Working machinery

Abstract

The purpose is to easily maintain the height of the suspended load. [Solution] The work machine comprises a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body having a plurality of operating elements and a hook, and a control device that controls the operation of operating elements other than the specific operating element when the operation of a specific operating element among the plurality of operating elements is performed to move the suspended load horizontally, so as to maintain the height of the suspended load suspended from the hook.

Description

[Technical Field] 【0001】 This invention relates to a work machine. [Background technology] 【0002】 Excavators equipped with hooks for crane operations and having operating modes including shovel mode and crane mode have been known for some time. [Prior art documents] [Patent Documents] 【0003】 [Patent Document 1] International Publication No. 2019 / 139102 [Overview of the project] [Problems that the invention aims to solve] 【0004】 The excavator attachment moves in an arc shape through rotation. Therefore, with conventional excavators, it is difficult to maintain a constant height of the suspended load in crane mode, in accordance with the attachment's movement. 【0005】 Therefore, in light of the above circumstances, the objective is to easily maintain the height of the suspended load. [Means for solving the problem] 【0006】 An embodiment of the present invention is a work machine comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; an attachment attached to the upper rotating body and having a plurality of operating elements and a hook; and a control device that controls the operation of operating elements other than the specific operating element when an operation is performed to move a suspended load horizontally by operating a specific operating element among the plurality of operating elements, so as to maintain the height of the suspended load suspended from the hook. [Effects of the Invention] 【0007】 The height of the suspended load can be easily maintained. 【Brief Description of the Drawings】 【0008】 [Figure 1] FIG. 8 is a side view of the excavator as a working machine according to the present embodiment. [Figure 2] FIG. 11 is a top view of the excavator as a working machine according to the present embodiment. [Figure 3] FIG. 14 is a diagram showing a configuration example of a hydraulic system mounted on the excavator. [Figure 4] FIG. 17 is a diagram showing a configuration example of the controller. [Figure 5] FIG. 20 is a first functional block diagram showing an example of a detailed configuration related to the machine control function of the excavator. [Figure 6] FIG. 23 is a second functional block diagram showing an example of a detailed configuration related to the machine control function of the excavator. [Figure 7] FIG. 26 is a functional block diagram showing another example of a detailed configuration related to the machine control function of the excavator. [Figure 8] FIG. 29 is a diagram for explaining the remote operation of the excavator. 【Embodiments for Carrying Out the Invention】 【0009】 First, referring to FIGS. 1 and 2, an overview of the excavator 100 according to the present embodiment will be described. FIG. 1 is a side view of the excavator as a working machine according to the present embodiment. FIG. 2 is a top view of the excavator 100 as a working machine according to the present embodiment. 【0010】 The excavator 100 according to the present embodiment includes a lower traveling body 1, an upper revolving body 3 mounted on the lower traveling body 1 so as to be revolvable via a revolving mechanism 2, a boom 4, an arm 5, and a bucket 6 which are operating elements constituting an attachment (working machine), and a cab 10. 【0011】 The lower traveling body 1 drives the excavator 100 by hydraulically driving a pair of left and right crawlers 1C (1CL, 1CR) with traveling hydraulic motors 2M (2ML, 2MR), respectively. That is, the pair of traveling hydraulic motors 2ML, 2MR (an example of traveling motors) drive the lower traveling body 1 (crawler) as the driven part. 【0012】 The upper revolving body 3 revolves with respect to the lower traveling body 1 by being driven by a slewing hydraulic motor 2A (see FIG. 2 described later). That is, the slewing hydraulic motor 2A is a slewing drive part that drives the upper revolving body 3 as the driven part, and can change the direction of the upper revolving body 3. 【0013】 Note that the upper revolving body 3 may be electrically driven by an electric motor (hereinafter, “slewing electric motor”) instead of the slewing hydraulic motor 2A. That is, the slewing electric motor is a slewing drive part that drives the upper revolving body 3 as the driven part, similar to the slewing hydraulic motor 2A, and can change the direction of the upper revolving body 3. 【0014】 The boom 4 is pivotally attached to the front center of the upper revolving body 3 so as to be able to pitch. At the tip of the boom 4, an arm 5 is pivotally attached so as to be able to rotate up and down. At the tip of the arm 5, a bucket 6 as an end attachment is pivotally attached so as to be able to rotate up and down. 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 as hydraulic actuators, respectively. 【0015】 Note that the bucket 6 is an example of an end attachment. At the tip of the arm 5, other end attachments, for example, a slope bucket, a dredging bucket, a breaker, etc. may be attached instead of the bucket 6 according to the work content, etc. 【0016】 The rod end of the bucket cylinder 9 and the bucket 6 are connected by a bucket link 6a. Specifically, the upper end of the bucket link 6a is rotatably connected to the rod end of the bucket cylinder 9 and the arm link 6c via a bucket cylinder top pin 6b. The lower end of the bucket link 6a is rotatably connected to a bracket on the back of the bucket 6 via a bucket pin 6d. A hook 6e for crane operation is also rotatably and retractably attached to the bucket link 6a. 【0017】 During excavation work, the hook 6e is stored in the hook storage section 6f, which is mainly composed of the bucket link 6a. This is to prevent it from interfering with the movement of the bucket 6. On the other hand, during crane operation, the tip of the hook is configured to protrude from the hook storage section 6f. 【0018】 Furthermore, the hook storage section 6f may be provided with a detection device (not shown) for detecting the storage state of the hook 6e. For example, the detection device is a switch that becomes conductive when the hook 6e is present in the hook storage section 6f and disconnects when the hook 6e is not present in the hook storage section 6f, and is provided in the hook storage section 6f where the hook 6e is stored. The detection signal from the detection device is received by the controller 30, which will be described later. 【0019】 Cabin 10 is the operator's cabin and is mounted on the front left side of the upper rotating body 3. 【0020】 The shovel 100 operates actuators (e.g., hydraulic actuators) in response to the operation of an operator seated in the cabin 10, driving the moving elements (driven elements) such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6. 【0021】 Furthermore, the shovel 100 may be operated remotely by an operator of a predetermined external device, instead of being operated by an operator in the cabin 10, or in addition to being operated by an operator in the cabin 10. The predetermined external device may include, for example, a management device for managing the operating status of the shovel 100, or a portable terminal used by a supervisor or worker at the work site. 【0022】 The management device may be, for example, a cloud server installed outside the work site of the shovel 100, or an edge server or computer terminal installed at the work site of the shovel 100. In this case, the shovel 100 transmits image information (captured image) output by the imaging device included in the spatial recognition device 70 described later to the external device. 【0023】 Furthermore, various information images (for example, various setting screens, etc.) displayed on the display device D1 of the shovel 100, as described later, may also be displayed on a display device provided on an external device. This allows the operator to remotely control the shovel 100 while, for example, checking the contents displayed on the display device provided on the external device. 【0024】 The shovel 100 may then operate actuators in response to remote control signals received from an external device, which represent the content of the remote control operation, thereby driving the operating elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. 【0025】 When the shovel 100 is remotely operated, the cabin 10 may be unoccupied. The following explanation assumes that operator operation includes at least one of the following: operation of the operator's control device 26 in the cabin 10 and remote operation of external devices by an operator. 【0026】 Furthermore, the shovel 100 may automatically operate its actuators regardless of the operator's actions. This enables the shovel 100 to automatically operate at least some of its moving elements, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 (hereinafter referred to as "automatic operation function" or "machine control function"). 【0027】 The automatic driving function may include a function that automatically operates actuators other than the target actuator in response to an operator's operation of the control device 26 or remote control (a so-called "semi-automatic driving function"). Furthermore, the automatic driving function may include a function that automatically operates at least some of the multiple actuators, assuming there is no operator's operation of the control device 26 or remote control (a so-called "fully automatic driving function"). 【0028】 In the case of the shovel 100, if the fully automated driving function is enabled, the interior of the cabin 10 may be unoccupied. The automated driving function may also include a function ("gesture operation function") in which the shovel 100 recognizes the gestures of people such as workers around the shovel 100 and automatically operates at least some of the multiple operating elements (hydraulic actuators) according to the content of the recognized gesture. 【0029】 Furthermore, the semi-autonomous driving function, fully autonomous driving function, and gesture control function may include a mode in which the operation content of the operating elements (hydraulic actuators) subject to autonomous driving is automatically determined according to predetermined rules. In addition, the semi-autonomous driving function, fully autonomous driving function, and gesture control function may include a mode in which the shovel 100 autonomously makes various judgments, and the operation content of the operating elements (hydraulic actuators) subject to autonomous driving is autonomously determined in accordance with the results of those judgments (so-called "autonomous driving function"). 【0030】 The control system for the shovel 100 includes a controller 30, a spatial recognition device 70, a direction detection device 71, an information input device 72, a positioning device 73, a display device D1, an audio output device D2, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine tilt sensor S4, and a slewing angular velocity sensor S5. 【0031】 The spatial recognition device 70 is configured to recognize objects in the three-dimensional space surrounding the shovel 100 and to measure (calculate) the positional relationship, such as the distance, from the spatial recognition device 70 or the shovel 100 to the recognized objects. The spatial recognition device 70 may include, for example, an ultrasonic sensor, millimeter-wave radar, monocular camera, stereo camera, LIDAR (Light Detecting and Ranging), distance image sensor, infrared sensor, etc. The spatial recognition device 70 may be connected to the controller 30 in a communicative manner. 【0032】 In this embodiment, the spatial recognition device 70 includes a forward recognition sensor 70F mounted on the front end of the upper surface of the cabin 10, a rearward recognition sensor 70B mounted on the rear end of the upper surface of the upper rotating body 3, a leftward recognition sensor 70L mounted on the left end of the upper surface of the upper rotating body 3, and a rightward recognition sensor 70R mounted on the right end of the upper surface of the upper rotating body 3. In addition, an upward recognition sensor for recognizing objects in the space above the upper rotating body 3 may be mounted on the shovel 100. 【0033】 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. 【0034】 The orientation detection device 71 detects information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1 (for example, the rotation angle of the upper rotating body 3 relative to the lower traveling body 1). 【0035】 The orientation detection device 71 may include, for example, a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3. Alternatively, the orientation detection device 71 may include a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper rotating body 3. 【0036】 Furthermore, the orientation detection device 71 may include a rotary encoder, rotary position sensor, etc., that is, the rotational angular velocity sensor S5 described above, which is capable of detecting the rotational angle of the upper rotating body 3 relative to the lower traveling body 1. For example, it may be attached to a center joint provided in relation to the rotation mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper rotating body 3. 【0037】 Furthermore, the orientation detection device 71 may include a camera attached to the upper rotating body 3. In this case, the orientation detection device 71 detects the image of the lower traveling body 1 included in the input image by applying known image processing to the image (input image) captured by the camera attached to the upper rotating body 3. 【0038】 The orientation detection device 71 may then use known image recognition techniques to detect an image of the lower traveling body 1, thereby determining the longitudinal direction of the lower traveling body 1 and deriving the angle formed between the longitudinal axis direction of the upper rotating body 3 and the longitudinal direction of the lower traveling body 1. In this case, the longitudinal axis direction of the upper rotating body 3 can be derived from the camera mounting position. In particular, since the crawler 1C protrudes from the upper rotating body 3, the orientation detection device 71 can determine the longitudinal direction of the lower traveling body 1 by detecting an image of the crawler 1C. 【0039】 Furthermore, if the upper rotating body 3 is driven by an electric motor instead of a hydraulic rotating motor 2A, the orientation detection device 71 may be a resolver. 【0040】 The information input device 72 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. For example, the information input device 72 may include a touch panel implemented on the display of a display device that shows various information images. 【0041】 Furthermore, the information input device 72 may include, for example, button switches, levers, toggles, etc., installed around the display device D1. The information input device 72 may also include knob switches provided on the operating device 26 (for example, switches NS provided on the left operating lever 26L (see Figure 3)). Signals corresponding to the operation content of the information input device 72 are received by the controller 30. 【0042】 Furthermore, the information input device 72 has a mode switching switch 72a (see Figure 4). The mode switching switch 72a is a switch for switching the operating mode of the shovel 100. 【0043】 The operating mode refers to the type of work performed by the Shovel 100, and includes, for example, crane mode, shovel mode, etc. Details of the operating modes of the Shovel 100 will be described later. 【0044】 The mode switching switch 72a may be a software switch on a touch panel located on the screen of the display device D1, a hardware switch installed around the display device D1, or a switch installed at another location within the cabin 10. 【0045】 Switch NS is, for example, a push-button switch located at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing switch NS. Switch NS may also be located on the right operating lever 26R, or at any other location within the cabin 10. 【0046】 The positioning device 73 measures the position and orientation of the upper rotating body 3. The positioning device 73 is, for example, a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper rotating body 3, and the detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. In addition, the function of detecting the orientation of the upper rotating body 3, which is one of the functions of the positioning device 73, may be replaced by an orientation sensor attached to the upper rotating body 3. 【0047】 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. 【0048】 The audio output device D2 is, for example, installed inside the cabin 10 and connected to the controller 30, and outputs sound under the control of the controller 30. The audio output device D2 is, for example, a speaker or a buzzer. The audio output device D2 outputs various information by voice in response to an audio output command from the controller 30. 【0049】 The boom angle sensor S1 is attached to the boom 4 and detects the elevation angle of the boom 4 relative to the upper slewing body 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by the straight line connecting the pivot points at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), and the same applies to the arm angle sensor S2, bucket angle sensor S3, and machine tilt sensor S4. The detection signal corresponding to the boom angle from the boom angle sensor S1 is input to the controller 30. 【0050】 The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle"). For example, in a side view, it detects the angle formed by the line connecting the pivot points at both ends of the arm 5 and the line connecting the pivot points at both ends of the boom 4. The detection signal corresponding to the arm angle from the arm angle sensor S2 is input to the controller 30. 【0051】 The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, in a side view, it detects the angle formed by the line connecting the pivot point and the tip (cutting edge) of the bucket 6 with respect to the line connecting the pivot points at both ends of the arm 5. The detection signal corresponding to the bucket angle from the bucket angle sensor S3 is input to the controller 30. 【0052】 The aircraft tilt sensor S4 detects the tilt state of the aircraft (e.g., the upper rotating body 3) relative to the horizontal plane. The aircraft tilt sensor S4 is, for example, attached to the upper rotating body 3 and detects the tilt angles of the shovel 100 (i.e., the upper rotating body 3) around two axes in the longitudinal and lateral directions (hereinafter referred to as "longitudinal tilt angle" and "lateral tilt angle"). The aircraft tilt sensor S4 may include, for example, an acceleration sensor, a gyro sensor (angular velocity sensor), a 6-axis sensor, an IMU, etc. The detection signals corresponding to the tilt angles (longitudinal tilt angle and lateral tilt angle) detected by the aircraft tilt sensor S4 are input to the controller 30. 【0053】 The rotational velocity sensor S5 is attached to the upper rotating body 3 and outputs detection information regarding the rotational state of the upper rotating body 3. The rotational velocity sensor S5 detects, for example, the rotational velocity and rotational angle of the upper rotating body 3. The rotational velocity sensor S5 includes, for example, a gyro sensor, resolver, rotary encoder, etc. 【0054】 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 (e.g., rotational angular velocity) may be detected based on the detection signal from the aircraft tilt sensor S4. In this case, the rotational angular velocity sensor S5 may be omitted. 【0055】 The boom cylinder 7 is equipped with a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B. The arm cylinder 8 is equipped with an arm rod pressure sensor S8R and an arm bottom pressure sensor S8B. The bucket cylinder 9 is equipped with a bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B. 【0056】 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." 【0057】 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"). 【0058】 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"). 【0059】 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"). 【0060】 Next, the operating modes of the shovel 100 of this embodiment will be described. The operating modes of the shovel 100 of this embodiment include, for example, a crane mode and a normal operating mode. 【0061】 In crane mode, the controller 30 sets the rotational speed of the engine 11 to a predetermined speed. Specifically, in crane mode, the rotational speed is set lower than that of the engine 11 in the normal operation mode when performing excavation work. 【0062】 Therefore, in crane mode, the operating speed of the actuators is limited compared to normal operation mode. For example, when the slewing control lever (not shown) is operated in crane mode, the slewing speed of the upper slewing body 3 is limited to be less than the slewing speed of the upper slewing body 3 when the slewing control lever is operated by the same amount in normal operation mode. The same applies to the operating speeds of the left-side travel hydraulic motor 2ML, the right-side travel hydraulic motor 2MR, the boom 4, the arm 5, and the bucket 6. 【0063】 Furthermore, in crane mode, the controller 30 prevents the bucket 6 from opening. Specifically, the controller 30 prevents the pilot pressure from reaching the control valve 174 even when the bucket 6 is opened. This prevents the bucket 6 from moving in the opening direction. 【0064】 Furthermore, in this embodiment, when the excavator 100 is operating in crane mode, if an operation is performed to execute the machine control function, it performs control to maintain the height of the suspended load 101 suspended from the hook 6e. 【0065】 Specifically, when the controller 30 is operating in crane mode and an operation is performed to execute the machine control function, the controller 30 calculates the distance H in the direction of gravity from the horizontal plane containing the reference point Pa at the time the operation was received to the bucket pin 6d, and controls the boom 4 so that this distance H is maintained. 【0066】 The reference point in this embodiment may be, for example, the pivot point of the shovel 100. In that case, distance H is the distance in the direction of gravity from the horizontal plane containing the pivot point of the shovel 100 to the bucket pin 6d. The horizontal plane containing the reference point Pa is a predetermined reference plane. 【0067】 In this embodiment, this control allows the operator to suppress the vertical movement of the suspended load 101 during movement and move the suspended load 101 horizontally using only the operator's arm movements. Furthermore, in this embodiment, the swaying of the suspended load 101 during movement is reduced, thereby improving work safety. 【0068】 Furthermore, the reference point in this embodiment is not limited to the height in the direction of gravity of the pivot point of the shovel 100. It only needs to be predetermined, and the reference point can be any point. 【0069】 In this embodiment, an arm top pin may be used instead of the bucket pin 6d. In this case, the distance H is the distance in the direction of gravity from the horizontal plane containing the reference point Pa to the arm top pin. 【0070】 Thus, in this embodiment, the controller 30 maintains the height of the suspended load 101 by controlling the operation of the attachment so that the distance in the direction of gravity from a predetermined reference plane to a specific member of the attachment remains constant. 【0071】 Next, with reference to Figure 3, an example of the configuration of the hydraulic system installed in the excavator 100 will be described. Figure 3 is a diagram showing an example of the configuration of the hydraulic system installed in the excavator. In Figure 3, the mechanical power transmission line, hydraulic fluid line, pilot line, and electrical control line are shown with double lines, solid lines, dashed lines, and dotted lines, respectively. 【0072】 The hydraulic system circulates hydraulic fluid from the left main pump 14L, driven by engine 11, through the left center bypass pipe 40L or the left parallel pipe 42L to the hydraulic fluid tank, and also circulates hydraulic fluid from the right main pump 14R, driven by engine 11, through the right center bypass pipe 40R or the right parallel pipe 42R to the hydraulic fluid tank. 【0073】 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. 【0074】 The control valve 171 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 left travel hydraulic motor 2ML, and to discharge the hydraulic fluid discharged by the left travel hydraulic motor 2ML to the hydraulic fluid tank. 【0075】 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. 【0076】 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 also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the swivel hydraulic motor 2A to the hydraulic fluid tank. 【0077】 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. 【0078】 The control valve 175L is a spool valve that switches the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7. 【0079】 The 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 in order to discharge the hydraulic fluid in the boom cylinder 7 to the hydraulic fluid tank. 【0080】 The 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 also switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. 【0081】 The 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 the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. 【0082】 The left parallel pipeline 42L is a hydraulic fluid line that runs 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, or 175L. 【0083】 The right parallel pipeline 42R is a hydraulic fluid line that runs 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, or 175R. 【0084】 The left regulator 13L is configured to control the discharge amount of the left main pump 14L. In this embodiment, the left regulator 13L 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 the discharge pressure of the left main pump 14L. 【0085】 The right regulator 13R is configured to control the discharge amount of the right main pump 14R. In this embodiment, the right regulator 13R controls the discharge amount of the right main pump 14R by adjusting the swash plate tilt angle of the right main pump 14R in accordance with the discharge pressure of the right main pump 14R. 【0086】 The left regulator 13L reduces the discharge volume by adjusting the swash plate tilt angle of the left main pump 14L in response to 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 pump absorption horsepower, which is expressed as the product of discharge pressure and discharge volume, does not exceed the output horsepower of the engine 11. Note that the pump absorption horsepower is the sum of the absorption horsepower of the left main pump 14L and the absorption horsepower of the right main pump 14R. 【0087】 The left discharge pressure sensor 28L is an example of a discharge pressure sensor 28, which detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R. 【0088】 Here, we will explain the negative control system employed in the hydraulic system shown in Figure 3. 【0089】 In the left center bypass pipeline 40L, a left throttle 18L is located between the control valve 176L, which is the furthest downstream, and the hydraulic fluid tank. 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 the control pressure and outputs the detected value to the controller 30. 【0090】 In the right center bypass pipeline 40R, a right-side throttle 18R is positioned between the downstream control valve 176R and the hydraulic fluid tank. The flow of hydraulic fluid discharged by the right main pump 14R is restricted by the right-side throttle 18R. The right-side throttle 18R then generates a control pressure to control the right regulator 13R. The right-side control pressure sensor 19R is a sensor for detecting the control pressure and outputs the detected value to the controller 30. 【0091】 The controller 30 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 control pressure. The controller 30 decreases the discharge volume of the left main pump 14L as the control pressure increases, and increases the discharge volume of the left main pump 14L as the control pressure decreases. The discharge volume of the right main pump 14R is controlled in the same manner. 【0092】 Specifically, as shown in Figure 3, when none of the hydraulic actuators in the shovel 100 are operated and the system is in a standby state, the hydraulic fluid discharged from the left main pump 14L passes through the left center bypass pipe 40L to the left constrictor 18L. 【0093】 The flow of hydraulic fluid discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing pressure loss (pumping loss) as the discharged hydraulic fluid passes through the left center bypass pipe 40L. 【0094】 On the other hand, when any hydraulic actuator is operated, the hydraulic fluid discharged by the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that actuator. The flow of hydraulic fluid discharged by the left main pump 14L then reduces or eliminates the amount reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. 【0095】 As a result, the controller 30 increases the discharge volume of the left main pump 14L, circulating sufficient hydraulic fluid to the hydraulic actuator being operated, and ensuring reliable operation of the hydraulic actuator. The same applies to the hydraulic fluid discharged by the right main pump 14R. 【0096】 With the configuration described above, the hydraulic system in Figure 3 can suppress wasted energy consumption in both the left main pump 14L and the right main pump 14R when in standby mode. Wasted energy consumption includes pumping losses caused by the hydraulic fluid discharged by the left main pump 14L in the left center bypass pipe 40L, and pumping losses caused by the hydraulic fluid discharged by the right main pump 14R in the right center bypass pipe 40R. 【0097】 Furthermore, the hydraulic system shown in Figure 3 can supply sufficient hydraulic fluid to the hydraulic actuator being operated from both the left main pump 14L and the right main pump 14R when the hydraulic actuator is being operated. 【0098】 Next, a configuration for automatically operating the actuator will be described. The boom operating lever 26A is an example of an electric operating lever as an operating device 26, and is used to operate the boom 4. 【0099】 The boom control lever 26A detects the direction and amount of operation and outputs the detected direction and amount of operation as operation data (electrical signal) to the controller 30. When manually controlled, if the boom control lever 26A is operated in the boom raising direction, the controller 30 controls the opening degree of the proportional valve 31AL according to the amount of operation of the boom control lever 26A. 【0100】 This allows the hydraulic fluid discharged by the pilot pump 15 to be used to apply pilot pressure corresponding to the amount of movement of the boom operating lever 26A to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. 【0101】 Furthermore, when manually controlled, if the boom operation lever 26A is operated in the boom lowering direction, the controller 30 controls the opening degree of the proportional valve 31AR according to the amount of operation of the boom operation lever 26A. This utilizes the hydraulic fluid discharged by the pilot pump 15 to apply a pilot pressure corresponding to the amount of operation of the boom operation lever 26A to the right pilot port of the control valve 175R. 【0102】 The proportional valves 31AL and 31AR constitute a boom proportional valve 31A, which is an example of a proportional valve 31 as a solenoid valve. The proportional valve 31AL operates in accordance with the current command regulated by the controller 30. 【0103】 The controller 30 adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL. 【0104】 The proportional valve 31AR operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31AR to the right-side pilot port of the control valve 175R. The proportional valves 31AL and 31AR are capable of adjusting the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position. 【0105】 With this configuration, during automatic excavation control, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL, independently of the boom raising operation by the operator. In other words, the controller 30 can automatically raise the boom 4. 【0106】 Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 175R via the proportional valve 31AR, independently of the boom lowering operation performed by the operator. In other words, the controller 30 can automatically lower the boom 4. 【0107】 The arm operating lever 26B is another example of an electric operating lever as an operating device 26, and is used to operate the arm 5. The arm operating lever 26B detects the direction of operation and the amount of operation, and outputs the detected direction of operation and amount of operation as operation data (electrical signal) to the controller 30. 【0108】 When manually controlled, if the arm operating lever 26B is operated in the arm opening direction, the controller 30 controls the opening degree of the proportional valve 31BR according to the amount of operation of the arm operating lever 26B. This uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure corresponding to the amount of operation of the arm operating lever 26B to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. 【0109】 Furthermore, when manually controlled, if the arm operating lever 26B is operated in the arm closing direction, the controller 30 controls the opening degree of the proportional valve 31BL according to the amount of operation of the arm operating lever 26B. This utilizes the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure corresponding to the amount of operation of the arm operating lever 26B to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. 【0110】 The proportional valves 31BL and 31BR constitute an arm proportional valve 31B, which is an example of a proportional valve 31. The proportional valve 31BL operates in response to a current command regulated by the controller 30. The controller 30 adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. 【0111】 The proportional valve 31BR operates in response to a current command regulated by the controller 30. The controller 30 regulates the pilot pressure provided by the hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BR to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position. 【0112】 With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL, independently of the arm closing operation by the operator. In other words, the controller 30 can automatically close the arm 5. 【0113】 Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR, independently of the arm opening operation by the operator. In other words, the controller 30 can automatically open the arm 5. 【0114】 As a result, in automatic excavation control, the arm cylinder 8 and boom cylinder 7 operate automatically according to the amount of movement of the arm operation lever 26B, thereby controlling the speed or position of the work area. 【0115】 The shovel 100 may include a configuration for automatically rotating the upper rotating body 3 to the left and to the right, a configuration for automatically opening and closing the bucket 6, and a configuration for automatically moving the lower traveling body 1 forward and backward. 【0116】 In this case, the hydraulic system portion related to the slewing hydraulic motor 2A, the hydraulic system portion related to the operation of the bucket cylinder 9, the hydraulic system portion related to the operation of the left-side travel hydraulic motor 2ML, and the hydraulic system portion related to the operation of the right-side travel hydraulic motor 2MR may be configured in the same way as the hydraulic system portion related to the operation of the boom cylinder 7, etc. 【0117】 Next, we will refer to Figure 4 and describe an example configuration of the controller 30. Figure 4 is a diagram showing an example configuration of the controller. 【0118】 In Figure 4, the controller 30 is configured to receive signals output from at least one of the following: attitude detection device, operating device 26, spatial recognition device 70, orientation detection device 71, information input device 72, positioning device 73, and switch NS, perform various calculations, and output control commands to at least one of the following: proportional valve 31, display device D1, and audio output device D2. 【0119】 The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine tilt sensor S4, and a slewing angular velocity sensor S5. 【0120】 The controller 30 has a position calculation unit 30A, a trajectory acquisition unit 30B, and an automatic control unit 30C as functional elements. Each functional element may be composed of hardware or software. The position calculation unit 30A, the trajectory acquisition unit 30B, and the automatic control unit 30C are shown separately for the sake of explanation, but they do not need to be physically separate and may be composed of common software or hardware components, either entirely or partially. 【0121】 The position calculation unit 30A is configured to calculate the position of the object to be positioned. In this embodiment, the position calculation unit 30A calculates the coordinate point in the reference coordinate system of a predetermined part of the attachment. The predetermined part is, for example, the tip of the bucket 6. 【0122】 Specifically, the tip of the bucket 6 is the tip of the central claw among the multiple claws attached to the tip of the bucket 6. However, the tip of the bucket 6 may also be the tip of the leftmost claw among the multiple claws attached to the tip of the bucket 6, or the tip of the rightmost claw among the multiple claws attached to the tip of the bucket 6. 【0123】 The origin of the reference coordinate system is, for example, the intersection of the pivot axis and the ground contact surface of the shovel 100. The reference coordinate system is, for example, an XYZ Cartesian coordinate system, which has an X-axis parallel to the longitudinal axis of the shovel 100, a Y-axis parallel to the lateral axis of the shovel 100, and a Z-axis parallel to the pivot axis of the shovel 100. The position calculation unit 30A calculates the coordinate point of the tip of the bucket 6 from the respective rotation angles of the boom 4, arm 5, and bucket 6. 【0124】 The position calculation unit 30A may calculate not only the coordinate point of the tip of the central claw, but also the coordinate points of the tip of the leftmost claw and the rightmost claw. In this case, the position calculation unit 30A may use the output of the aircraft tilt sensor S4. 【0125】 The track acquisition unit 30B is configured to acquire a target track, which is the track followed by a predetermined part of the attachment when the shovel 100 is operated autonomously. In this embodiment, the track acquisition unit 30B acquires the target track that the automatic control unit 30C will use when it operates the shovel 100 autonomously. 【0126】 Specifically, the trajectory acquisition unit 30B derives the target trajectory based on data relating to the target construction surface stored in the non-volatile memory device. The trajectory acquisition unit 30B may also derive the target trajectory based on information relating to the terrain around the shovel 100 recognized by the spatial recognition device 70. Alternatively, the trajectory acquisition unit 30B may derive information relating to the past trajectory of the tip of the bucket 6 from the past output of the attitude detection device stored in the volatile memory device, and derive the target trajectory based on that information. Alternatively, the trajectory acquisition unit 30B may derive the target trajectory based on the current position of a predetermined part of the attachment and data relating to the target construction surface. 【0127】 In this embodiment, the target trajectory is one in which the distance H in the direction of gravity from the horizontal plane containing the reference point Pa to the bucket pin 6d is maintained. 【0128】 The automatic control unit 30C is configured to allow the shovel 100 to operate autonomously. In this embodiment, when predetermined starting conditions are met, the system is configured to move a predetermined part of the attachment along the target trajectory acquired by the trajectory acquisition unit 30B. Specifically, when the operating device 26 is operated while the switch NS is pressed, the shovel 100 is operated autonomously so that the predetermined part moves along the target trajectory. 【0129】 In this embodiment, the automatic control unit 30C is configured to support the operator's manual operation of the shovel by autonomously operating the actuator. 【0130】 For example, the automatic control unit 30C may autonomously extend or retract at least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 so that the position of the bucket's claws matches the target trajectory when the operator is manually performing arm closing or arm opening operations while pressing switch NS. In this case, the operator can close or open the arm 5 while aligning the bucket's claws with the target trajectory simply by operating the left operating lever 26L in the arm closing or arm opening direction, for example. 【0131】 In this embodiment, the automatic control unit 30C can autonomously operate each actuator by providing a control command (current command) to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator. For example, at least one of the boom cylinder 7 and the bucket cylinder 9 can be operated regardless of whether the right operating lever 26R is tilted or not. 【0132】 Next, the machine control functions of the shovel 100 will be described with reference to Figures 5 and 6. Figure 5 is the first functional block diagram showing an example of a detailed configuration of the machine control functions of the shovel. Figure 6 is the second functional block diagram showing an example of a detailed configuration of the machine control functions of the shovel. 【0133】 In this embodiment, the shovel 100 is composed of a boom 4, an arm, and a bucket 6 (multiple operating elements). In the attachment having a hook 6e, when a specific operating element moves the suspended load 101 horizontally, the other operating elements are automatically operated to counteract the vertical movement of the suspended load 101. 【0134】 The controller 30 includes, as functional units related to machine control functions, an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, an operation command generation unit 3006, a pilot command generation unit 3007, and an attitude angle calculation unit 3008. These functional units, for example, when switch NS is pressed, repeatedly execute the operations described later at predetermined control cycles. 【0135】 The operation content acquisition unit 3001 acquires operation content related to the operation of the arm 5 with the left operation lever 26L (i.e., tilting operation in the forward and backward direction) based on the electrical signal received from the arm operation lever 26B. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (whether it is an arm opening operation or an arm closing operation) and the amount of operation as operation content. 【0136】 The target construction surface acquisition unit 3002 acquires data related to the target construction surface from, for example, internal memory or a predetermined external storage device. 【0137】 The target trajectory setting unit 3003 sets information regarding the target trajectory of the control reference of the bucket 6, which is the tip of the attachment AT, in order to move the control reference of the bucket 6 along the target construction surface, based on data relating to the target construction surface. 【0138】 In this embodiment, the target trajectory is one in which the distance H in the direction of gravity from the horizontal plane containing the reference point Pa to the bucket pin 6d is maintained. 【0139】 Furthermore, for example, the target trajectory setting unit 3003 may set the inclination angle of the target construction surface in the front-rear direction, with the body of the shovel 100 (upper rotating body 3) as the reference, as information regarding the target trajectory. 【0140】 The current position calculation unit 3004 calculates the control reference position (current position) of the bucket 6. Specifically, the control reference position of the bucket 6 may be calculated based on the boom angle β1, arm angle β2, and bucket angle β3 calculated by the attitude angle calculation unit 3008, which will be described later. 【0141】 In this embodiment, the current position calculation unit 3004 calculates the position of the bucket pin 6d based on the angle β3 of the bucket 6. 【0142】 The target position calculation unit 3005 calculates the target position of the control reference for bucket 6 based on the operation details (operation direction and amount) related to the operation of arm 5 with the left operation lever 26L, information on the set target trajectory, and the current position of the control reference for bucket 6. 【0143】 The target position is the position on the target construction surface (in other words, the target trajectory) that should be reached during the current control cycle, assuming that the arm 5 operates according to the operating direction and amount of the left operating lever 26L. The target position calculation unit 3005 may calculate the target position of the bucket 6 as a control reference using, for example, a map or calculation formula that is pre-stored in a non-volatile internal memory. 【0144】 The motion command generation unit 3006 generates a command value (hereinafter referred to as "boom command value") β related to the operation of the boom 4 based on the target position of the control standard for the bucket 6. 1r , the command value related to the operation of arm 5 (hereinafter referred to as "arm command value") β 2r This generates the following. Note that in crane mode, the bucket 6 is not operated, so no command values ​​related to the operation of the bucket 6 (hereinafter referred to as bucket command values) are generated. 【0145】 For example, boom command value β 1r , Arm command value β2r respectively indicate the boom angle and the arm angle when the control criteria of the bucket 6 can achieve the target position. The operation command generation unit 3006 includes a master command generation unit 3006A and a slave command value generation unit 3006B. 【0146】 Note that the boom command value and the arm command value may be the angular velocity and angular acceleration of the boom 4, the arm 5, and the bucket 6 required for the control criteria of the bucket 6 to achieve the target position. 【0147】 The master command generation unit 3006A generates a command value (hereinafter, "master command value") regarding the operation of an operation element (hereinafter, "master element") that operates corresponding to the front-back direction operation input of the left operation lever 26L among the operation elements (the boom 4, the arm 5, and the bucket 6) constituting the attachment AT. 【0148】 In this embodiment, the master element is the arm 5. In other words, in this embodiment, the arm 5 is a specific operation element to be operated among the plurality of operation elements constituting the attachment. 【0149】 The master command generation unit 3006A generates an arm command value β 2r and outputs it to the arm pilot command generation unit 3007B described later. 【0150】 Specifically, the master command generation unit 3006A generates an arm command value β 2r corresponding to the operation content (operation direction and operation amount) of the left operation lever 26L. For example, the master command generation unit 3006A generates and outputs the arm command value β 2r based on a predetermined map, conversion formula, etc. that define the relationship between the operation content of the left operation lever 26L and the arm command value β 2r may be generated and output. 【0151】 Note that when the arm command value β 2r output by the master command generation unit 3006A is "0", the arm 5 operates according to the operation of the operator regarding the arm 5 on the operation device 26 without relying on the control of the controller 30. 【0152】 The slave command value generation unit 3006B generates command values ​​(hereinafter referred to as "slave command values") related to the operation of the slave elements, which operate in accordance with (synchronized with) the operation of the master element (arm 5) among the operating elements that constitute the attachment AT, so that the control reference of the bucket 6 moves along the target construction surface. 【0153】 In this embodiment, the slave elements are the boom 4 and the bucket 6, and the slave command value generation unit 3006B generates the boom command value β 1r and bucket command value β 3r These are generated and output to the boom pilot command generation unit 3007A and the bucket pilot command generation unit 3007C, respectively, as described later. 【0154】 Specifically, the slave command value generation unit 3006B generates the arm command value β 2r In conjunction with (synchronized with) the movement of the corresponding arm 5, the boom 4 moves, and the boom command value β is set so that the control reference of the bucket 6 can achieve the target position (i.e., move along the target construction surface). 1r Generates. 【0155】 Furthermore, the slave command value generation unit 3006B controls the height of the boom 4 so that the distance H in the direction of gravity from the horizontal plane including the reference point Pa to the bucket pin 6d is maintained when it receives an operation to instruct the execution of the machine control function. In other words, in this embodiment, the boom 4 is an operating element other than a specific operating element among the multiple operating elements that constitute the attachment. The boom 4 also operates automatically when the shovel 100 moves the suspended load 101 in the horizontal direction by operating a specific operating element (arm 5), thereby counteracting the vertical movement of the suspended load 101. 【0156】 As a result, the controller 30 can move the bucket pin 6d horizontally by operating the boom 4 of the attachment AT in accordance with (i.e., in synchronization with) the movement of the arm 5 corresponding to the operation of the left operating lever 26L. 【0157】 Furthermore, in this embodiment, the suspended load 101, which is suspended from the bucket pin 6d, can be moved horizontally. 【0158】 In this embodiment, the arm 5 (arm cylinder 8) operates in response to the operation input to the left operating lever 26L, and the boom 4 (boom cylinder 7) and bucket 6 (bucket cylinder 9) are controlled in accordance with the movement of the arm 5 (arm cylinder 8) so that the tip of the attachment AT, such as the claw of the bucket 6, moves along the target construction surface. 【0159】 The pilot command generation unit 3007 generates the boom command value β 1r , Arm command value β 2r , and bucket command value β 3r The pilot command generation unit 3007 generates pilot pressure command values ​​(hereinafter referred to as "pilot pressure command values") that act on control valves 174 to 176 to achieve the corresponding boom angle, arm angle, and bucket angle. The pilot command generation unit 3007 includes a boom pilot command generation unit 3007A and an arm pilot command generation unit 3007B. 【0160】 The boom pilot command generation unit 3007A generates the boom command value β 1r Based on the deviation between this value and the current boom angle calculated (measured value) by the boom angle calculation unit 3008A (described later), pilot pressure command values ​​are generated to act on the control valves 175L and 175R corresponding to the boom cylinder 7 that drives the boom 4. The boom pilot command generation unit 3007A then outputs control currents corresponding to the generated pilot pressure command values ​​to the proportional valves 31BL and 31BR. 【0161】 As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31BL and 31BR acts on the corresponding pilot ports of the control valves 175L and 175R via the shuttle valves 32BL and 32BR. Then, due to the action of the control valves 175L and 175R, the boom cylinder 7 operates, and the boom command value β is set. 1rBoom 4 operates to achieve the corresponding boom angle. 【0162】 The arm pilot command generation unit 3007B generates the arm command value β 2r Based on the deviation between this value and the current arm angle calculated (measured value) by the arm angle calculation unit 3008B described later, pilot pressure command values ​​are generated to act on the control valves 176L and 176R corresponding to the arm cylinder 8 that drives the arm 5. 【0163】 The arm pilot command generation unit 3007B then outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31AL and 31AR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31AL and 31AR acts on the corresponding pilot ports of the control valves 176L and 176R via the shuttle valves 32AL and 32AR. Then, due to the action of the control valves 176L and 176R, the arm cylinder 8 operates, and the arm command value β is generated. 2r Arm 5 moves to achieve the corresponding arm angle. 【0164】 The attitude angle calculation unit 3008 calculates (measures) the (current) boom angle β1, arm angle β2, and bucket angle β3 based on the detection signals from the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3. The attitude angle calculation unit 3008 includes a boom angle calculation unit 3008A, an arm angle calculation unit 3008B, and a bucket angle calculation unit 3008C. 【0165】 The boom angle calculation unit 3008A calculates (measures) the boom angle β1 based on the detection signal received from the boom angle sensor S1. 【0166】 The arm angle calculation unit 3008B calculates (measures) the arm angle β2 based on the detection signal received from the arm angle sensor S2. 【0167】 The bucket angle calculation unit 3008C calculates (measures) the bucket angle β3 based on the detection signal received from the bucket angle sensor S3. 【0168】 The calculated boom angle β1, arm angle β2, and bucket angle β3 are input to the current position calculation unit 3004. 【0169】 In this embodiment, when the excavator 100 is operating in crane mode and receives an operation to instruct the execution of the machine control function, it controls the height of the boom 4 so as to maintain the distance H in the direction of gravity from the horizontal plane containing the reference point Pa to the bucket pin 6d. 【0170】 Therefore, according to this embodiment, the operator can move the suspended load 101 horizontally by arm operation alone, without having to worry about the vertical movement of the suspended load 101, and can easily maintain the height of the suspended load 101. 【0171】 In the above description, the specific operating element that is operated is referred to as the arm 5, and the automatically operating operating element as the boom 4, but this is not limited to this. In this embodiment, for example, the specific operating element that is operated may be the boom 4. In this case, the arm 5 becomes an operating element other than the specific operating element, and its operation is controlled in response to the operation of the boom 4 to counteract the vertical movement of the suspended load 101. 【0172】 Therefore, in this embodiment, the operator can move the suspended load 101 horizontally using only boom operation, without having to worry about the vertical movement of the suspended load 101, and can easily maintain the height of the suspended load 101. 【0173】 Below, with reference to Figure 7, another example of the controller 30 for the excavator 100 is described. Figure 7 is a functional block diagram showing another example of a detailed configuration of the excavator's machine control functions. 【0174】 The controller 30 shown in Figure 7 acquires operation details related to rotation based on electrical signals received from the arm operation lever 26B, as well as electrical signals received from the rotation operation lever, which is an example of an electric operation lever as an operation device 26, in the operation content acquisition unit 3001. 【0175】 The operation content acquisition unit 3001 then outputs the operation content related to the operation of the arm 5 and the operation content related to rotation to the target position calculation unit 3005 and the master command generation unit 3006A. 【0176】 The master command generation unit 3006A generates a slewing command value corresponding to the operation of the slewing control lever. 【0177】 Furthermore, the target position calculation unit 3005 calculates the target position of the control reference for the bucket 6 based on the operation details related to the operation of the arm 5, the operation details related to the rotation, information on the set target trajectory, and the current position of the control reference for the bucket 6. 【0178】 In the example shown in Figure 7, this control allows the suspended load 101 to be moved horizontally even while it is rotating. 【0179】 Furthermore, according to this embodiment, the vertical movement of the suspended load 101 can be suppressed and it can be moved horizontally regardless of the tilt of the vehicle body or the condition of the road surface. 【0180】 Next, with reference to Figure 8, we will describe the case in which the shovel 100 of this embodiment is remotely controlled. Figure 8 is a diagram illustrating the remote control of the shovel. 【0181】 In Figure 8, an external worker P is holding a remote control device 26E for operating the shovel 100, and the shovel 100 operates in response to the operation of the control device 26E by worker P. 【0182】 Therefore, in this embodiment, for example, after worker P has attached the wire (suspended load 101) to the hook 6e, the worker P can operate the shovel 100 from outside the shovel 100 to move the suspended load 101. In this case, worker P can move the suspended load 101 horizontally by operating only the arm 5, without having to worry about the vertical movement of the suspended load 101. 【0183】 Furthermore, the operating device 26E of this embodiment may be located in a remote control room installed outside the shovel 100. In addition, the operating device 26E may be implemented as a portable terminal carried by workers around the shovel 100. 【0184】 Thus, even when the operating device 26E is installed outside the shovel 100, the controller 30 can receive the amount of operation input by the operator P to the operating device 26E as an electrical signal via the communication device T1, and then transmit it to a proportional valve (not shown) to drive the actuator. For this reason, the proportional valve can be omitted even when the operating device 26E is installed outside the shovel 100. 【0185】 Furthermore, the controller 30 can drive the actuators by transmitting an electrical signal generated based on a preset operation pattern or target trajectory, rather than the amount of operation input by the operator P to the control device 26E, to the proportional valve. In other words, even in the case of an autonomously controlled excavator where each actuator is driven along an operation pattern or target trajectory, the controller 30 can drive the actuators by transmitting an electrical signal generated based on the operation pattern or target trajectory to the proportional valve. 【0186】 Furthermore, in this embodiment, the display device D1 may also display information related to the crane operation. The information related to the crane operation includes, for example, at least one of the following: an image related to the crane operation, the time the crane operation was performed, the type, size, weight and center of gravity of the suspended load 101, and information regarding the occurrence of a dangerous situation. The type (use) of the suspended load 101 may be, for example, sandbags, drainage pipes, U-shaped trenches, steel plates and sheet piles. The size of the suspended load 101 may be represented by, for example, at least one of the following: length, width, height and volume. 【0187】 Images related to crane operations may be still images or videos. Information regarding the occurrence of dangerous situations may include, for example, that the lifting was performed when the horizontal distance between the lifting position of the hook 6e and the center of gravity of the suspended load 101 exceeded a predetermined distance. 【0188】 Furthermore, images related to crane operations may be displayed on a display device in a remote control room installed outside the shovel 100, or on a display device of a portable terminal (support device) that implements the operating device 26E, or on a display device of a management device. 【0189】 Furthermore, in this embodiment, the controller 30 may calculate the weight of the suspended load 101 based, for example, on the posture of the attachment, the pressure of the hydraulic fluid in the bottom oil chamber of the boom cylinder 7 (boom bottom pressure), and the specifications of the attachment that have been registered in advance (weight, center of gravity position, etc.). Specifically, the controller 30 may calculate the weight of the suspended load 101 based on the output of an information acquisition device including a boom angle sensor S1, an arm angle sensor S2, and a boom bottom pressure sensor. 【0190】 In this embodiment, the swaying of the suspended load 101 is reduced by moving the suspended load 101 horizontally, thereby improving the accuracy of calculating the weight of the suspended load 101. 【0191】 In this embodiment, a shovel 100 is used as an example of a work machine, but the work machine may also include, for example, a jib crane. A jib crane raises and lowers the jib, suspends a load from the tip of the jib with a rope, and raises and lowers the load by winding up and down the rope with a hoisting device. In a jib crane, the specific operating element to be operated is the jib, and the operating elements other than the specific operating element are the hoisting device, and the operation of the hoisting device may be controlled in accordance with the operation of the jib to counteract the movement of the load in the height direction. As a result, even with a jib crane, the operator can move the load horizontally by operating only the jib without having to worry about the vertical movement of the load, and it is possible to easily maintain the height of the load. 【0192】 Furthermore, in this embodiment, the application can be made to any crane having a rotating link mechanism, such as a crawler crane or a tower crane, in addition to the shovel 100. 【0193】 Although preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of the present invention. [Explanation of Symbols] 【0194】 6 buckets 6e hook 26 Operating device 30 controllers 70 Spatial recognition device 100 Shovel 3001 Operation content acquisition section 3006 Operation command generation section

Claims

[Claim 1] Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An attachment is attached to the upper rotating body and has multiple operating elements and a hook, A work machine having a control device that controls the operation of operating elements other than the specific operating element so as to maintain the height of the suspended load suspended from the hook when the operation of a specific operating element among the plurality of operating elements is performed to move the suspended load horizontally. [Claim 2] The control device is The work machine according to claim 1, which controls the operation of operating elements other than the specific operating element so that the distance in the direction of gravity from a predetermined reference plane to a specific member of the attachment remains constant. [Claim 3] The aforementioned distance is, The work machine according to claim 2, wherein the operating mode of the work machine is crane mode, and the distance is the distance at which an operation is performed to instruct the attachment to execute a machine control function that causes it to automatically perform a predetermined operation. [Claim 4] The attachment includes a bucket, The work machine according to claim 2, wherein the specific member is the bucket pin to which the hook is attached. [Claim 5] The aforementioned attachment includes an arm, The work machine according to claim 2, wherein the aforementioned specific member is an arm top pin. [Claim 6] The aforementioned specific operating element is a jib, and the operating elements other than the aforementioned specific operating element are hoisting devices that raise and lower the rope that suspends the load. The control device is The work machine according to claim 1, wherein the operation of the hoisting device is controlled in accordance with the operation of the jib so as to maintain the height of the suspended load.

Images