, a pair of hydraulic control valves 31 are provided for each double-acting hydraulic actuator HA that drives the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6. The hydraulic control valve 31 is provided, for example, in the pilot line 25B between the pilot pump 15 and the control valve 17, and may be configured to change its flow area (i.e., the cross-sectional area through which hydraulic fluid can flow). As a result, the hydraulic control valve 31 can use the hydraulic fluid from the pilot pump 15 supplied through the pilot line 25B to output a predetermined pilot pressure to the secondary pilot line 27B. Therefore, the hydraulic control valve 31 can indirectly apply a predetermined pilot pressure to the control valve 17 in accordance with the control signal from the controller 30 through the shuttle valve 32 between the pilot line 27B and the pilot line 27. Therefore, for example, the controller 30 can apply pilot pressure to the control valve 17 in accordance with the operation command corresponding to the automatic operation function from the hydraulic control valve 31, thereby realizing the operation of the shovel 100 by the automatic operation function.

[0060] Furthermore, if the operating device 26 is electrically operated, the controller 30 can directly apply pilot pressure from the hydraulic control valve 31 to the control valve 17 according to the operation content (operation signal) of the operating device 26, thereby enabling the operation of the shovel 100 based on the operator's input.

[0061] The shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic fluid with the higher of the two pilot pressures input to the two inlet ports to the outlet port. Similar to the hydraulic control valve 31, a shuttle valve 32 is provided for each hydraulic actuator HA operated by the operating device 26 and for each driving direction of the hydraulic actuator HA. For example, a pair of shuttle valves 32 is provided for each double-acting hydraulic actuator HA that drives the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6. Of the two inlet ports of the shuttle valve 32, one is connected to the pilot line 27A on the secondary side of the operating device 26 (specifically, the lever device or pedal device included in the operating device 26), and the other is connected to the pilot line 27B on the secondary side of the hydraulic control valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding directional control valve of the control valve 17 via the pilot line 27. The corresponding directional control valve is a directional control valve that drives the hydraulic actuator HA, which is the target of the operation of the left lever device 26A, right lever device 26B, or pedal device 26C, connected to one of the inlet ports of the shuttle valve 32. Therefore, each of these shuttle valves 32 can apply the higher of the pilot pressure in the pilot line 27A on the secondary side of the operating device 26 and the pilot pressure in the pilot line 27B on the secondary side of the hydraulic control valve 31 to the pilot port of the corresponding control valve. In other words, the controller 30 can control the corresponding directional control valve regardless of the operator's operation of the operating device 26 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. Thus, the controller 30 can control the operation of the driven elements (i.e., the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6) regardless of the operator's operation of the operating device 26, and realize an automatic operation function.

[0062] The hydraulic control valve 33 is provided in the pilot line 27A connecting the operating device 26 and the shuttle valve 32. The hydraulic control valve 33 is configured, for example, to allow the flow path area to be changed. The hydraulic control valve 33 operates in response to a control signal input from the controller 30. This allows the controller 30 to forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by an operator. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly decelerate or stop the operation of the hydraulic actuator HA corresponding to the operation of the operating device 26. In addition, the controller 30 can reduce the pilot pressure output from the operating device 26, even when the operating device 26 is being operated, to a level lower than the pilot pressure output from the hydraulic control valve 31. Therefore, by controlling the hydraulic control valve 31 and the hydraulic control valve 33, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the directional control valve in the control valve 17, for example, regardless of the operation of the operating device 26. Therefore, the controller 30 can more effectively realize the automatic operation function of the excavator 100 by controlling, for example, the hydraulic control valve 33 in addition to the hydraulic control valve 31.

[0063] The user interface system of Shovel 100 is a set of components related to the exchange of information between the user and Shovel 100.

[0064] As shown in Figure 2, the user interface system of the shovel 100 includes an operating device 26, an output device 50, and an input device 52.

[0065] The output device 50 outputs various information to the user of the shovel 100 (for example, the operator in the cab 10 or an external remote operator) and people in the vicinity of the shovel 100 (for example, workers or drivers of work vehicles).

[0066] For example, as shown in Figure 3, the output device 50 includes a display device 50A that outputs various information in a visual manner. The display device 50A is, for example, a liquid crystal display or an organic EL (electroluminescence) display. For example, as shown in Figure 4, the display device 50A is installed in the front right part of the driver's cab 10 and outputs various information in a visual manner to the operator or others inside the driver's cab 10.

[0067] Furthermore, the output device 50 may include a sound output device that outputs various information in an audible manner. The sound output device may include, for example, a buzzer or a speaker. The sound output device may be provided, for example, inside and outside the operator's cab 10, and output various information in an audible manner to the operator inside the operator's cab 10 or to people (workers, etc.) around the shovel 100.

[0068] Furthermore, the output device 50 may include lighting equipment that outputs various information in a visual manner. Examples of lighting equipment include warning lights (also called "indicator lamps") inside the driver's cab 10 and external indicator lights attached to the upper rotating body 3. For example, the lighting equipment is installed inside the driver's cab 10 and outputs various information in a visual manner to the operator inside the driver's cab 10. Alternatively, the lighting equipment may be installed on the top or side of the housing section of the upper rotating body 3 and output various information in a visual manner to workers around the shovel 100.

[0069] Furthermore, the output device 50 may also include a device that outputs various types of information through tactile means such as vibration of the driver's seat 70.

[0070] The input device 52 receives various inputs from the user of the shovel 100. Signals corresponding to the inputs received by the input device 52 are taken into the controller 30. For example, the input device 52 is installed inside the operator's cab 10 and receives inputs from the operator inside the operator's cab 10. Alternatively, the input device 52 may be installed, for example, on the side of the housing section of the upper slewing body 3 and receive inputs from workers around the shovel 100.

[0071] For example, the input device 52 includes a mechanical input device that accepts input from the user through mechanical operation. The mechanical input device includes, for example, a touch panel, touch pad, button switch, lever, toggle, knob switch, etc. For example, the input device 52 (mechanical input device) installed inside the driver's cab 10 includes a touch panel 80 and a switch panel 82. In addition, the input device 52 (mechanical input device) installed inside the driver's cab 10 may also include various levers, switches, dials, and switches associated with the display device 50A, which are installed on the consoles 72L, 72R and console 74.

[0072] The touch panel 80 is mounted on the display device 50A and is configured to allow operation of the screen displayed on the display device 50A.

[0073] The switch panel 82 is located on the upper surface of the console 72R, which is positioned to the right of the driver's seat 70. The switch panel 82 includes a dial 82A.

[0074] The dial 82A has a cylindrical shape and is configured to rotate around its central axis. The dial 82A incorporates, for example, a rotary encoder capable of detecting its rotation angle, and a signal corresponding to its rotation state is input to the controller 30. This allows the operator to adjust the output of a prime mover, such as the engine 11, by rotating the dial 82A. The dial 82A is also configured to be pushed downward towards the console 72R and functions as a push switch. This allows the operator to switch the operating mode of the shovel 100, described later, by pushing the dial 82A.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] As shown in Figures 1 and 2, the communication system of the shovel 100 according to this embodiment includes a communication device 60.

[0079] The communication device 60 connects to an external communication line and communicates with a device provided separately from the shovel 100. The device provided separately from the shovel 100 may include not only a device located outside the shovel 100, but also a portable terminal device (mobile terminal) brought into the operator's cab 10 by the user of the shovel 100. The communication device 60 may include, for example, a mobile communication module compliant with standards such as 4G (4th Generation) or 5G (5th Generation). Furthermore, the communication device 60 may include, for example, a satellite communication module. Also, the communication device 60 may include, for example, a WiFi communication module or a Bluetooth® communication module. If there are multiple connectable communication lines, the communication device 60 may include multiple communication devices according to the type of communication line. Note that the communication device 60 may be omitted.

[0080] The control system for Shovel 100 consists of a group of components related to the various controls of Shovel 100.

[0081] As shown in Figure 2, the control system of the shovel 100 includes a controller 30. The control system of the shovel 100 also includes an operating pressure sensor 29, an imaging device 40, and sensors S1 to S9.

[0082] The controller 30 performs various controls related to the shovel 100.

[0083] The functions of the controller 30 may be implemented by any hardware, or any combination of hardware and software. For example, as shown in Figure 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, all connected by bus BS1.

[0084] 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.

[0085] 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).

[0086] 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.

[0087] 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.

[0088] 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 operator's cab 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 can 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 located outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0089] 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.

[0090] The operating pressure sensor 29 detects the pilot pressure on the secondary side (i.e., the pilot line 27A) of the hydraulic pilot-operated operating device 26, that is, the pilot pressure corresponding to the operating state of each hydraulic actuator HA in the operating device 26. The detection signal of the pilot pressure corresponding to the operating state of each hydraulic actuator HA in the operating device 26, detected by the operating pressure sensor 29, is received by the controller 30. As a result, the controller 30 can understand the operating state of the operating device 26, that is, the operating state of each hydraulic actuator HA through the operating device 26, when the operating device 26 is hydraulic.

[0091] 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 status of each hydraulic actuator HA via the operating device 26 based on the operating signals received from the operating device 26.

[0092] The imaging device 40 captures images of the area around the shovel 100.

[0093] The imaging device 40 is, for example, a monocular camera. Alternatively, the imaging device 40 may be a 3D camera capable of acquiring not only 2D image information but also 3D information including the distance to objects in the image and the depth of the image, such as a stereo camera, a ToF (Time of Flight) camera, or a depth camera.

[0094] For example, as shown in Figure 1, the imaging device 40 includes cameras 40F, 40B, 40L, and 40R. Camera 40F images the area in front of the upper rotating body 3. Camera 40B images the area behind the upper rotating body 3. Camera 40L images the area to the left of the upper rotating body 3. Camera 40R images the area to the right of the upper rotating body 3. As a result, the imaging device 40 can capture images of the entire circumference of the shovel 100, i.e., a range spanning 360 degrees in the angular direction, from a top view of the shovel 100. Hereinafter, cameras 40F, 40B, 40L, and 40R may be collectively or individually referred to as "camera 40X".

[0095] The output data from the imaging device 40 (camera 40X) is received by the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30, for example, to understand the surrounding conditions of the shovel 100 based on the output data from the camera 40X.

[0096] Furthermore, some or all of the cameras 40F, 40B, 40L, and 40R may be omitted. In addition, the shovel 100 may be equipped with a distance measuring sensor (also called a "distance sensor") capable of acquiring information representing the distance to objects in the vicinity of the shovel 100, instead of or in addition to the imaging device 40. Examples of distance measuring sensors include LiDAR (Light Detecting and Ranging), millimeter-wave radar, and ultrasonic sensors.

[0097] 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 (i.e., 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.

[0098] 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.

[0099] 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.

[0100] 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 angles around two axes, the longitudinal and lateral directions of the excavator 100 (hereinafter referred to as "longitudinal inclination angle" and "lateral inclination angle"). 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).

[0101] 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.

[0102] Based on the outputs of sensors S1 to S5, the controller 30 can estimate and determine the position of the tip of the attachment AT (i.e., the bucket 6).

[0103] 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.

[0104] Sensor S6 measures the position of the shovel 100. Sensor S6 may measure the position in world (global) coordinates or in local coordinates at the work site. In the former case, sensor S6 is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, sensor S6 is a transceiver that communicates with a reference device for the work site's position and outputs a signal corresponding to the position relative to the reference. The output of sensor S6 is received by controller 30.

[0105] 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 rod-side oil chamber of the boom cylinder 7 and a sensor that measures the cylinder pressure (bottom pressure) in the bottom-side oil chamber of the boom cylinder 7. The output of sensor S7 (i.e., measurement data of the cylinder pressure of the boom cylinder 7) is taken up by the controller 30.

[0106] 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 rod-side oil chamber of the arm cylinder 8 and a sensor that measures the cylinder pressure (bottom pressure) in the bottom-side oil chamber of the arm cylinder 8. The output of sensor S8 (i.e., measurement data of the cylinder pressure of the arm cylinder 8) is taken up by the controller 30.

[0107] 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 rod-side oil chamber of the bucket cylinder 9 and a sensor that measures the cylinder pressure (bottom pressure) in the bottom-side oil chamber of the bucket cylinder 9. The output of sensor S9 (i.e., measurement data of the cylinder pressure of the bucket cylinder 9) is taken up by the controller 30.

[0108] The controller 30 can determine the load condition acting on the attachment AT based on the outputs of sensors S7 to S9. The load acting on the attachment AT includes, for example, the reaction force acting on the bucket 6 from the soil on the ground being worked on, and the weight of the soil contained in the bucket 6.

[0109] Furthermore, some or all of sensors S1 to S9 may be omitted depending on their necessity. In addition, the shovel 100 may be equipped with other sensors that can determine the state of the shovel 100. For example, the shovel 100 may be equipped with an orientation sensor that can detect its own orientation. The orientation sensor may be, for example, an electronic compass that includes a geomagnetic sensor.

[0110] The excavator 100 of this embodiment is configured to switch between multiple operating modes in response to a push operation of a dial 82A on a console 72R located to the left of the driver's seat 70 in the driver's cab 10 shown in Figure 3, as described above. In the excavator 100 of this embodiment, each of the multiple operating modes corresponds to a predetermined operation or work performed by, for example, the lower traveling body 1, the upper rotating body 3, or the attachment AT.

[0111] Specifically, the multiple operating modes of the shovel 100 include, for example, at least one of the following: travel mode, lift mode, weighing mode, MC mode, or MG mode, and a normal mode. In this embodiment, when switching between these multiple operating modes, the functions assigned to the multiple switches SW provided on the left lever device 26A and the right lever device 26B, which are operating levers used to operate the attachment AT in normal mode, are changed. In addition, in this embodiment, when switching between the above multiple operating modes, the functions assigned to the multiple switches on the switch panel 82 provided around the driver's seat 70, or the multiple switches provided on the left lever 26C3 and the right lever 26C4, may also be changed.

[0112] In each operating mode of the shovel 100, the functions assigned to the left lever device 26A and the right lever device 26B or the multiple switches SW around the driver's seat 70 include, for example, operations relating to at least one of the lower travel body 1, the upper slewing body 3, or the attachment AT. In addition, in each operating mode of the shovel 100, the function assigned to one of these multiple switches SW is, for example, the operation of sounding the horn provided on the upper slewing body 3. Furthermore, in each operating mode of the shovel 100, the functions assigned to these multiple switches SW include, for example, operations relating to multiple operating modes, such as the operation of confirming the metering in metering mode.

[0113] Here, we will explain each of the operating modes of the Shovel 100.

[0114] The normal mode (also called "normal mode") is the standard operating mode for the shovel 100. In normal mode, the controller 30 operates the hydraulic actuator HA in response to the operation of the control device 26 by the operator of the shovel 100, thereby operating the lower travel body 1, the upper slewing body 3, and the attachment AT.

[0115] In normal mode, for example, the operator can rotate the upper slewing body 3 by operating the left lever device 26A horizontally to operate the slewing hydraulic motor 2M. Alternatively, for example, the operator can rotate the arm cylinder 8 by operating the left lever device 26A vertically to open and close the arm 5 relative to the boom 4.

[0116] In addition, in normal mode, for example, the operator can operate the boom cylinder 7 by operating the right lever device 26B vertically, thereby rotating the boom 4 up and down. Also, for example, the operator can operate the bucket cylinder 9 by operating the right lever device 26B horizontally, thereby opening and closing the bucket 6 relative to the arm 5.

[0117] In addition, in normal mode, for example, the operator can operate the pedal device 26C to operate the travel hydraulic motor 1ML and the travel hydraulic motor 1MR, which in turn rotates the left and right crawlers 1C of the lower travel body 1, thereby moving the shovel 100.

[0118] The travel mode (also called "travel mode") is an operating mode that allows the lower travel body 1 to be operated by the operating lever used to operate the attachment AT in normal mode, thereby moving the shovel 100. In travel mode, for example, by operating the left lever device 26A in the vertical direction, the travel hydraulic motor 1ML and the travel hydraulic motor 1MR are driven to rotate the left and right crawlers 1C of the lower travel body 1, thereby moving the shovel 100.

[0119] In travel mode, for example, the operation of the control device 26 in normal mode is restricted. Specifically, the controller 30 restricts, for example, the operation of the swing hydraulic motor 2M by the operator operating the left lever device 26A laterally, and the operation of the arm cylinder 8 by operating the left lever device 26A vertically. The controller 30 also restricts, for example, the operation of the boom cylinder 7 by the operator operating the right lever device 26B vertically, and the operation of the bucket cylinder 9 by operating the right lever device 26B laterally. Furthermore, the controller 30 restricts the operation of the travel hydraulic motor 1ML and travel hydraulic motor 1MR by the operator operating the pedal device 26C.

[0120] The lift mode (also called "crane mode") is an operating mode for performing crane operations using the attachment AT. Crane operations involve suspending a load from the hook HK of the attachment AT and moving it. Crane operations include, for example, preparation work, rigging work (load attachment work), lifting work, moving work, lowering work, and rigging work (load removal work).

[0121] During the preparation phase, the operator of the shovel 100 operates the control device 26 to move at least one of the lower travel body 1, the upper slewing body 3, or the attachment AT to move the hook HK directly above the load. During the rigging operation (loading operation), workers around the shovel 100 attach the rigging equipment for the load to the hook HK. During the lifting operation, the operator of the shovel 100 operates the control device 26 to move the attachment AT and lift the load to the initial height.

[0122] During the moving operation, the operator of the shovel 100 operates the control device 26 to move the lower traveling body 1 or the upper rotating body 3 to move the suspended load to directly above the destination position. During the lowering operation, the operator of the shovel 100 operates the control device 26 to move the attachment AT to lower the suspended load to the destination position. During the rigging operation (unloading operation), workers around the shovel 100 detach the rigging equipment from the hook HK of the suspended load.

[0123] In lift mode, for example, the operation of the operating device 26 in normal mode is restricted. Specifically, the controller 30 prohibits the opening of the bucket 6 by restricting the operation of the bucket cylinder 9 by operating the right lever device 26B laterally, for example. The controller 30 also restricts the operating speed of the hydraulic actuator HA, for example. Specifically, the controller 30 lowers the upper limit of the operating speed of the hydraulic actuator HA compared to normal mode.

[0124] In addition, in lift mode, the controller 30 calculates, for example, the load state of the shovel due to the suspended load and displays that load state on the display device 50A in the operator's cab 10. The load state of the shovel 100 is calculated by the controller 30 based on, for example, the output of sensors S1 to S9. The load state includes, for example, the weight of the suspended load and the allowable load based on the posture of the attachment AT.

[0125] The weighing mode (also called "payload mode") is an operating mode that measures the weight of the load loaded by the attachment AT. In weighing mode, the controller 30 assists the operator in loading soil and sand onto a transport vehicle such as a dump truck using the shovel 100. The loading operation includes, for example, excavation, boom raising and slewing, soil removal, and boom lowering and slewing.

[0126] The excavation operation involves the operator of the shovel 100 operating the control device 26 to activate the attachment AT, excavating soil with the bucket 6, and then scooping up the excavated soil with the bucket. The boom raising and slewing operation involves the operator of the shovel 100 operating the control device 26 to perform a combined operation of raising the boom 4 and slewing the upper slewing body 3, moving the bucket 6 containing the soil to the top of the cargo bed of a transport vehicle, such as the vessel of a dump truck.

[0127] The soil discharge operation is performed by the operator of the shovel 100 operating the control device 26 to operate the attachment AT and discharge the soil collected in the bucket 6 onto the loading platform of the transport vehicle. The boom lowering and slewing operation is performed by the operator of the shovel 100 operating the control device 26 to perform a combined operation of lowering the boom 4 and slewing the upper slewing body 3, returning the bucket 6 to the position where the excavation work is performed.

[0128] In weighing mode, the controller 30 calculates, for example, the weight of soil collected in the bucket 6 by the excavation operation. For example, the controller 30 calculates the weight of soil collected in the bucket 6 based on the outputs of sensors S7 to S9. Also in weighing mode, the controller 30 calculates the weight of soil loaded onto the transport vehicle by accumulating the amount of soil discharged from the bucket 6 by the soil discharge operation. Also in weighing mode, the controller 30 calculates, for example, the remaining load capacity that can be loaded onto the transport vehicle.

[0129] Specifically, the controller 30 calculates the remaining load capacity that can be loaded onto the transport vehicle by subtracting the weight of the soil loaded onto the transport vehicle from the transport vehicle's maximum load capacity. The transport vehicle's maximum load capacity is set, for example, based on instructions such as the type and size of the transport vehicle, which are input by the user through the input device 52. Alternatively, the transport vehicle's maximum load capacity may be set by numerical input from the user through the input device 52. Furthermore, the controller 30 may estimate the transport vehicle's maximum load capacity by, for example, identifying the type and size of the transport vehicle from an image of the transport vehicle captured by the imaging device 40.

[0130] MC mode and MG mode are abbreviations for machine control mode and machine guidance mode, respectively. MC mode is a mode that automatically operates the attachment AT of the shovel 100. MG mode is an operation mode that supports the work performed by the attachment AT of the shovel 100. In this embodiment, these modes are collectively referred to as MC-MG mode. In MC-MG mode, the controller 30 supports the operator's operation of the shovel 100 in relation to the target shape of the construction work to be performed. The target shape of the construction work to be performed is, for example, a predetermined target construction surface.

[0131] Specifically, the machine guidance function included in the MC-MG mode provides the operator with information such as the relative position and relative posture of the attachment AT's work area relative to the target shape of the work object, via the controller 30 and output device 50. The machine control function included in the MC-MG mode also operates the attachment AT automatically or semi-automatically via the controller 30 to achieve the target shape of the work object. In addition, the machine control function may also operate the lower traveling body 1 and the upper rotating body 3 automatically or semi-automatically via the controller 30, in addition to the attachment AT.

[0132] Furthermore, semi-automatic operation includes, for example, a mode in which, when an operator operates one hydraulic actuator HA, other hydraulic actuators HA operate in conjunction, thereby causing the attachment AT to operate in order to achieve the target shape of the workpiece. In addition, semi-automatic operation may also include a mode in which, based on operator operation, the operation of the attachment AT is appropriately corrected from the operation corresponding to the operator's operation, thereby causing the attachment AT to operate in order to achieve the target shape of the workpiece.

[0133] In MC-MG mode, the controller 30 provides, for example, a machine guidance function at all times. Also in MC-MG mode, the controller 30 provides a machine control function when, for example, an input requesting the provision of a machine control function is received from an operator via the input device 52.

[0134] In MC-MG mode, the controller 30 measures the distance between the working area of ​​the attachment AT, i.e., the reference point of the bucket 6, and the target construction surface, and notifies the operator of this distance via the output device 50. The reference point of the bucket 6 is, for example, the point corresponding to the tip of the bucket 6. Alternatively, the reference point of the bucket 6 is a predetermined point on the flat surface on the back of the bucket 6. Furthermore, the reference point of the bucket 6 may be changed depending on the nature of the work.

[0135] Furthermore, in MC-MG mode, the controller 30 measures the orientation of the work portion (bucket 6) of the attachment AT relative to the target construction surface and notifies the operator of this orientation via the output device 50.

[0136] Furthermore, in MC-MG mode, when the machine control function is enabled, the controller 30 operates the attachment AT, etc., in response to the operator's operation or automatically, so that the reference point of the bucket 6 moves along the target trajectory.

[0137] The target trajectory is defined, for example, to follow the target construction surface. Alternatively, the target trajectory may be defined based on a comparison between the target construction surface and the shape of the ground currently being worked on. The shape of the ground currently being worked on is acquired, for example, based on images from the imaging device 40. For example, if the difference between the target construction surface and the shape of the ground currently being worked on is greater than or equal to a predetermined standard, the target trajectory for rough excavation is defined to reduce the difference between the ground being worked on and the target construction surface. On the other hand, if the difference between the target construction surface and the shape of the ground currently being worked on is less than a predetermined standard, the target trajectory is defined to follow the target construction surface.

[0138] As described above, in this embodiment, when switching between operating modes, the functions assigned to the multiple switches SW provided on the left lever device 26A and the right lever device 26B, which are operating levers for operating the attachment AT, or to the multiple switches around the driver's seat 70, are changed. In this embodiment, the excavator 100 is equipped with a display device 50A arranged around the driver's seat 70, as shown in Figure 3, for example, which displays the functions assigned to each of the multiple switches SW provided on the operating levers.

[0139] Next, referring to Figures 4 to 6, we will explain the functions assigned to the multiple switches SW on the operating lever in each operating mode, and examples of the screens displayed on the display device 50A. Figure 4 shows an example of the screen 41 of the display device 50A. Note that Figure 4 shows an example of the screen 41 of the display device 50A when the operating mode of the shovel 100 is the normal mode.

[0140] The screen 41 of the display device 50A includes, for example, multiple display areas 41A to E arranged in order from top to bottom.

[0141] The display area 41A is located at the top of the screen 41. The display area 41A displays fixed content regardless of the operating mode selected by the controller 30. The display area 41A includes information display areas 41a to 41e and 41g to 41k.

[0142] Information display area 41a displays the current date and time. Information display area 41b displays the currently selected driving mode of the shovel 100. Information display area 41c displays an image representing the currently installed end attachment. Information display area 41d displays information regarding the shovel 100's fuel consumption rate (fuel efficiency). Information display area 41d includes, for example, information display area 41d1 which displays lifetime average fuel efficiency or segment average fuel efficiency, and information display area 41d2 which displays instantaneous fuel efficiency. Information display area 41e displays information representing the control status of the engine 11.

[0143] Information display area 41g displays the current coolant temperature of the engine 11. Information display area 41h displays the remaining fuel stored in the fuel tank. Information display area 41i displays the operating mode corresponding to the engine speed of the engine 11. Information display area 41j displays the remaining amount of urea water stored in the urea water tank. Information display area 41k displays the temperature of the hydraulic fluid in the hydraulic drive system.

[0144] Display areas 41B to 41D are located in the center of the screen 41 in the vertical direction. Display areas 41B to 41D display content specific to the operating mode selected by the controller 30. The display content specific to each of the multiple operating modes may be fixed, or it may be changeable in response to requests from the user via the input device 52.

[0145] The surrounding image display area 41n is displayed in the display areas 41B and 41C. The surrounding image display area 41n displays an image (hereinafter referred to as "surrounding image") representing the area around the shovel 100, based on the image captured by the imaging device 40. The surrounding image display area 41n includes surrounding image display areas 41n1 to 41n3.

[0146] The peripheral image display area 41n1 is displayed in display area 41B adjacent to and below the information display area 41d included in display area 41A. In this example, the peripheral image display area 41n1 displays an overhead view image FV of the area around the shovel 100, generated based on the image captured by the imaging device 40. The peripheral image display area 41n1 also displays a shovel image GE, which simulates the shovel 100 as seen from above. The shovel image GE and the overhead view image FV are arranged in the peripheral image display area 41n1 such that their relative positions match the relative positions of the shovel 100 and the imaging range included in the overhead view image FV.

[0147] The peripheral image display areas 41n2 and 41n3 are displayed in the display area 41C adjacent to the lower part of the peripheral image display area 41n1. The peripheral image display areas 41n2 and 41n3 are positioned adjacent to the left and right portions of the display area 41C, respectively, with respect to the center in the horizontal direction.

[0148] In this example, the rear image BM, which shows the view behind the shovel 100, is displayed in the peripheral image display area 41n2, and the right image RM, which shows the view to the right of the shovel 100, is displayed in the peripheral image display area 41n3. The rear image BM and the right image RM correspond to the images captured by camera 40B and camera 40R, respectively.

[0149] Display area 41D includes information display areas 41f, 41m, and 41p.

[0150] The information display area 41f is positioned below and adjacent to the surrounding image display area 41n2. The cumulative operating time of the engine 11 is displayed in the information display area 41f.

[0151] The information display area 41m is positioned below the surrounding image display area 41n3 and adjacent to the right of the information display area 41f. The operating status of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

[0152] Information display area 41m1 shows the location of the air outlet currently being used for airflow from the air conditioner. Information display area 41m2 shows the current operating mode of the air conditioner. Information display area 41m3 shows the current set temperature of the air conditioner. Information display area 41m4 shows the current set airflow of the air conditioner.

[0153] The information display area 41p is positioned below and adjacent to the information display areas 41f and 41m. The information display area 41p displays the functions assigned to each of the multiple switches SW provided on the left lever device 26A and the right lever device 26B, which are operating levers used to operate the attachment AT.

[0154] In the example shown in Figure 4, the information display area 41p simultaneously displays the function assigned to each of the multiple switches SW and the currently selected operating mode. Specifically, the information display area 41p displays image MD showing the currently selected operating mode of the shovel 100, image LL showing the left lever device 26A, and image RL showing the right lever device 26B. The information display area 41p also includes information display areas 41p1 to 41p8 showing the functions assigned to each of the multiple switches SW.

[0155] In the illustrated example, the image MD, which indicates the operating mode, shows an image representing the normal mode. The left lever device 26A, corresponding to the image LL of the left operating lever, has, for example, two upper and lower switches SW located on the front side of the tip and two upper and lower switches SW located on the rear side of the tip, as viewed from the operator. Similarly, the right lever device 26B, corresponding to the image RL of the right operating lever, has, for example, two upper and lower switches SW located on the front side of the tip and two upper and lower switches SW located on the rear side of the tip, as viewed from the operator. Note that the number and arrangement of switches SW in the left lever device 26A and the right lever device 26B are examples only and are not particularly limited.

[0156] The information display area 41p1 displays the function assigned to the switch SW located on the upper front side of the left lever device 26A. In the illustrated example, the image MD indicating the operating mode is the image of the normal mode, and "N / A" is displayed in the information display area 41p1 to indicate that no function is assigned in the normal mode. In other operating modes, a specific function is assigned to this switch SW, and an image representing that function is displayed in the information display area 41p1.

[0157] The information display area 41p2 displays the function assigned to the switch SW located on the lower front side of the left lever device 26A. In the illustrated example, the information display area 41p2 displays an icon indicating a horn. That is, the switch SW located on the lower front side of the left lever device 26A is assigned the function of sounding the horn provided on the upper rotating body 3.

[0158] The information display area 41p3 displays the function assigned to the switch SW located on the upper rear side of the left lever device 26A. In the illustrated example, the image MD indicating the operating mode is the image of the normal mode, and "N / A" is displayed in the information display area 41p3 to indicate that no function is assigned in the normal mode. In other operating modes, a specific function is assigned to this switch SW, and an image representing that function is displayed in the information display area 41p3.

[0159] The information display area 41p4 displays the function assigned to the switch SW located on the lower rear side of the left lever device 26A. In the illustrated example, the information display area 41p4 displays an icon for muting the output of the sound output device included in the output device 50. In other words, the switch SW located on the lower rear side of the left lever device 26A is assigned the function of muting the output of the sound output device.

[0160] The information display area 41p5 displays the function assigned to the switch SW located on the upper front side of the right lever device 26B. In the illustrated example, the information display area 41p5 displays a camera icon. That is, the switch SW located on the upper front side of the right lever device 26B is assigned the function of switching the images of the camera 40X displayed in the surrounding image display areas 41n1, 41n2, and 41n3. Specifically, for example, by pressing the switch SW located on the upper front side of the right lever device 26B, the display pattern of the image of the camera 40X displayed in the display area 41B can be switched.

[0161] The information display area 41p6 displays the function assigned to the switch SW located on the lower front side of the right lever device 26B. In the illustrated example, the information display area 41p6 displays an icon for changing the rotational speed of the engine 11. In other words, the switch SW located on the lower front side of the right lever device 26B is assigned a so-called one-touch idle function that changes the rotational speed of the engine 11. Specifically, for example, by pressing the switch SW located on the lower front side of the right lever device 26B, it is possible to switch between a low idle state with a reduced rotational speed of the engine 11 and a state in which the engine 11 rotates at its normal rotational speed.

[0162] The information display area 41p7 displays the function assigned to the switch SW located on the upper rear side of the right lever device 26B. In the illustrated example, the information display area 41p7 displays an icon representing a handset. That is, the switch SW located on the upper rear side of the right lever device 26B is assigned the function of turning on the call function via the sound output device and the voice input device.

[0163] The information display area 41p8 displays the function assigned to the switch SW located on the lower rear side of the right lever device 26B. In the illustrated example, the information display area 41p8 displays an icon indicating a wiper. That is, the switch SW located on the lower rear side of the right lever device 26B is assigned the function of operating the wiper installed on the window of the driver's cab 10.

[0164] The functions assigned to the multiple switches SW provided on the left lever device 26A and the operating device 26 are arbitrary and are not limited to the example shown in Figure 4. However, in the shovel 100 of this embodiment, the function assigned to one of the multiple switches SW provided on the operating lever used to operate these attachments AT includes the operation of sounding the horn provided on the upper rotating body 3.

[0165] Furthermore, the display device 50A continues to display the functions assigned to the multiple switches SW in the information display area 41p, regardless of whether the left lever device 26A and the right lever device 26B are operated or not. In other words, while the shovel 100 is running, the display device 50A maintains a state in which the functions assigned to the multiple switches SW of the left lever device 26A and the right lever device 26B are displayed in the information display area 41p.

[0166] The display area 41E is located at the bottom of the screen 41. The display area 41E displays fixed content regardless of the operating mode selected by the controller 30. Specifically, the display area 41E displays a group of tabs 41q for selecting one operating mode to be applied to the controller 30 from among multiple operating modes. For example, the operator can operate the tab group 41q by using the touch panel 80 as the input device 52. Alternatively, the operator may operate the tab group 41q by using switches attached to the display device 50A as the input device 52.

[0167] Hereinafter, among the display areas 41A to 41E, display areas 41A and 41E, which do not depend on the operating mode of the shovel 100, will be conveniently referred to as "fixed display areas," and display areas 41B to 41D, which depend on the operating mode, will be conveniently referred to as "variable display areas."

[0168] Tab group 41q includes tabs 41q1 to 41q7. Tabs 41q1 to 41q7 are arranged from left to right in a horizontal direction.

[0169] Tab 41q1 is an operation icon for configuring settings related to screen 41. For example, settings related to screen 41 include settings related to tab group 41q. Settings related to tab group 41q include, for example, the arrangement of operation icons corresponding to the five operating modes, which are arranged in tabs 41q2 to 41q6. In addition, settings related to screen 41 may include specifications regarding the display content of the variable display area of ​​screen 41 for each operating mode (i.e., display area 41B to display area 41D).

[0170] For example, when tab 41q1 is selected, multiple operation icons corresponding to multiple possible settings are expanded adjacent to each other on the tab group 41q. This allows the operator to perform the desired setting operation by selecting one of the expanded operation icons using the touch panel 80 or the like.

[0171] Tabs 41q2 to 41q6 are operation icons corresponding to five of the multiple operating modes. This allows the operator to select one of the multiple operating modes to be applied to the controller 30 by using the touch panel 80 or the like to select and confirm one of the tabs 41q2 to 41q6.

[0172] In this example, tab 41q2 displays an operation icon corresponding to the normal mode. The operator can use the touch panel 80 to operate tab 41q2 and select the normal mode from among several operating modes as the operating mode applied to the controller 30.

[0173] In this example, tab 41q3 displays operation icons corresponding to the lift mode. This allows the operator to select a lift mode from among multiple operating modes to be applied to the controller 30 by operating tab 41q3 using the touch panel 80 or the like.

[0174] In this example, tab 41q4 displays an operation icon corresponding to the MC-MG mode. This allows the operator to select the MC-MG mode from among several operating modes as the operating mode applied to the controller 30 by operating tab 41q4 using the touch panel 80 or the like.

[0175] In this example, tab 41q5 displays operation icons corresponding to the weighing mode. This allows the operator to select a weighing mode from among several operating modes to be applied to the controller 30 by operating tab 41q5 using the touch panel 80 or the like.

[0176] In this example, tab 41q6 displays operation icons corresponding to the driving mode. This allows the operator to select a driving mode from among several operating modes to be applied to the controller 30 by operating tab 41q6 using the touch panel 80 or the like.

[0177] Tab 41q7 is an operation icon that corresponds to an operation mode other than the five operation modes corresponding to the operation icons on tabs 41q2 to 41q6, when there are six or more operation modes. This allows the operator to select an operation mode other than the five operation modes corresponding to the operation icons on tabs 41q2 to 41q6 by using the touch panel 80 or the like to select the tab on tab 41q7.

[0178] For example, when tab 41q7 is selected, operation icons corresponding to other operation modes, different from the five operation modes corresponding to the operation icons on tabs 41q2 to 41q6, are expanded adjacent to the tab group 41q. This allows the operator to select an operation icon from the expanded icons using the touch panel 80 or the like, thereby selecting an operation mode different from the five operation modes corresponding to the operation icons on tabs 41q2 to 41q6.

[0179] As described above, in this embodiment, when switching between multiple operating modes, the functions assigned to multiple switches SW on the operating lever used to operate the attachment AT are changed.

[0180] Specifically, in driving mode, the functions assigned to each of the multiple switches include the rotation operation of the lower driving body 1 or the upper rotating body 3, the operation to stop driving mode, the operation to start and stop a call, and the operation to sound the horn provided on the upper rotating body 3. In weighing mode, the functions assigned to each of the multiple switches include the operation to complete loading, the operation to start and pause loading, the operation to start and stop a call, and the operation to sound the horn provided on the upper rotating body 3.

[0181] Figure 5 shows an example of an image displayed in the information display area 41p of the display device 50A shown in Figure 4 when the operating mode of the shovel 100 is switched to the travel mode. Figure 6 shows an example of an image displayed in the information display area 41p of the display device 50A shown in Figure 4 when the operating mode of the shovel 100 is switched to the weighing mode.

[0182] As shown in Figures 4 to 6, the display device 50A switches the display of the functions assigned to each of the multiple switches SW in accordance with the switching of multiple operating modes. In other words, the controller 30 switches the display of the functions assigned to each of the multiple switches SW to be displayed on the display device 50A in accordance with the switching of multiple operating modes.

[0183] In the example shown in Figure 5, the operating mode of the shovel 100 is switched from normal mode to travel mode. As a result, the information display area 41p of the display device 50A displays an image indicating the travel mode as the image MD indicating the operating mode.

[0184] The information display area 41p1 shows an icon indicating that the shovel 100 is rotating to the left. In other words, the switch SW located on the upper front side of the left lever device 26A is assigned the function of operating the lower travel body 1 or the upper rotating body 3 to rotate the shovel 100 or the upper rotating body 3 to the left.

[0185] An icon indicating a horn is displayed in the information display area 41p2. Specifically, the switch SW located on the lower front side of the left lever device 26A is assigned the function of sounding the horn located on the upper rotating body 3.

[0186] The information display area 41p3 shows an icon to turn off the driving mode. In other words, the switch SW located on the upper rear side of the left lever device 26A is assigned the function of canceling the driving mode.

[0187] The information display area 41p4 shows icons for switching between disabling sound output and enabling call mode. Specifically, the switch SW located on the lower rear side of the left lever device 26A is assigned the function of switching between disabling sound output from the sound output device and enabling call functionality via the sound output device and voice input device.

[0188] The information display area 41p5 shows an icon indicating the rightward rotation of the shovel 100. In other words, the switch SW located on the upper front side of the right lever device 26B is assigned the function of operating the lower travel body 1 or the upper rotating body 3 to rotate the shovel 100 or the upper rotating body 3 to the right.

[0189] In addition, in driving mode, the switches SW located on the lower front side and upper and lower rear side of the right lever device 26B are assigned, for example, any function set by the operator. In this case, information display areas 41p6 to 41p8 display icons indicating the function assigned to each switch. If no specific function is assigned to these switches SW, information display areas 41p6 to 41p8 may display icons indicating that no specific function is assigned.

[0190] In the example shown in Figure 6, the operating mode of the shovel 100 is switched from normal mode to weighing mode. As a result, the information display area 41p of the display device 50A displays an image indicating weighing mode as the image MD indicating the operating mode.

[0191] The information display area 41p1 shows a check mark icon indicating that the loading of the load onto the transport vehicle by the shovel 100 is complete. In other words, the switch SW located on the upper front side of the left lever device 26A is assigned the function of completing the loading operation, which ends the weighing mode.

[0192] An icon indicating a horn is displayed in the information display area 41p2. Specifically, the switch SW located on the lower front side of the left lever device 26A is assigned the function of sounding the horn located on the upper rotating body 3.

[0193] The information display area 41p4 shows icons for switching between disabling sound output and enabling call functionality. Specifically, the switch SW located on the lower rear side of the left lever device 26A is assigned the function of starting and stopping calls, which switches between disabling sound output from the sound output device and enabling call functionality via the sound output device and voice input device.

[0194] The information display area 41p5 shows a U-shaped arrow icon that resets the weight of the load accumulated in weighing mode. In other words, the switch SW located on the upper front side of the right lever device 26B is assigned the function of resetting the weight of the load accumulated in weighing mode.

[0195] In addition, in weighing mode, the switches SW located on the upper rear side of the left lever device 26A, the lower front side of the right lever device 26B, and the upper and lower rear sides are assigned, for example, any function set by the operator. In this case, information display areas 41p3, 41p6 to 41p8 will display icons indicating the function assigned to each switch. If no specific function is assigned to these switches SW, information display areas 41p6 to 41p8 may display icons indicating that no specific function is assigned.

[0196] Furthermore, the functions assigned to each of the multiple switches SW in MC mode or MG mode include, for example, the start and stop operations of MC mode or MG mode, a benchmark operation to set the target construction surface for work performed by the attachment, and an offset operation to move the target construction surface. Although not shown in the figures, the display device 50A also displays, in MC-MG mode, information display areas 41p1 to 41p8 showing the functions assigned to each of the multiple switches SW, and an image MD showing the selected operating mode, simultaneously, similar to the examples shown in Figures 5 and 6. The same applies to lift mode. Note that the multiple operating modes may include MC mode and MG mode separately.

[0197] As described above, the shovel 100 of this embodiment comprises a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, an attachment AT attached to the upper rotating body 3, and a driver's cab 10 provided on the upper rotating body 3. The shovel 100 also comprises a driver's seat 70 installed inside the driver's cab 10, a left lever device 26A and a right lever device 26B arranged around the driver's seat 70 and used to operate the attachment AT, and a plurality of switches SW provided around these operating levers or the driver's seat 70. The shovel 100 is configured to be switchable between multiple operating modes, and the functions assigned to the plurality of switches SW are changed when switching between these multiple operating modes.

[0198] With this configuration, according to the shovel 100 of this embodiment, different functions can be assigned to the operating lever used to operate the attachment AT or to the multiple switches SW provided around the driver's seat 70, depending on the operating mode. In other words, it becomes possible to assign specific functions required for each operating mode to a common switch SW. As a result, the limited number of switch SWs on the operating lever can be effectively utilized, and the shortage of switch SWs provided on the operating lever can be resolved.

[0199] Furthermore, in the excavator 100 of this embodiment, each of the multiple operating modes corresponds to a predetermined operation or work performed by at least one of the lower traveling body 1, the upper rotating body 3, or the attachment AT.

[0200] With this configuration, the shovel 100 of this embodiment requires different operations in each operating mode. Therefore, when switching operating modes, multiple functions can be assigned to the same switch by changing the functions assigned to the multiple switches SW provided on each of the left lever device 26A and the right lever device 26B, which are operating levers. Thus, in a shovel 100 that can switch between multiple operating modes, the shortage of switches SW on the operating levers used to operate the attachment AT can be resolved.

[0201] Furthermore, in the shovel 100 of this embodiment, the functions assigned to the multiple switches SW of the operating levers, including the left lever device 26A and the right lever device 26B, include at least one operation relating to the lower traveling body 1, the upper rotating body 3, or the attachment AT, or operations relating to multiple operating modes.

[0202] Due to this configuration, the shovel 100 of this embodiment requires operation of multiple parts, and therefore the number of functions assigned to the switches SWs located around the operating lever or the driver's seat 70 tends to be greater than the number of switches SWs themselves. However, in the shovel 100 of this embodiment, the functions assigned to multiple switches SWs change when switching between multiple operating modes. Therefore, different functions can be assigned to the same switch SW for each operating mode, and the shortage of switches SWs on the operating lever, including the left lever device 26A and the right lever device 26B, can be resolved.

[0203] Furthermore, in the shovel 100 of this embodiment, the function assigned to one of the multiple switches SW is to sound the horn provided on the upper rotating body 3.

[0204] With this configuration, in each operating mode, the shovel 100 of this embodiment has a function to sound the horn assigned to at least one of the multiple switches SW provided on the operating levers, including the left lever device 26A and the right lever device 26B. Therefore, in each operating mode, the function to sound the horn, which is important for the safety of the shovel 100, can be assigned to one of the multiple switches SW on the operating lever, thereby improving the safety of the shovel 100.

[0205] Furthermore, in the excavator 100 of this embodiment, the multiple operating modes include at least one of the following: travel mode, lift mode, weighing mode, MC mode, or MG mode, and a normal mode. The travel mode is an operating mode that enables operation of the lower travel body 1 by operating levers. The lift mode is an operating mode that performs crane work using the attachment AT. The weighing mode is an operating mode that measures the weight of the load loaded by the attachment AT. The MC mode is an operating mode that automatically performs work using the attachment AT. The MG mode is an operating mode that assists work using the attachment AT.

[0206] With this configuration, the excavator 100 of this embodiment requires different operations in each operating mode. Specifically, in the travel mode, for example, in addition to travel operations by operating the left lever device 26A forward and backward, rotation operations of the lower travel body 1 or the upper slewing body 3 are required. In the weighing mode, for example, operations to start and end the calculation of the weight of the load to be loaded by the attachment AT are required. Therefore, when switching operating modes, multiple functions can be assigned to the same switch SW by changing the functions assigned to the multiple switches SW provided on each of the left lever device 26A and the right lever device 26B. Thus, in the excavator 100 which can switch between multiple operating modes, the shortage of switches SW on the operating levers used to operate the attachment AT can be resolved.

[0207] Furthermore, the shovel 100 of this embodiment is further equipped with a display device 50A that is installed around the driver's seat 70 and displays the function assigned to each of the multiple switches SW provided on the operating levers, including the left lever device 26A and the right lever device 26B.

[0208] With this configuration, the excavator 100 of this embodiment allows the operator to visually check the display device 50A, as shown in Figures 4 to 6, to confirm the function assigned to each of the multiple switches SW on the operating lever. Therefore, the operator does not need to memorize the different functions of each switch SW for each operating mode. Consequently, not only is the burden on the operator reduced, but erroneous operation of the switches SW by the operator can also be suppressed.

[0209] Furthermore, in the shovel 100 of this embodiment, the display device 50A switches the display of the function assigned to each of the multiple switches SW in accordance with the switching of multiple operating modes.

[0210] With this configuration, the shovel 100 of this embodiment can display the functions assigned to each of the multiple switches SW for each operating mode in the same information display area 41p of the display device 50A, for example, as shown in Figures 4 to 6. This minimizes the information display area 41p required to display the assignment of switches SW corresponding to each operating mode, simplifying the screen 41 of the display device 50A and suppressing the need to enlarge the display device 50A.

[0211] Furthermore, in the shovel 100 of this embodiment, the display device 50A simultaneously displays the function assigned to each of the multiple switches SW and the currently selected operating mode.

[0212] With this configuration, the operator of the shovel 100 in this embodiment can visually check the currently selected operating mode and the functions assigned to each of the multiple switches SW on the operating lever in that operating mode at a glance by looking at the display device 50A. Therefore, the operator can understand the relationship between each operating mode and the function assigned to each switch SW.

[0213] Furthermore, in the shovel 100 of this embodiment, the display device 50A continues to display the function assigned to each of the multiple switches SW, regardless of whether the operating levers, including the left lever device 26A and the right lever device 26B, are operated or not.

[0214] With this configuration, the operator of the shovel 100 in this embodiment can visually check the display device 50A before and during operation of the operating levers, including the left lever device 26A and the right lever device 26B, to confirm the function assigned to each of the multiple switches SW. This eliminates the burden on the operator of memorizing the function assigned to each switch SW and suppresses erroneous operation of the switches SW by the operator.

[0215] Furthermore, in the shovel 100 of this embodiment, the multiple switches SW of the operating levers, including the left lever device 26A and the right lever device 26B, include multiple push buttons provided at the tips of these operating levers.

[0216] With this configuration, the operator of the excavator 100 in this embodiment can perform operations on the lower travel body 1, the upper slewing body 3, or the attachment AT simply by pressing the push-button switch SW on the operating lever in each operating mode. Therefore, the burden on the operator in each operating mode can be reduced.

[0217] Furthermore, in the travel mode of the shovel 100 of this embodiment, the functions assigned to each of the multiple switches SW include the rotation operation of the lower travel body 1 or the upper slewing body 3, the operation to stop the travel mode, the operation to start and stop communication, and the operation to sound the horn provided on the upper slewing body 3.

[0218] With this configuration, the operator of the excavator 100 of this embodiment can perform the above operations by operating the respective switches SW of the operating levers, including the left lever device 26A and the right lever device 26B, in the travel mode. Therefore, the excavator 100 of this embodiment can reduce the burden on the operator in the travel mode.

[0219] Furthermore, in the weighing mode of the shovel 100 of this embodiment, the functions assigned to each of the multiple switches SW include the operation to complete loading, the operation to start and pause loading, the operation to start and stop communication, and the operation to sound the horn provided on the upper rotating body.

[0220] With this configuration, the operator of the excavator 100 of this embodiment can perform the above operations in weighing mode by operating the respective switches SW of the operating levers, including the left lever device 26A and the right lever device 26B. Therefore, according to the excavator 100 of this embodiment, the burden on the operator can be reduced in weighing mode.

[0221] Furthermore, in the MC mode or MG mode of the shovel 100 of this embodiment, the functions assigned to each of the multiple switches SW include starting and stopping the MC mode or MG mode, benchmarking to set the target construction surface for work performed by the attachment AT, and offsetting to move the target construction surface.

[0222] With this configuration, the operator of the excavator 100 of this embodiment can perform the above operations in MC-MG mode by operating the respective switches SW of the operating levers, including the left lever device 26A and the right lever device 26B. Therefore, according to the excavator 100 of this embodiment, the burden on the operator can be reduced in MC-MG mode.

[0223] As described above, according to this embodiment, in a shovel 100 configured to switch between multiple operating modes, it is possible to provide a shovel 100 that can overcome the problem of insufficient number of switches SW provided around the operating lever or driver's seat 70.

[0224] Next, with reference to Figure 7, an example of the configuration of the excavator operating system SYS according to the present disclosure will be described. Figure 7 is a schematic diagram showing an example of the configuration of the excavator operating system SYS. As shown in Figure 7, the excavator operating system SYS includes an excavator 100 and a remote control room RC. Note that the detailed configuration of the excavator 100 is omitted in Figure 7 because the excavator 100 shown in Figure 7 has the same configuration as the excavator 100 shown in Figures 1 to 3.

[0225] The excavator 100 and the remote control room RC are connected to each other so that data can be sent and received via a communication line NW. Alternatively, the excavator 100 and the remote control room RC may be connected to each other directly so that data can be sent and received without using the communication line NW. In the illustrated example, the excavator 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 excavator 100.

[0226] Shovel 100 is equipped with sensors capable of recognizing the position and shape of objects present at the work site in three dimensions. For example, shovel 100 is equipped with a spatial recognition device. Therefore, shovel 100 can transmit the results of three-dimensional measurements of the work site to the remote control room RC.

[0227] The spatial recognition device is a device for recognizing the space surrounding the shovel 100. In the illustrated example, the spatial recognition device is a LiDAR. The LiDAR measures, for example, the distance between each of more than one million points within the monitoring range and the LiDAR itself. Note that the spatial recognition device can be any device capable of measuring the distance to an object. For example, the spatial recognition device may be a stereo camera, or a combination of an imaging device 40 and a ranging device such as a millimeter-wave radar.

[0228] The operating system SYS may include one or more excavators 100. If it includes multiple excavators 100, the remote operator RO of a particular excavator 100 can obtain information about the work sites obtained by that particular excavator 100, as well as information about the work sites obtained by the other one or more excavators 100.

[0229] The remote control room RC is equipped with a remote communication device 60E, a remote controller 30E, a remote control device 26E, a remote control sensor 29E, and a remote display device 50AE. The remote control room RC also contains a remote operator's seat 70E where the remote operator RO sits to remotely control the shovel 100.

[0230] The remote communication device 60E is configured to communicate with the communication device 60 attached to the shovel 100.

[0231] The remote controller 30E is a computing device that performs various calculations. In this embodiment, the remote controller 30E is composed of a microcomputer including a CPU and memory. The various functions of the remote controller 30E are realized by the CPU executing a program stored in memory.

[0232] The remote display device 50AE is a device capable of displaying various types of information. The remote display device 50AE displays images based on information transmitted from the excavator 100 so that the remote operator RO in the remote control room RC can visually check the area around the excavator 100. In the illustrated example, the remote display device 50AE is a liquid crystal display that displays images captured by the imaging device 40 mounted on the excavator 100. The remote display device 50AE may also be a display or projector that enables naked-eye stereoscopic viewing, or it may be a VR goggle or the like.

[0233] The remote control device 26E has a configuration similar to that of the control device 26 shown in Figure 3, for example. That is, the remote control device 26E includes a left lever device 26A and a right lever device 26B, which are operating levers used to operate the attachment AT, and a plurality of switches SW provided on these operating levers.

[0234] The remote control device 26E is equipped with a remote control sensor 29E for detecting the operation of the remote control device 26E. The remote control sensor 29E is, for example, a tilt sensor that detects the tilt angle of the operating lever, or an angle sensor that detects the oscillation angle of the operating lever around its pivot axis. The remote control sensor 29E may also consist of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The remote control sensor 29E outputs information regarding the operation of the remote control device 26E that it has detected to the remote controller 30E. The remote controller 30E generates an operation signal based on the received information and transmits the generated operation signal to the shovel 100. The remote control sensor 29E may be configured to generate the operation signal. In this case, the remote control sensor 29E may output the operation signal to the remote communication device 60E without going through the remote controller 30E. With this configuration, the remote operator RO can remotely operate the shovel 100 from the remote control room RC.

[0235] The operation of the SYS excavator operating system according to this embodiment will be described below.

[0236] The operating system SYS of the work machine in this embodiment includes a shovel 100, a remote control device 26E installed outside the shovel 100 and used to operate the shovel 100, and a remote communication device 60E that transmits the operation details of the remote control device 26E to a communication device 60 of the shovel 100. The shovel 100 includes 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 a communication device 60 provided on the upper rotating body 3, and is configured to switch between multiple operating modes. The remote control device 26E has a left lever device 26A and a right lever device 26B, which are operating levers used to operate the attachment AT, and a plurality of switches SW provided around these operating levers or the driver's seat 70E. In the shovel operating system SYS, the functions assigned to the plurality of switches SW are changed when switching between the plurality of operating modes of the shovel 100.

[0237] With this configuration, the excavator operating system SYS of this embodiment allows different functions to be assigned to the operating lever of the remote control device 26E used to operate the attachment AT, or to the multiple switches SW provided around the driver's seat 70E, for each operating mode. In other words, it becomes possible to assign specific functions required for each operating mode to a common switch SW. As a result, the limited number of switches SW on the operating lever can be effectively utilized, and the shortage of switches SW provided on the operating lever can be resolved.

[0238] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically. [Explanation of symbols]

[0239] 1. Lower running body 3. Upper rotating body 10 Driver's cab 26A Left lever device (operating lever) 26B Right lever device (operating lever) 26E Remote Control Device 70 Driver's seat 100 Shovel 50A display device 60 Communication equipment 60E Remote Communication Device AT attachment SW Switch SYS Excavator Operating System

Claims

1. Lower running body and An upper rotating body is provided on the lower traveling body so as to be rotatable, The attachment mounted on the upper rotating body, The driver's cab provided in the upper rotating body, The driver's seat installed inside the aforementioned driver's cab, Operating levers arranged around the driver's seat and used to operate the attachment, The system includes the aforementioned operating lever or a plurality of switches provided around the driver's seat, A shovel configured to allow switching between multiple operating modes, wherein the functions assigned to the multiple switches are changed when switching between the multiple operating modes.

2. Each of the above-mentioned plurality of operating modes corresponds to a predetermined operation or task performed by at least one of the lower traveling body, the upper rotating body, or the attachment. The shovel according to claim 1.

3. The functions assigned to the plurality of switches include at least one operation relating to the lower traveling body, the upper rotating body, or the attachment, or an operation relating to the plurality of operating modes. The shovel according to claim 1.

4. The function assigned to one of the aforementioned switches is to sound the horn located on the upper rotating body. The shovel according to claim 1.

5. The aforementioned plurality of operating modes include at least one of the following: a travel mode that enables operation of the lower traveling body by the operating lever; a lift mode that performs crane work with the attachment; a weighing mode that measures the weight of the load placed by the attachment; an MC mode that automatically performs work with the attachment; or an MG mode that assists work with the attachment; and a normal mode. The shovel according to claim 1.

6. The system further includes a display device installed around the driver's seat that displays the function assigned to each of the multiple switches. The shovel according to claim 1.

7. The display device switches the display of the function assigned to each of the multiple switches in accordance with the switching of the multiple operating modes. The shovel according to claim 6.

8. The display device simultaneously displays the function assigned to each of the plurality of switches and the selected operating mode. The shovel according to claim 6.

9. The display device continues to display the function assigned to each of the multiple switches, regardless of whether the operating lever is operated or not. The shovel according to claim 6.

10. The aforementioned plurality of switches include a plurality of push buttons provided at the tip of the operating lever, The shovel according to claim 1.

11. In the aforementioned driving mode, the functions assigned to each of the plurality of switches include: rotating the lower driving body or the upper rotating body; stopping the driving mode; starting and ending a call; and sounding the horn provided on the upper rotating body. The shovel according to claim 5.

12. In the weighing mode, the functions assigned to each of the plurality of switches include the operation to complete loading, the operation to start and pause loading, the operation to start and stop communication, and the operation to sound the horn provided on the upper rotating body. The shovel according to claim 5.

13. In the MC mode or the MG mode, the functions assigned to each of the plurality of switches include starting and stopping the MC mode or the MG mode, benchmarking operations for setting the target construction surface for work performed by the attachment, and offset operations for moving the target construction surface. The shovel according to claim 5.

14. A shovel comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment mounted on the upper rotating body, and a communication device provided on the upper rotating body, configured to allow switching between multiple operating modes, A remote control device installed on the outside of the shovel and used to operate the shovel, A remote communication device that transmits the operation details of the remote control device to the communication device, Equipped with, The remote control device comprises an operating lever used to operate the attachment, and a plurality of switches provided around the operating lever or the driver's seat. An excavator operating system in which the functions assigned to the multiple switches are changed when switching between the multiple operating modes.

Images