Shovel, shovel operating system

Abstract

This disclosure provides a shovel that enables labor savings when replacing the end attachment. [Solution] The shovel 100 comprises a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an attachment AT mounted on the upper rotating body 3. The shovel 100 also comprises a weight acquisition device that acquires the weight of the end attachment (bucket 6) constituting the attachment AT, and an attachment estimation unit that estimates the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device.

Description

Technical Field

[0006]

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

Background Art

[0002] Conventionally, a working machine capable of more flexibly adjusting the flow rate and pressure of hydraulic oil flowing through a mounted end attachment has been known (see Patent Document 1 below).

[0003] In the controller of the working machine described in Patent Document 1, the correspondence relationship between the flow rate and pressure of the hydraulic oil flowing through the end attachment drive actuator and the current supplied to the relief valve is stored. Therefore, when the values of the flow rate and pressure of the hydraulic oil flowing through the end attachment drive actuator are input to the controller through the setting unit, the magnitude of the current supplied to the relief valve is selected, and the relief pressure of the relief valve is adjusted according to the magnitude of the current.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the working machine described in Patent Document 1, the operator needs to change the maximum flow rate and maximum pressure of the hydraulic oil flowing through the end attachment drive actuator according to the type and specifications of the mounted end attachment. The operator adjusts the maximum flow rate and maximum pressure of the hydraulic oil flowing through the end attachment drive actuator by inputting the maximum flow rate value and maximum pressure value of the hydraulic oil to the controller. However, the input operation performed by the operator when replacing the end attachment is complicated, and further labor saving is required.

[0006] This disclosure provides an excavator capable of reducing labor during the replacement of end attachments, and an operating system for the excavator. [Means for solving the problem]

[0007] 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 provided on the upper rotating body; a weight acquisition device for acquiring the weight of an end attachment constituting the attachment; and an attachment estimation unit for estimating the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device.

[0008] 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; and an attachment provided on the upper rotating body; a weight acquisition device for acquiring the weight of an end attachment constituting the attachment; and an attachment estimation unit for estimating the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device. [Effects of the Invention]

[0009] According to the above-described aspects of this disclosure, it is possible to provide a shovel that can reduce labor when replacing the end attachment, and a shovel operating system. [Brief explanation of the drawing]

[0010] [Figure 1] This is a side view showing an embodiment of the excavator according to this disclosure. [Figure 2] Figure 1 is a magnified view of the quick coupler mounted on the excavator. [Figure 3] Figure 1 is a block diagram showing an example of the configuration of an excavator. [Figure 4] Figure 1 is a diagram showing the configuration of the hydraulic system installed in the excavator. [Figure 5] Figure 1 is a flowchart illustrating the process of replacing the end attachment of the excavator. [Figure 6] This is an example of an image displayed on the display device of the shovel shown in Figure 1. [Figure 7] This is an example of an image displayed on the display device of the shovel shown in Figure 1. [Figure 8] This is an example of an image displayed on the display device of the shovel shown in Figure 1. [Figure 9] This is an example of an image displayed on the display device of the shovel shown in Figure 1. [Figure 10] This figure shows an embodiment of the excavator operating system according to this disclosure. [Modes for carrying out the invention]

[0011] Embodiments of this disclosure will be described below 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.

[0012] First, an embodiment of the excavator according to this disclosure will be described with reference to Figures 1 to 4. Figure 1 is a side view showing an embodiment of the excavator 100 according to this disclosure. Figure 2 is an enlarged view of the quick coupler QC mounted on the excavator 100 of Figure 1. Figure 3 is a block diagram showing an example of the configuration of the excavator 100 of Figure 1. Figure 4 is a configuration diagram of the hydraulic system mounted on the excavator 100 of Figure 1.

[0013] As shown in Figure 1, the upper rotating body 3 is mounted on the lower traveling body 1 of the shovel 100 via a slewing mechanism 2 so as to be rotatable. In the example shown in Figure 1, the shovel 100 is a crawler-type hydraulic excavator with tracks on the lower traveling body 1. However, the shovel 100 may also be a wheeled hydraulic excavator with tires on the lower traveling body 1.

[0014] A boom 4 is attached to the upper revolving body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5 via, for example, a quick coupler QC. The end attachment may be other types of buckets such as, for example, a large bucket, a slope bucket, a dredging bucket, etc. Further, the end attachment may be an end attachment of a type other than a bucket, such as a stirrer, a breaker, a grapple, or a lifting magnet.

[0015] The quick coupler QC is rotatably attached to the tip of the arm 5, for example, as shown in FIG. 2, and attaches and detaches an end attachment such as the bucket 6. Specifically, the quick coupler QC is hydraulically driven in response to an operation by an operator of the excavator 100, for example, and switches between an open state in which the end attachment can be attached and detached and a locked state in which the end attachment is held and fixed.

[0016] The boom 4, the arm 5, the quick coupler QC, and the bucket 6 constitute an excavation attachment which is an example of the attachment AT. Note that the attachment AT may not have a quick coupler QC. In that case, an end attachment such as the bucket 6 is directly attached to the tip of the arm 5 without passing through the quick coupler QC.

[0017] 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. A boom angle sensor S1 is attached to the boom 4, and an arm angle sensor S2 is attached to the arm 5. Further, a bucket angle sensor S3 is attached to a link mechanism that rotates the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism.

[0018] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the boom angle, which is the rotation angle of the boom 4 with respect to the upper swing body 3. The boom angle, for example, becomes the minimum angle when the boom 4 is lowered to the lowest position and increases as the boom 4 is raised.

[0019] The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 may include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2, the bucket angle sensor S3, and the machine body tilt sensor S4 below. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0020] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. The arm angle, for example, becomes the minimum angle when the arm 5 is closed to the maximum extent and increases as the arm 5 is opened.

[0021] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. The bucket angle, for example, becomes the minimum angle when the bucket 6 is closed to the maximum extent and increases as the bucket 6 is opened.

[0022] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle around the connecting pin. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 constitute an attitude sensor that detects the attitude of the excavation attachment.

[0023] The upper rotating body 3 is equipped with a cabin 10, which serves as the driver's cab, and also houses a power source such as an engine 11. Furthermore, the upper rotating body 3 is fitted with an aircraft tilt sensor S4, a rotation angle sensor S5, and an imaging device S6. Additionally, the upper rotating body 3 is fitted with a communication device T1 and a positioning device PS.

[0024] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 around the longitudinal axis and the tilt angle around the left-right axis with respect to the horizontal plane. The longitudinal axis and left-right axis of the upper rotating body 3 are, for example, orthogonal to each other and pass through the shovel center point, which is a point on the rotation axis of the shovel 100.

[0025] The rotation angle sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. In this embodiment, the rotation angle sensor S5 is a gyro sensor. The rotation angle sensor S5 may also be a resolver or a rotary encoder, etc. The rotation angle sensor S5 may also detect the rotational speed. The rotational speed may be calculated from the rotational angular velocity.

[0026] Furthermore, if the aircraft tilt 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 (for example, rotational angular velocity) may be detected based on the detection signal from the aircraft tilt sensor S4. In this case, the rotational angle sensor S5 may be omitted.

[0027] The imaging device S6 is configured to acquire images of the area around the shovel 100. In this embodiment, the imaging device S6 includes a left camera S6L for imaging the space to the left of the shovel 100, a right camera S6R for imaging the space to the right of the shovel 100, and a rear camera S6B for imaging the space behind the shovel 100. The imaging device S6 may also include a front camera S6F for imaging the space in front of the shovel 100. The imaging device S6 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured images to the display device D1 via the controller 30.

[0028] 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 cabin 10.

[0029] The positioning device PS is configured to acquire information regarding the position of the shovel 100. In this embodiment, the positioning device PS is configured to measure the position and orientation of the shovel 100. Specifically, the positioning device PS is a GNSS receiver incorporating an electronic compass, which measures the latitude, longitude, and altitude of the current position of the shovel 100, as well as the orientation of the shovel 100.

[0030] The communication device T1 communicates with external devices through a predetermined network, including a mobile communication network with a base station as its endpoint, a satellite communication network, and the Internet network. The communication device T1 is, for example, a mobile communication module that supports mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0031] Figure 3 is a block diagram showing an example of the configuration of the excavator 100 according to this embodiment. In Figure 3, mechanical power lines are shown with double lines, high-pressure hydraulic lines with solid lines, pilot lines with dashed lines, and electric drive and control lines with dotted lines.

[0032] The hydraulic drive system for hydraulically driving the hydraulic actuators of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. Furthermore, as described above, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators such as travel hydraulic motors 2ML and 2MR, a slewing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which hydraulically drive the lower travel body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, respectively.

[0033] Furthermore, the excavator 100 may have all or part of its driven parts, such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6, electrically driven. In other words, the excavator 100 may be a hybrid excavator or electric excavator in which all or part of the driven parts are driven by electric actuators. Specifically, the excavator 100 may be an electric excavator that drives all of its driven parts using only an electric motor as a power source. A hybrid excavator is typically an excavator that uses a combination of an internal combustion engine such as a diesel engine and an electric motor driven by a battery mounted on the upper slewing body 3 as a power source, while an electric excavator is typically an excavator that uses only an electric motor driven by a battery mounted on the upper slewing body 3 as a power source. However, an electric excavator may also be an excavator that uses only an electric motor connected to an external power source as a power source.

[0034] The engine 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper slewing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under direct or indirect control by the controller 30 (described later) and drives the main pump 14 and the pilot pump 15. The power source of the shovel 100 may be a combination of a power source such as a battery or fuel cell and an electric motor. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 may also be a gasoline engine or a hydrogen engine, etc.

[0035] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0036] The main pump 14 (an example of a hydraulic pump) is mounted at the rear of the upper slewing body 3, similar to the engine 11, and supplies hydraulic fluid to the control valve unit 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by the engine 11, as described above. The main pump 14 is, for example, a variable displacement hydraulic pump. As described above, under the control of the controller 30, the piston stroke length of the main pump 14 can be adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate (discharge pressure).

[0037] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, travel hydraulic motors 2ML and 2MR, and a slewing hydraulic motor 2A. More specifically, control valve 171 corresponds to the left travel hydraulic motor 2ML, control valve 172 corresponds to the right travel hydraulic motor 2MR, and control valve 173 corresponds to the slewing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 to boom cylinder 7, and control valve 176 to arm cylinder 8.

[0038] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to hydraulic control equipment via a pilot line. In this embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump. The pilot pressure generating device may also be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control equipment via a pilot line. In this case, the pilot pump 15 may be omitted.

[0039] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0040] The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0041] The proportional valve 31, which functions as a control valve for machine control, is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In this embodiment, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, independently of the operator's operation of the operating device 26.

[0042] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, if the excavator 100 does not have machine control or remote control functions, the excavator 100 does not need to have a proportional valve 31.

[0043] The control system of the excavator 100 according to this embodiment includes a controller 30, a display device D1, an input device D2, and a communication device T1. The control system of the excavator 100 also includes, as a configuration related to the semi-automatic operation function, a proportional valve 31, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body tilt sensor S4, a slewing angle sensor S5, an imaging device S6, and a positioning device PS.

[0044] The operation sensor 29 is configured to detect the operator's actions using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of operation of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In this embodiment, the controller 30 controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. The controller 30 then supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of operation of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0045] The display device D1 is located in a place easily visible to a seated operator inside the cabin 10 and displays various information images under the control of the controller 30. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as CAN (Controller Area Network), or it may be connected to the controller 30 via a one-to-one dedicated line.

[0046] Furthermore, the display device D1 is not limited to a device pre-installed in the cabin 10, but may be a separate monitor. Moreover, the display device D1 can be any device capable of displaying information, and for example, a tablet terminal capable of communicating with the communication device T1 may be used.

[0047] The input device D2 is located within reach of a seated operator in the cabin 10 and receives various operation inputs from the operator, outputting signals corresponding to the operation inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 which displays various information images, a knob switch located at the tip of the lever device of the operation device 26, and button switches, levers, toggles, rotary dials, etc., installed around the display device D1. Signals corresponding to the operations performed on the input device D2 are received by the controller 30.

[0048] The controller 30 (an example of a control device) is installed, for example, inside the cabin 10 and controls the drive of the shovel 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly composed of a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a non-volatile auxiliary storage medium, and various input / output interfaces. The controller 30 realizes various functions by executing various programs stored in the ROM or non-volatile auxiliary storage medium on the CPU.

[0049] The controller 30 sets a target rotational speed based on the operator's actions, for example, and performs drive control to keep the engine 11 rotating at a constant speed. The controller 30 also outputs control commands to the regulator 13 as needed to change the discharge amount of the main pump 14. The controller 30 also controls the regulator 13 based on the detected pilot pressure values ​​corresponding to the operating states of various operating elements (i.e., various hydraulic actuators) in the operating device 26, which are input from the operation sensor 29, and adjusts the discharge amount of the main pump 14. The controller 30 also performs control related to a machine guidance function that guides the operator's manual operation of the shovel 100 through the operating device 26. The controller 30 also performs control related to a machine control function that automatically assists the operator's manual operation of the shovel 100 through the operating device 26.

[0050] Furthermore, the controller 30 includes an attachment estimation unit 301 that estimates the specifications of an end attachment, such as a bucket 6, based on the weight of the end attachment. The controller 30 also includes a weight calculation unit 302 that calculates the weight of an end attachment, such as a bucket 6. The controller 30 also includes a setting change unit 303 that changes the settings of an attachment AT, such as a bucket 6, based on the specifications of the end attachment.

[0051] Furthermore, the controller 30 includes, for example, an operation control unit 304 that controls the operation of the attachment. The controller 30 also includes, for example, a payload calculation unit 305 that calculates the weight of the load contained in the end attachment, such as the bucket 6. The controller 30 also includes, for example, an alarm unit 306 that performs height alarm and depth alarm functions.

[0052] These parts of the controller 30 shown in Figure 3 represent the various functions of the controller 30, which are realized by executing various programs stored in ROM or non-volatile auxiliary storage media on the CPU.

[0053] The attachment estimation unit 301 estimates the specifications of the end attachment, such as the bucket 6, based on the weight of the end attachment obtained by the weight acquisition device. The weight acquisition device for acquiring the weight of the end attachment consists of, for example, a posture sensor for acquiring the posture of the attachment AT, a pressure sensor provided on the hydraulic actuator of the attachment AT, and the weight calculation unit 302 of the controller 30. The weight acquisition device may also include, for example, weight sensors such as strain gauges.

[0054] The attitude sensors constituting the weight acquisition device include, for example, a boom angle sensor S1, an arm angle sensor S2, and a bucket angle sensor S3, as described above, to acquire the attitude of the attachment AT. The pressure sensors constituting the weight acquisition device detect the pressure acting on the hydraulic actuator, such as the boom cylinder 7, due to the weight of the end attachment, such as the bucket 6. The pressure sensor for the hydraulic actuator will be described later with reference to Figure 4.

[0055] The weight calculation unit 302 calculates the weight of the end attachment, such as the bucket 6, based on the attitude of the attachment AT obtained by the attitude sensor and the pressure obtained by the hydraulic actuator's pressure sensor. For example, the weight calculation unit 302 uses a calculation formula that includes known information such as the dimensions, shape, and weight of each part of the attachment AT, in addition to the detection results of the attitude sensor and pressure sensor, to calculate the weight of the end attachment attached to the tip of the arm 5.

[0056] The setting change unit 303 changes the settings of the attachment AT based on the specifications of the end attachment estimated by the attachment estimation unit 301. Here, the settings of the attachment AT include, for example, the setting of information about the end attachment used for machine guidance and machine coat rolls to operate the attachment AT by the operation control unit 304. The settings of the attachment AT also include, for example, the setting of information about the end attachment used when the payload calculation unit 305 calculates the weight of the load contained in the end attachment. The settings of the attachment AT also include, for example, the setting of information about the end attachment used when the alarm unit 306 performs at least one of the height alarm function and the depth alarm function.

[0057] The operation control unit 304 implements machine guidance and machine control functions by controlling the operation of the attachment AT based on the settings of the attachment AT changed by the setting change unit 303, for example.

[0058] The payload calculation unit 305 calculates the weight of the load contained or held in the end attachment, such as the bucket 6, based on the settings of the attachment AT changed by the setting change unit 303. The payload calculation unit 305 uses a calculation formula that includes, for example, the detection results of the attitude sensor and pressure sensor, and known information such as the dimensions, shape, and weight of each part of the attachment AT, including the end attachment, to calculate the weight of the load contained or held in the end attachment.

[0059] The alarm unit 306 performs at least one of a height alarm function and a depth alarm function. The height alarm function outputs an alarm when any one of several predetermined parts of the end attachment, such as the bucket 6, reaches a position higher than a predetermined height, based on the setting of the attachment AT changed by the setting change unit 303. The depth alarm function outputs an alarm when any one of several predetermined parts of the end attachment reaches a position deeper than a predetermined depth, based on the setting of the attachment AT changed by the setting change unit 303. In addition, the alarm unit 306 may output a control command to the proportional valve 31 to stop the movement of the attachment AT when an alarm is output.

[0060] 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 manner distributed among multiple controllers. For example, machine guidance functions and machine control functions may be implemented by dedicated controllers (control devices).

[0061] The shovel 100 operates actuators (e.g., hydraulic actuators) in response to the operation of the operator sitting in the cabin 10, driving the moving elements (hereinafter referred to as "driven elements") such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0062] Furthermore, instead of being configured to be operable by the operator in the cabin 10, or in addition to being configured to be operable by the operator in the cabin 10, the shovel 100 may also be configured to be remotely operated from outside the shovel 100. When the shovel 100 is remotely operated, the inside of the cabin 10 may be unoccupied.

[0063] Furthermore, the shovel 100 may automatically operate its actuators regardless of the operator's actions. As a result, the controller 30 of the shovel 100 has the function of automatically operating at least some of the multiple actuators that operate each of the driven elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, that is, a so-called "automatic driving function" or "machine control function".

[0064] The automatic driving function may include a function that automatically operates driven elements (actuators) other than the target driven element (actuator) in response to the operator's operation of the control device 26 or remote control, i.e., a so-called "semi-automatic driving function" or "operation-assist type machine control function". The automatic driving function may also include a function that automatically operates at least some of the multiple driven elements (hydraulic actuators) on the premise that there is no operation of the operator's control device 26 or remote control, i.e., a so-called "fully automatic driving function" or "fully automatic machine control function". In the case of the excavator 100, when the fully automatic driving function is enabled, the interior of the cabin 10 may be unoccupied. Furthermore, the semi-automatic driving function and fully automatic driving function may include a mode in which the operation content of the driven elements (actuators) that are the target of automatic driving is automatically determined according to predetermined rules. Furthermore, semi-autonomous driving functions and fully autonomous driving functions may include a mode in which the shovel 100 autonomously makes various decisions, and the operation of the driven elements (hydraulic actuators) that are subject to autonomous driving is determined autonomously in accordance with the results of those decisions (so-called "autonomous driving function").

[0065] Specifically, when the arm 5 is operated by the operator via the operating device 26, the controller 30 may automatically operate at least one of the boom 4 and the bucket 6 so that the tip position of the bucket 6 coincides with a predetermined target construction surface. In addition, the controller 30 may also automatically operate the arm 5 regardless of the operating state of the operating device 26 that operates the arm 5. In other words, the controller 30 may trigger the operation of the operating device 26 by the operator to perform predetermined operations on the attachment. Hereinafter, the function of the controller 30 that operates not only the arm 5 but also at least one of the boom 4 and the bucket 6 in response to the operation of the operating device 26 corresponding to the arm 5 will be referred to as the "semi-automatic operation function". The semi-automatic operation function may be executed, for example, by operating a predetermined switch (hereinafter referred to as the "MC (Machine Control) switch") located at the tip of any of the lever devices included in the operating device 26. In this embodiment, a paddle switch may be used as the MC switch, in which the machine control function is executed while it is pressed.

[0066] Next, with reference to Figure 4, an example of the configuration of the hydraulic system mounted on the excavator 100 according to this embodiment will be described. Figure 4 is a diagram showing an example of the configuration of the hydraulic system mounted on the excavator 100 according to this embodiment. In Figure 4, the mechanical power transmission system, hydraulic fluid line, pilot line, and electrical control system are shown by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0067] The hydraulic system of the Shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, and a controller 30, etc.

[0068] In Figure 4, the hydraulic system is configured to circulate hydraulic fluid from the main pump 14, driven by the engine 11, to the hydraulic fluid tank via the center bypass pipeline 40 or the parallel pipeline 42.

[0069] The engine 11 is the power source for the shovel 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0070] The main pump 14 is configured to supply hydraulic fluid to the control valve unit 17 via a hydraulic fluid line. In this embodiment, the main pump 14 is a swashplate type variable displacement hydraulic pump.

[0071] The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0072] As described above, the pilot pump 15 is configured to supply hydraulic fluid to the hydraulic control equipment via the pilot line.

[0073] As described above, the control valve unit 17 includes control valves 171 to 176. Control valve 175 includes control valves 175L and 175R, and control valve 176 includes control valves 176L and 176R. As described above, the control valve unit 17 is configured to selectively supply the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through control valves 171 to 176. As described above, control valves 171 to 176 control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. As described above, the hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a slewing hydraulic motor 2A.

[0074] The operating device 26 is configured to allow an operator to operate the actuator. In this embodiment, the operating device 26 includes a hydraulic actuator operating device configured to allow an operator to operate a hydraulic actuator. Specifically, the hydraulic actuator operating device is configured to supply hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via a pilot line. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is a pressure corresponding to the operating direction and amount of the operating device 26 corresponding to each hydraulic actuator.

[0075] As described above, the discharge pressure sensor 28 detects the discharge pressure of the main pump 14 and outputs the detected value to the controller 30. As described above, the operation sensor 29 detects the operation of the operation device 26 by the operator, detects the operating direction and amount of the operation device 26 corresponding to each actuator, and outputs the detected value to the controller 30.

[0076] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic fluid to the hydraulic fluid tank via the left center bypass pipeline 40L or the left parallel pipeline 42L, while the right main pump 14R circulates the hydraulic fluid to the hydraulic fluid tank via the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0077] The left center bypass pipeline 40L is a hydraulic fluid line that passes through control valves 171, 173, 175L, and 176L located within the control valve unit 17. The right center bypass pipeline 40R is a hydraulic fluid line that passes through control valves 172, 174, 175R, and 176R located within the control valve unit 17.

[0078] The control valve 171 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the left travel hydraulic motor 2ML to the hydraulic fluid tank.

[0079] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the right travel hydraulic motor 2MR, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right travel hydraulic motor 2MR to the hydraulic fluid tank.

[0080] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the swivel hydraulic motor 2A, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the swivel hydraulic motor 2A to the hydraulic fluid tank.

[0081] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0082] Control valve 175L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7. Control valve 175R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the boom cylinder 7 and also switches the flow of hydraulic fluid to discharge the hydraulic fluid inside the boom cylinder 7 to the hydraulic fluid tank.

[0083] Control valve 176L is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8 and switches the flow of hydraulic fluid to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. Control valve 176R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the arm cylinder 8 and switches the flow of hydraulic fluid to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0084] The left parallel pipeline 42L is a hydraulic fluid line running parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, and 175L. The right parallel pipeline 42R is a hydraulic fluid line running parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the right center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

[0085] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge volume by adjusting the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge volume, does not exceed the output power (output horsepower) of the engine 11.

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

[0087] The left operating lever 26L is used for slewing and operating the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0088] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic fluid into the right pilot port of control valve 176L and into the left pilot port of control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic fluid into the left pilot port of control valve 176L and into the right pilot port of control valve 176R. Furthermore, when the left operating lever 26L is operated in the left rotation direction, it introduces hydraulic fluid into the left pilot port of control valve 173, and when operated in the right rotation direction, it introduces hydraulic fluid into the right pilot port of control valve 173.

[0089] In the example shown in Figure 4, the left control lever 26L functions as an arm control lever when operated in the forward / backward direction and as a swivel control lever when operated in the left / right direction.

[0090] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0091] Specifically, when the right operating lever 26R is operated in the boom lowering direction, it introduces hydraulic fluid into the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom raising direction, it introduces hydraulic fluid into the right pilot port of the control valve 175L and into the left pilot port of the control valve 175R. Furthermore, when the right operating lever 26R is operated in the bucket closing direction, it introduces hydraulic fluid into the right pilot port of the control valve 174, and when it is operated in the bucket opening direction, it introduces hydraulic fluid into the left pilot port of the control valve 174.

[0092] In the example shown in Figure 4, the right operating lever 26R functions as a boom operating lever when operated in the forward / backward direction and as a bucket operating lever when operated in the left / right direction.

[0093] The travel lever 26D is used to operate the crawler. Specifically, the left travel lever 26DL is used to operate the left crawler. It may be configured to be linked with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler. It may be configured to be linked with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0094] The discharge pressure sensor 28 includes discharge pressure sensors 28L and 28R. Discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to discharge pressure sensor 28R.

[0095] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. Operation sensor 29LA detects the operator's forward and backward movement of the left operation lever 26L and outputs the detected value to the controller 30. The operation details include, for example, the direction of lever operation and the amount of lever operation (lever operation angle).

[0096] Similarly, the operation sensor 29LB detects the operator's left-right operation of the left operation lever 26L and outputs the detected value to the controller 30. The operation sensor 29RA detects the operator's forward-backward operation of the right operation lever 26R and outputs the detected value to the controller 30. The operation sensor 29RB detects the operator's left-right operation of the right operation lever 26R and outputs the detected value to the controller 30. The operation sensor 29DL detects the operator's forward-backward operation of the left travel lever 26DL and outputs the detected value to the controller 30. The operation sensor 29DR detects the operator's forward-backward operation of the right travel lever 26DR and outputs the detected value to the controller 30.

[0097] In this embodiment, the description of the operating device 26 is based on a hydraulic operating lever equipped with a hydraulic pilot circuit. However, an electric operating lever equipped with an electric pilot circuit may be used instead of a hydraulic operating lever. In this case, the amount of lever operation of the electric operating lever is input to the controller 30 as an electrical signal. A solenoid valve is also placed between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the electric operating lever, the controller 30 can move each control valve by controlling the solenoid valve with an electrical signal corresponding to the amount of lever operation to increase or decrease the pilot pressure. Note that each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 corresponding to the amount of lever operation of the electric operating lever.

[0098] The controller 30 receives the output of the operation sensor 29 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 located upstream of the throttle 18 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0099] In the left center bypass pipeline 40L, a left throttle 18L is located between the control valve 176L, the downstreammost control valve, and the hydraulic fluid tank. Therefore, the flow of hydraulic fluid discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates a control pressure to control the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same way.

[0100] Specifically, as shown in Figure 4, when the hydraulic actuators in the shovel 100 are in a standby state and not being operated, the hydraulic fluid discharged from the left main pump 14L passes through the left center bypass pipe 40L to the left constriction 18L. The flow of hydraulic fluid discharged from the left main pump 14L increases the control pressure generated upstream of the left constriction 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing the pressure loss (pumping loss) as the discharged hydraulic fluid passes through the left center bypass pipe 40L. On the other hand, when any hydraulic actuator is operated, the hydraulic fluid discharged from the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that hydraulic actuator. The flow of hydraulic fluid discharged from the left main pump 14L reduces or eliminates the amount reaching the left constriction 18L, lowering the control pressure generated upstream of the left constriction 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, ensuring sufficient hydraulic fluid circulation to the hydraulic actuator being operated and guaranteeing reliable operation of the hydraulic actuator. The controller 30 also controls the discharge volume of the right main pump 14R in the same manner.

[0101] With the configuration described above, the hydraulic system in Figure 4 can suppress unnecessary energy consumption in the main pump 14 when in standby mode. Unnecessary energy consumption includes pumping losses caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipeline 40. Furthermore, when operating a hydraulic actuator, the hydraulic system in Figure 4 can reliably supply the necessary and sufficient hydraulic fluid from the main pump 14 to the hydraulic actuator being operated.

[0102] Furthermore, boom cylinder 7 is equipped with boom rod pressure sensor S7R and boom bottom pressure sensor S7B. Arm cylinder 8 is equipped with arm rod pressure sensor S8R and arm bottom pressure sensor S8B. Bucket cylinder 9 is equipped with bucket rod pressure sensor S9R and bucket bottom pressure sensor S9B. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors". In addition, the swing hydraulic motor 2A is equipped with left swing pressure sensor S10L and right swing pressure sensor S10R.

[0103] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure"). The left slewing pressure sensor S10L detects the hydraulic fluid pressure at the left port of the slewing hydraulic motor 2A. The right slewing pressure sensor S10R detects the hydraulic fluid pressure at the right port of the slewing hydraulic motor 2A. The values ​​detected by each sensor are transmitted to the controller 30.

[0104] The cylinder pressure sensor described above also functions as a pressure sensor that detects the pressure acting on the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, which are hydraulic actuators of the attachment AT, due to the weight of the end attachment such as the bucket 6. Specifically, the boom bottom pressure sensor S7B, which detects the boom bottom pressure of the boom cylinder 7, functions as a pressure sensor that detects the pressure acting on the boom cylinder 7 due to the weight of the end attachment.

[0105] In this embodiment, the weight acquisition device for acquiring the weight of the end attachment such as the bucket 6 includes at least a boom bottom pressure sensor S7B. The weight acquisition device may also include other cylinder pressure sensors, such as an arm bottom pressure sensor S8B or a bucket bottom pressure sensor S9B, which detect the pressure acting on the hydraulic actuator of the attachment AT due to the weight of the end attachment.

[0106] Next, the procedure for replacing the end attachment of the shovel 100 of this embodiment will be described with reference to Figures 5 to 9. Figure 5 is a flowchart of the end attachment replacement procedure for the shovel 100 in Figure 1. Figures 6 to 9 are examples of images displayed on the display device D1 of the shovel 100 in Figure 1.

[0107] When the operator of the shovel 100 begins replacing an end attachment such as the bucket 6 that constitutes the attachment AT, they first remove the end attachment (step P1), as shown in Figure 5, for example. In step P1, the operator drives the attachment AT by operating the operating device 26, for example, and grounds a part of the end attachment, such as the back of the bucket 6.

[0108] Furthermore, the operator releases the quick coupler QC from the locked state by operating, for example, a touch panel mounted on the display of the display device D1, button switches installed around the display device D1, or a knob switch provided at the tip of the lever device of the operating device 26. In addition, the operator operates, for example, the left operating lever 26L in the arm opening and arm closing directions, and the right operating lever 26R in the boom raising direction. As a result, as shown in Figure 2, the end attachment such as the bucket 6 is removed from the quick coupler QC attached to the tip of the arm 5.

[0109] Next, the operator installs the end attachment (step P2) as shown in Figure 5. In this step P1, the operator moves, for example, the quick coupler QC attached to the tip of the boom 4 above the newly installed end attachment. Specifically, the operator rotates the upper slewing body 3 by operating the left operating lever 26L in the left or right rotation direction. The operator also moves the shovel 100 using the left and right crawlers of the lower traveling body 1 by operating the left travel lever 26DL and the right travel lever 26DR in the forward or reverse direction.

[0110] Furthermore, the operator engages the quick coupler QC with the end attachment to be replaced by, for example, operating the left operating lever 26L in the arm opening and arm closing directions, and operating the right operating lever 26R in the boom lowering direction. Subsequently, the operator operates, for example, the touch panel mounted on the display of the display device D1, the button switches installed around the display device D1, or the knob switch provided at the tip of the lever device of the operating device 26 to switch the quick coupler QC from the open state to the locked state.

[0111] For example, the orientation of the attachment AT when the quick coupler QC is engaged with the end attachment differs depending on the type of end attachment. Therefore, the attachment estimation unit 301 may, for example, record the orientation of the attachment AT when the quick coupler QC is moved from the open state to the locked state, and use this for the estimation of the end attachment (step P5) described later.

[0112] As described above, a new end attachment is attached to the tip of the arm 5 of attachment AT via a quick coupler QC, replacing the bucket 6 shown in Figure 2.

[0113] Now, with reference to Figure 6, the image displayed on the display device D1 installed inside the cabin 10 of the shovel 100 will be described. The display device D1, for example, displays a display screen 41 as shown in Figure 6 under the control of the controller 30.

[0114] The display screen 41 of the display device D1 includes, for example, a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a fuel level display area 41h, a rotation speed mode display area 41i, a urea solution level display area 41j, a hydraulic oil temperature display area 41k, an air conditioner operation status display area 41m, an image display area 41n, and a menu display area 41p.

[0115] The driving mode display area 41b, attachment display area 41c, engine control status display area 41e, rotation speed mode display area 41i, and air conditioner operation status display area 41m are areas that display setting status information, which is information related to the setting status of the shovel 100. The fuel consumption display area 41d, engine operating time display area 41f, coolant temperature display area 41g, fuel level display area 41h, urea solution level display area 41j, and hydraulic oil temperature display area 41k are areas that display operating status information, which is information related to the operating status of the shovel 100.

[0116] Specifically, the date and time display area 41a is an area that displays the current date and time. The driving mode display area 41b is an area that displays the current driving mode. The attachment display area 41c is an area that displays an image of the attachment currently installed. The fuel consumption display area 41d is an area that displays fuel consumption information calculated by the controller 30. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays lifetime average fuel consumption or section average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays instantaneous fuel consumption.

[0117] The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature status of the engine coolant. The fuel level display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The rotation speed mode display area 41i is an area that displays the current rotation speed mode set by the engine rotation speed adjustment dial 75 as an image. The urea solution level display area 41j is an area that displays the remaining amount of urea solution stored in the urea solution tank as an image. The hydraulic oil temperature display area 41k is an area that displays the temperature status of the hydraulic oil in the hydraulic oil tank.

[0118] The air conditioner operating status display area 41m includes an outlet display area 41m1 that displays the current outlet position, an operating mode display area 41m2 that displays the current operating mode, a temperature display area 41m3 that displays the current set temperature, and an airflow display area 41m4 that displays the current set airflow.

[0119] The image display area 41n is the area that displays the image captured by the imaging device S6. The image display area 41n includes, for example, a first image display area 41n1 in the upper left, a second image display area 41n2 in the upper right, and a third image display area 41n3 located below these areas. In the example shown in Figure 6, the work tool setting screen SW, which is the end attachment setting screen, is displayed in the third image display area 41n3. In this case, the rear image captured by the rear camera S6B is displayed in the first image display area 41n1 in the upper left, and the right image captured by the right camera S6R is displayed in the second image display area 41n2 in the upper right.

[0120] Furthermore, if the work tool settings screen SW is closed, for example, as shown in Figure 9, the top-down view image is displayed in the first image display area 41n1 in the upper left, and the right-facing image captured by the right camera S6R is displayed in the second image display area 41n2 in the upper right. In addition, the rear-facing image captured by the rear camera S6B is displayed in the third image display area 41n3 located below these areas.

[0121] The overhead view image is generated, for example, by performing image processing such as viewpoint transformation on the images from the left camera S6L, the right camera S6R, and the rear camera S6B, and displays an image of the shovel 100 and its surroundings viewed from above. As shown in Figure 6, the overhead view image may be displayed in the first image display area 41n1 or the second image display area 41n2 while the work tool setting screen SW is displayed in the third image display area 41n3.

[0122] The work tool setting screen SW shown in Figure 6 displays, for example, the name, type, dimensions, hydraulic fluid flow rate, and pressure of the end attachment. The operator can register the specifications of multiple end attachments to the controller 30 via the input device D2. The operator can also clear the specifications of the end attachments by selecting the clear menu for work tool settings displayed on the work tool setting screen SW.

[0123] The operator can, for example, switch between multiple tabs displayed on the work tool setting screen SW to check the specifications, including dimensions and weight, of the end attachment currently set on the controller 30. Based on the set specifications of the end attachment, the controller 30 performs calculations for machine control and machine guidance (MC / MG), and calculates the weight (payload) of the load loaded or held on the end attachment. The controller 30 also performs height alarm and depth alarm functions based on the set specifications of the end attachment.

[0124] Furthermore, the operator can edit the specifications of the end attachment by, for example, selecting an edit menu displayed on the work tool settings screen SW. More specifically, when changing the work tool as an end attachment, the operator can set the preliminary hydraulic fluid flow rate and preliminary pressure to values ​​suitable for the work tool by switching the end attachment settings on the work tool settings screen SW.

[0125] However, switching such settings involves multiple steps and is cumbersome to operate. On the other hand, if the settings are not switched correctly, malfunctions may occur in MC / MG calculations, payload calculations, height alarm functions, depth alarm functions, and operation restrictions associated with alarms. Therefore, in the excavator 100 of this embodiment, as described later, the controller 30 estimates the specifications of the end attachment when the end attachment is replaced and automatically switches the settings of the end attachment.

[0126] The menu display area 41p, which is displayed below the air conditioner operating status display area 41m in Figure 6, has, for example, several tabs 41p1 to 41p7. Tabs 41p1 to 41p7 display icons for displaying various information.

[0127] Tab 41p1 displays icons for menu detail items. When the user selects Tab 41p1, the icons displayed on Tabs 41p2 to 41p7 switch to the icons associated with the menu detail items.

[0128] Tab 41p4 displays icons for displaying information related to the digital level. When the operator selects tab 41p4, for example, the rear image of the third image display area 41n3 shown in Figure 9 switches to a screen displaying information related to the digital level.

[0129] Tab 41p6 displays icons for displaying information related to information-based construction. When the operator selects tab 41p6, the image in the background of the third image display area 41n3 shown in Figure 9 switches to a screen displaying information related to information-based construction.

[0130] Tab 41p7 displays icons for displaying information about the crane mode. When the operator selects tab 41p7, the rear view of the third image display area 41n3 shown in Figure 9 switches to a screen displaying information about the crane mode.

[0131] No icons are displayed on tabs 41p2, 41p3, and 41p5. Therefore, even if the user manipulates tabs 41p2, 41p3, and 41p5, the image displayed on screen 41 will not change.

[0132] In the examples shown in Figures 6 to 9, the display device D1 has an input device D2 below the display screen 41. The input device D2 has one or more button-type switches for the operator to select tabs 41p1 to 41p7 or to input to the work tool setting screen SW. The input device D2 includes, for example, seven switches 42a1 to 42a7 arranged in the upper row and seven switches 42b1 to 42b7 arranged in the lower row. The switches 42b1 to 42b7 are located below each of the switches 42a1 to 42a7.

[0133] Switches 42a1 to 42a7 are located below tabs 41p1 to 41p7, corresponding to tabs 41p1 to 41p7 respectively, and function as switches to select tabs 41p1 to 41p7.

[0134] Switch 42b1 is a switch for switching the captured image displayed in the image display area 41n. Switches 42b2 and 42b3 are switches for adjusting the airflow of the air conditioner. Switch 42b4 is a switch for switching the cooling and heating functions ON and OFF. Switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. Switch 42b7 is a switch that can switch the display in the engine operating time display area 41f.

[0135] Furthermore, switches 42a2-42a6 and 42b2-42b6 are configured to allow input of the numbers displayed on or near the respective switches. Additionally, switches 42a3, 42a4, 42a5, and 42b4 are configured to allow movement of the cursor to the left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

[0136] Furthermore, the input device D2 includes a touch panel capable of receiving operations that indicate any position coordinates on the display screen 41 of the display device D1. This allows the operator to select the target of operation on tabs 41p1 to 41p7 or the work tool setting screen SW via the touch panel of the input device D2, for example, by touching tabs 41p1 to 41p7 or the work tool setting screen SW displayed on the display screen 41.

[0137] Once the installation of the end attachment shown in Figure 5 (step P2) is complete, the controller 30 causes the guidance image GW shown in Figure 7 to be displayed in the third image display area 41n3 of the display device D1 (step P3). At this time, the controller 30 causes the rear image captured by the rear camera S6B to be displayed in the upper left first image display area 41n1, and the right image captured by the right camera S6R to be displayed in the upper right second image display area 41n2. The controller 30 may also display an overhead image in the first image display area 41n1 or the second image display area 41n2.

[0138] In the example shown in Figure 7, the guidance image GW is an image that prompts the operator to raise the boom 4 while maintaining the angle of the arm 5 relative to the boom 4 of the attachment AT, and the angle of the end attachment relative to the arm 5, at predetermined angles. The controller 30 may also prompt the operator to perform the operation corresponding to the guidance image GW by outputting voice guidance from a speaker, for example.

[0139] The operator of the shovel 100 causes the attachment AT to perform a predetermined operation by operating the right operating lever 26R in the boom-raising direction, for example, according to the guidance image GW displayed on the display device D1 and the voice output from the speaker (Figure 5: Process P4).

[0140] In step P4, the controller 30 obtains the attitude of the attachment AT from attitude sensors, including the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The controller 30 also obtains the pressure acting on the hydraulic actuator of the attachment AT due to the weight of the end attachment from pressure sensors, including the boom bottom pressure sensor S7B.

[0141] Next, the controller 30 estimates the specifications of the new end attachment installed in step P2, for example, as shown in Figure 5 (step P5).

[0142] Specifically, the weight calculation unit 302 of the controller 30 calculates the weight of the end attachment based, for example, the attitude of the attachment AT acquired by the attitude sensor in the previous step P4, and the pressure acquired by the pressure sensors, including the boom bottom pressure sensor S7B. Alternatively, the weight calculation unit 302 may also calculate the weight of the end attachment using, for example, the discharge pressure of the main pump 14 detected by the discharge pressure sensor 28 in addition to the pressure acquired by the pressure sensors.

[0143] Furthermore, the attachment estimation unit 301 of the controller 30 estimates the specifications of the currently attached end attachment to the attachment AT based on the weight of the end attachment obtained by a weight acquisition device including a weight calculation unit 302.

[0144] More specifically, the attachment estimation unit 301 compares, for example, the weight data included in the data of multiple end attachments stored in the ROM beforehand with the current weight of the end attachment acquired by the weight acquisition device. Then, from the data of multiple end attachments stored in the ROM, the attachment estimation unit 301 estimates the end attachment with weight data close to the current weight as the current end attachment.

[0145] Furthermore, the attachment estimation unit 301 may estimate the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device, as well as the image of the end attachment captured by the imaging device S6. In this case, the attachment estimation unit 301 compares, for example, image data of multiple end attachments stored in ROM beforehand with the image of the current end attachment captured by the front camera S6F or the like. Then, the attachment estimation unit 301 estimates the end attachment with image data similar to the image of the current end attachment from among the data of multiple end attachments stored in ROM as the current end attachment.

[0146] Furthermore, the attachment estimation unit 301 may estimate the specifications of the end attachment using the weight of the end attachment acquired by the weight acquisition device, as well as the orientation of the attachment AT when the end attachment is installed. Specifically, the orientation of the attachment AT when the end attachment is installed differs depending on the type and size of the end attachment. Therefore, for example, the operator registers the orientation of the attachment AT when each end attachment is installed in the controller 30. This allows the controller 30 to compare the orientation of the attachment AT when the end attachment is actually installed with the orientations of the attachment AT when multiple end attachments are installed that are registered in the controller 30, thereby estimating the specifications of the end attachment with greater accuracy.

[0147] Next, the attachment estimation unit 301 displays the estimation result of the end attachment on the display device D1, for example, as shown in Figure 5 (step P6).

[0148] Specifically, as shown in Figure 8, for example, the display screen 41 of the display device D1 displays a work tool switching image WS as the result of estimating the specifications of the end attachment. In the example shown in Figure 8, the attachment estimation unit 301 estimates the specifications of two end attachments as the specifications of the current attachment, and displays two work tool switching images WS1 and WS2 corresponding to those specifications on the display screen 41 of the display device D1.

[0149] Each work tool switching image WS1 and WS2 are arranged superimposed on the image display area 41n, for example. In this case, the controller 30 prioritizes displaying the work tool switching images WS1 and WS2 in the third image display area 41n3 below them, so that the rear image displayed in the upper left first image display area 41n1 and the rightward image displayed in the upper right second image display area 41n2 are not covered. The controller 30 may also display an overhead image in the upper left first image display area 41n or the upper right second image display area 41n2.

[0150] Each work tool switching image WS1 and WS2 displays, for example, an icon indicating the type of end attachment, registration number, model number, type, hydraulic fluid pressure, and hydraulic fluid flow rate. Each work tool switching image WS1 and WS2 also includes, for example, an X mark icon to close these images and a check mark icon to select and approve the specifications of the end attachment displayed in each work tool switching image WS1 and WS2.

[0151] Furthermore, the controller 30 may, for example, display a current end attachment image PW below the work tool switching image WS displayed in the third image display area 41n3, which shows information about the end attachment before replacement corresponding to the current end attachment settings. The controller 30 may also, for example, display an information image IW adjacent to the current end attachment image PW, which displays various information.

[0152] Next, the operator of the shovel 100 performs an operation to confirm or select the end attachment estimation result by the attachment estimation unit 301, for example, as shown in Figure 5 (step P7). Specifically, in the example shown in Figure 8, multiple work tool switching images WS1 and WS2 are displayed on the display device D1 as the end attachment estimation result. In this case, the operator of the shovel 100 compares the specifications of the newly attached end attachment with the specifications of the end attachment displayed in the multiple work tool switching images WS1 and WS2.

[0153] The operator then touches the checkmark icon on work tool switching image WS1, which displays specifications that match those of the newly installed end attachment, and selects and approves the specifications of work tool switching image WS1 via the touchpad of input device D2. Alternatively, the operator may touch the X mark icon on work tool switching image WS2, which displays specifications that do not match those of the newly installed end attachment, and close work tool switching image WS2 via the touchpad of input device D2.

[0154] Furthermore, assuming that the estimated end attachment results show only the work tool switching image WS1, which displays specifications that match those of the newly installed end attachment, on the display screen 41, the operator touches the check mark icon on the work tool switching image WS1 and confirms and approves the specifications of the work tool switching image WS1 via the touchpad of the input device D2.

[0155] After the completion of step P7 shown in Figure 5, the controller 30 changes the setting of the attachment AT, for example, from the setting corresponding to the specifications of the end attachment before replacement to the setting corresponding to the new end attachment specifications after replacement (step P8).

[0156] Specifically, the setting change unit 303 of the controller 30 changes the current attachment AT setting, which corresponds to the specifications of the end attachment before replacement, to a setting that corresponds to the specifications of the new end attachment approved by the operator. As a result, for example, as shown in Figure 9, the current end attachment image PW displayed at the bottom of the rear image in the third image display area 41n3 of the display device D1 is switched to an image showing information about the new end attachment after replacement.

[0157] This completes the flow of the end attachment replacement procedure shown in Figure 5. Subsequently, the operation control unit 304 of the controller 30 controls the operation of the attachment AT based on the settings of the attachment AT changed by the setting change unit 303. Similarly, the payload calculation unit 305 of the controller 30 calculates the weight of the load housed or held in the end attachment based on the settings of the attachment AT changed by the setting change unit 303.

[0158] 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, and an attachment AT mounted on the upper rotating body 3. The shovel 100 also comprises a weight acquisition device that acquires the weight of the end attachment constituting the attachment AT, and an attachment estimation unit 301 that estimates the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device.

[0159] With this configuration, the excavator 100 of this embodiment can estimate the specifications of the end attachment using the attachment estimation unit 301 based on the weight of the end attachment obtained by the weight acquisition device after the end attachment has been replaced. This eliminates the need for the operator of the excavator 100 to manually input the specifications of the end attachment each time, thereby saving labor when replacing the end attachment.

[0160] Furthermore, in the excavator 100 of this embodiment, the weight acquisition device includes a posture sensor that acquires the posture of the attachment AT, a pressure sensor that detects the pressure acting on the hydraulic actuator of the attachment AT due to the weight of the end attachment, and a weight calculation unit 302. The weight calculation unit 302 calculates the weight of the end attachment based on the posture of the attachment AT acquired by the posture sensor and the pressure acquired by the pressure sensor.

[0161] With this configuration, the weight of the end attachment can be obtained using attitude sensors such as the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 used to control the shovel 100, as well as pressure sensors such as the boom bottom pressure sensor S7B. Therefore, there is no need to provide a new sensor on the shovel 100 to obtain the weight of the end attachment, and the configuration of the shovel 100 can be simplified.

[0162] Furthermore, the shovel 100 of this embodiment is further equipped with a display device D1 and an input device D2, which serve as user interface devices that allow the user to select the specifications of one or more end attachments estimated by the attachment estimation unit 301.

[0163] With this configuration, according to the excavator 100 of this embodiment, the operator can confirm, select, and approve the specifications of the end attachment estimated by the attachment estimation unit 301 via the user interface device. Therefore, even if the attachment estimation unit 301 estimates incorrect specifications for the end attachment, the operator can avoid changing the specifications of the end attachment to the incorrect specifications based on their judgment.

[0164] Furthermore, in the shovel 100 of this embodiment, the attachment estimation unit 301 estimates the specifications of the end attachment based on the weight of the end attachment obtained by the weight acquisition device when the attachment AT performs a predetermined operation.

[0165] This configuration improves the accuracy of the weight measurement of the end attachment by the weight acquisition device. Specifically, as described above, by fixing the arm angle and bucket angle of the attachment AT and performing the raising operation of the boom 4, the accuracy of the calculation of the end attachment's weight based on the detection results of the attitude sensor and pressure sensor is improved. As a result, the estimation accuracy of the attachment estimation unit 301, which estimates the specifications of the end attachment based on the weight of the end attachment, can be improved.

[0166] Furthermore, the shovel 100 of this embodiment is further equipped with an imaging device S6 for capturing images of the end attachment. The attachment estimation unit 301 estimates the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device and the image of the end attachment captured by the imaging device S6.

[0167] With this configuration, the attachment estimation unit 301 can more accurately estimate the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition unit and the image of the end attachment captured by the imaging device S6. Specifically, even when the attachment estimation unit 301 estimates the specifications of multiple end attachments that have weights close to the weight of the end attachment acquired by the weight acquisition unit, it can estimate the correct specifications of the end attachment based on the image of the end attachment.

[0168] Furthermore, the shovel 100 of this embodiment is further equipped with a setting change unit 303 that changes the setting of the attachment AT based on the specifications of the end attachment estimated by the attachment estimation unit 301.

[0169] With this configuration, according to the excavator 100 of this embodiment, when the end attachment is replaced, the settings of attachment AT, which are used for machine guidance and machine control, payload calculation, height warning function, depth warning function, etc., can be automatically updated. Therefore, according to the excavator of this embodiment, further labor savings can be achieved when replacing the end attachment.

[0170] Furthermore, the excavator 100 of this embodiment is further equipped with an operation control unit 304 that controls the operation of the attachment AT based on the settings of the attachment AT changed by the setting change unit 303. With this configuration, the excavator 100 of this embodiment can accurately perform machine guidance and machine control of the attachment AT by the operation control unit 304 after the end attachment has been replaced.

[0171] Furthermore, the excavator 100 of this embodiment is further equipped with a payload calculation unit 305 that calculates the weight of the load contained in the end attachment based on the setting of the attachment AT changed by the setting change unit 303. With this configuration, the excavator 100 of this embodiment can accurately calculate the weight of the load contained in the end attachment by the payload calculation unit 305 after the end attachment has been replaced.

[0172] Furthermore, the excavator 100 of this embodiment is further equipped with an alarm unit 306 that performs at least one of a height alarm function and a depth alarm function based on the setting of the attachment AT changed by the setting change unit 303. With this configuration, the excavator 100 of this embodiment can more reliably perform the output of alarms and operational restrictions based on the height alarm function and depth alarm function by the alarm unit 306 after the end attachment has been replaced.

[0173] Furthermore, in the shovel 100 of this embodiment, the attachment AT includes a quick coupler QC for attaching and detaching the end attachment.

[0174] With this configuration, the excavator 100 of this embodiment allows for easier replacement of the end attachment compared to the case where the attachment AT does not include a quick coupler QC, and thus the frequency of end attachment replacement increases. Therefore, the labor-saving effect of the attachment estimation unit 301 estimating the specifications of the end attachment after the end attachment has been replaced becomes more pronounced.

[0175] As described above, this embodiment provides a shovel 100 that can reduce labor when replacing the end attachment.

[0176] Next, an embodiment of the excavator operating system according to this disclosure will be described.

[0177] Figure 10 is a block diagram showing an embodiment of the excavator operating system according to the present disclosure. The excavator operating system SYS of this embodiment includes, for example, an excavator 100 and a remote control room RC. Note that the detailed configuration of the excavator 100 is omitted from Figure 10 because the excavator 100 shown in Figure 10 has the same configuration as the excavator 100 shown in Figure 1.

[0178] The shovel 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 shovel 100 and the remote control room RC may be connected to each other so that data can be sent and received directly without using the communication line NW. In the illustrated example, the shovel 100 transmits information about the work site and the detection results of each sensor to the remote control room RC. This allows the remote operator RO in the remote control room RC to understand the conditions of the work site and the status of the shovel 100 based on the information from the shovel 100.

[0179] 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.

[0180] 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 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 S6 and a ranging device such as a millimeter-wave radar.

[0181] The SYS operation support system may include one or more excavators 100. If it includes multiple excavators 100, the remote operator RO operating a specific excavator 100 can obtain information about the work sites obtained by that specific excavator 100, as well as information about the work sites obtained by one or more other excavators 100.

[0182] The remote control room RC is equipped with a remote communication device T1E, a remote controller 30E, a remote control device 26E, an operation sensor 29E, and a remote output device 50E including a display device. The remote control room RC also has an operator's seat DS where the remote operator RO sits to remotely control the shovel 100.

[0183] The remote communication device T1E is configured to communicate with the communication device T1 attached to the shovel 100.

[0184] 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.

[0185] The display device included in the remote output device 50E is a device capable of displaying various types of information. The display device displays images based on information transmitted from the shovel 100 so that the remote operator RO in the remote control room RC can visually inspect the area around the shovel 100. In the illustrated example, the display device is a liquid crystal display that displays images captured by the imaging device S6 mounted on the shovel 100. The display device may also be a display or projector that enables naked-eye stereoscopic viewing, or it may be a VR goggle or the like.

[0186] The remote control device 26E is equipped with an operation sensor 29E for detecting the operation of the remote control device 26E. The operation 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 operation sensor 29E may also consist of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation 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 operation sensor 29E may be configured to generate the operation signal. In this case, the operation sensor 29E may output the operation signal to the remote communication device T1E 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.

[0187] As described above, the excavator operating system SYS of this embodiment has an excavator 100 comprising a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an attachment AT mounted on the upper rotating body 3. In addition, in the excavator operating system SYS, the remote controller 30E has an attachment estimation unit 301, a weight calculation unit 302, a setting change unit 303, an operation control unit 304, a payload calculation unit 305, and an alarm unit 306, similar to the controller 30 shown in Figure 3. The weight calculation unit 302 of the remote controller 30E constitutes a weight acquisition device that acquires the weight of the end attachment, such as the bucket 6 that makes up the attachment AT. The attachment estimation unit 301 of the remote controller 30E estimates the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device.

[0188] With this configuration, the excavator operating system SYS of this embodiment can estimate the specifications of the end attachment using the attachment estimation unit 301, based on the weight of the end attachment acquired by the weight acquisition device after the end attachment has been replaced. This eliminates the need for the remote operator RO of the excavator 100 to manually input the specifications of the end attachment each time, thereby saving labor when replacing the end attachment.

[0189] 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.

[0190] This disclosure can also be applied to other types of work machinery besides excavators, such as construction machinery, standard machines, applied machines, forestry machinery, or transport machinery based on hydraulic excavators. [Explanation of Symbols]

[0191] 1. Lower running body 3. Upper rotating body 6. Buckets (end attachments) 100 Shovel 301 Attachment Estimation Unit 302 Weight calculation unit (weight acquisition device) 303 Settings Change Section 304 Operation Control Unit 305 Payload Calculation Unit AT attachment D1 Display device (user interface device) D2 Input device (user interface device) QC Quick Coupler S1 Boom Angle Sensor (Weight Acquisition Device / Attitude Sensor) S2 Arm Angle Sensor (Weight Acquisition Device / Attitude Sensor) S3 Bucket Angle Sensor (Weight Acquisition Device / Attitude Sensor) S6 imaging device S7B Boom Bottom Pressure Sensor (Weight Acquisition Device / Pressure Sensor) 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 provided on the upper rotating body, A weight acquisition device for acquiring the weight of the end attachments constituting the aforementioned attachment, The system includes an attachment estimation unit that estimates the specifications of the end attachment based on the weight of the end attachment obtained by the weight acquisition device, Shovel.

2. The aforementioned weight acquisition device is An attitude sensor that acquires the attitude of the aforementioned attachment, A pressure sensor that detects the pressure acting on the hydraulic actuator of the end attachment due to the weight of the end attachment, Includes a weight calculation unit that calculates the weight of the end attachment based on the posture of the attachment obtained by the posture sensor and the pressure obtained by the pressure sensor, The shovel according to claim 1.

3. The system further includes a user interface device that allows the user to select the specifications of one or more end attachments estimated by the attachment estimation unit. The shovel according to claim 1.

4. The attachment estimation unit estimates the specifications of the end attachment based on the weight of the end attachment obtained by the weight acquisition device when the attachment performs a predetermined operation. The shovel according to claim 1.

5. The device further comprises an imaging device for capturing images of the end attachment, The attachment estimation unit estimates the specifications of the end attachment based on the weight of the end attachment acquired by the weight acquisition device and the image of the end attachment captured by the imaging device. The shovel according to claim 1.

6. The system further includes a setting change unit that changes the settings of the end attachment based on the specifications of the end attachment. A shovel according to any one of claims 1 to 5.

7. The system further includes an operation control unit that controls the operation of the attachment based on the settings of the attachment changed by the setting change unit. The shovel according to claim 6.

8. The system further includes a payload calculation unit that calculates the weight of the load contained in the end attachment based on the settings of the attachment changed by the setting change unit. The shovel according to claim 6.

9. The alarm unit further comprises an alarm unit that performs at least one of a height alarm function and a depth alarm function based on the setting of the attachment changed by the setting change unit. The shovel according to claim 6.

10. The attachment includes a quick coupler for attaching and detaching the end attachment. The shovel according to claim 1.

11. A shovel comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an attachment provided on the upper rotating body, A weight acquisition device for acquiring the weight of the end attachments constituting the aforementioned attachment, The system includes an attachment estimation unit that estimates the specifications of the end attachment based on the weight of the end attachment obtained by the weight acquisition device, Excavator operating system.

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