Work machinery, control devices

Abstract

This technology provides an improved accuracy in calculating the load capacity during the loading of construction machinery. [Solution] An excavator 100 according to one embodiment of the present disclosure comprises a lower traveling body 1, an upper rotating body 3, an attachment AT attached to the upper rotating body 3 and including a bucket 6, a first acquisition unit that acquires information regarding the weight of the soil contained in the bucket 6, and a controller 30 that calculates the load amount LC of soil in the dump truck DT by adding the weight of the soil contained in the bucket 6 each time the soil contained in the bucket 6 is released into the dump truck DT, based on the information acquired by the first acquisition unit. The controller 30 then stops adding to the load amount LC when a soil discharge operation is performed by the attachment AT to release the soil contained in the bucket 6, and the position where the soil is released does not correspond to the dump truck DT.

Description

Technical Field

[0001] The present disclosure relates to a working machine and the like.

Background Art

[0002] Conventionally, there is known a technique for calculating the loading amount in an operation (loading operation) of loading an object (for example, earth and sand) held by an end attachment (for example, a bucket) onto a loading target object (for example, a dump truck) by a working machine such as an excavator (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above technique, even when an object (for example, earth and sand) held by an end attachment (for example, a bucket) is discharged at a position different from the loading target object, there is a possibility that it will be added as the loading amount. Therefore, there is room for improvement from the viewpoint of improving the calculation accuracy of the loading amount.

[0005] Therefore, in view of the above problems, an object is to provide a technique capable of improving the calculation accuracy of the loading amount in the loading operation of a working machine.

Means for Solving the Problems

[0006] To achieve the above object, in one embodiment of the present disclosure, a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, an attachment attached to the upper revolving body and including an end attachment at a tip, A first acquisition unit that acquires information regarding the weight of an object held by the end attachment, The system includes a control unit that calculates the load amount of the object on the object to be loaded by adding the weight of the object that was held in the end attachment each time the object held in the end attachment is released, based on the information acquired by the first acquisition unit, When the control unit performs a predetermined operation to release the object held by the end attachment by the attachment, and the position from which the object was released does not correspond to the object to be loaded, the control unit cancels the addition of the load amount. Work equipment will be provided.

[0007] In other embodiments of this disclosure, A work machine comprising a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, an attachment attached to the upper rotating body and including an end attachment at its tip, and a first acquisition unit for acquiring information regarding the weight of an object held by the end attachment, wherein a control device calculates the load amount of an object to be loaded by adding the weight of the object held by the end attachment each time the object held by the end attachment is released, based on the information acquired by the first acquisition unit, When the control unit performs a predetermined operation to release the object held by the end attachment by the attachment, and the position from which the object was released does not correspond to the object to be loaded, the control unit cancels the addition of the load amount. A control device is provided. [Effects of the Invention]

[0008] According to the above-described embodiment, the accuracy of calculating the load capacity in the loading operation of work machinery can be improved. [Brief explanation of the drawing]

[0009] [Figure 1]It is a side view showing an example of an excavator. [Figure 2] It is a diagram showing an example of a remote operation system. [Figure 3] It is a diagram for explaining an example of the loading operation of an excavator. [Figure 4] It is a diagram for explaining an example of the loading operation of an excavator. [Figure 5] It is a diagram showing an example of the configuration of an excavator. [Figure 6] It is a diagram showing an example of the screen of a display device. [Figure 7] It is a diagram showing another example of the screen of a display device. [Figure 8] It is a flowchart diagram schematically showing an example of a process related to a payload function.

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] [Overview of Excavator] Referring to FIGS. 1 and 2, the overview of the excavator 100 according to the present embodiment will be described.

[0012] FIG. 1 is a side view showing an example of the excavator 100. FIG. 2 is a diagram showing an example of the remote operation support system SYS. Hereinafter, when explaining the direction in the excavator 100 or the direction seen from the excavator 100, the direction in which the attachment AT extends when viewed from the upper revolving body 3 in the top view of the excavator 100 will be defined as "front".

[0013] As shown in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper revolving body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

[0014] The lower traveling body 1 uses a pair of left and right crawlers 1C to move the excavator 100. The crawlers 1C include the left crawler 1C and the right crawler 1C. The left crawler 1C and the right crawler 1C are each hydraulically driven by a traveling hydraulic motor 1M. Thereby, the lower traveling body 1 can travel by itself.

[0015] The upper slewing body 3 is slewingly mounted on the lower traveling body 1 via a slewing mechanism 2. For example, the upper slewing body 3 can slew with respect to the lower traveling body 1 when the slewing mechanism 2 is hydraulically driven by a slewing hydraulic motor 2M (not shown).

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

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

[0018] The bucket 6 is attached to the tip of the arm 5 in a mode that can be appropriately replaced according to the work content of the excavator 100. That is, instead of the bucket 6, a bucket of a different type from the bucket 6, for example, a large bucket larger than the bucket 6, a slope bucket, a dredging bucket, etc. may be attached to the tip of the arm 5. Also, an end attachment of a type other than the bucket, for example, a stirrer, a breaker, a crusher, a lifting magnet, etc. may be attached to the tip of the arm 5. Also, a preliminary attachment such as a quick coupler or a tilt - rotator may be provided between the arm 5 and the end attachment.

[0019] 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, respectively.

[0020] Cabin 10 is a control room (also called the "operator's cab") where the operator sits and operates the shovel 100. Cabin 10 is mounted, for example, on the front left side of the upper rotating body 3.

[0021] For example, the excavator 100 operates its driven elements, such as the lower traveling body 1 (i.e., a pair of left and right crawlers 1C), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, in response to the operation of an operator seated in the cabin 10.

[0022] Furthermore, the driven elements of the shovel 100 may be operated remotely by an operator outside the cabin 10. The following explanation assumes that operator operation includes not only operation by an operator inside the cabin 10, but also remote operation by an operator outside the shovel 100.

[0023] For example, as shown in Figure 2, the remote control support system SYS includes an excavator 100 and a remote control support device 200.

[0024] The SYS remote control support system assists in the remote operation of the excavator 100 using the remote control support device 200.

[0025] The remote control support device 200 is connected to the shovel 100 via a communication line NW and is used by an operator who remotely controls the shovel 100.

[0026] The remote control support device 200 is installed in a remote control room, for example, in a control center that manages the operation of the shovel 100 from the outside, and includes a remote control device similar to the control device 26 inside the cabin 10. This allows the operator to remotely control the shovel 100 from a remote location where the shovel 100 cannot be directly seen by sitting in the driver's seat installed in the remote control room and operating the remote control device. The remote control support device 200 may also be a portable terminal device for operation. This allows the operator to remotely control the shovel 100 while directly checking the working status of the shovel 100 from its vicinity.

[0027] The excavator 100 transmits, for example, via the communication device 60, an image (surrounding image) representing the surrounding area including the front of the excavator 100, based on the image output from the imaging device 40 mounted on it. The excavator 100 may also transmit the image output from the imaging device 40 to the remote control support device 200 via the communication device 60, and the remote control support device 200 may process the image received from the excavator 100 to generate the surrounding image. The remote control support device 200 may include, for example, a display device for remote operation, and display the surrounding image representing the surrounding area including the front of the excavator 100 on the display device for remote operation. The remote control support device 200 may also display information screens on the remote control display device that are similar to the various information screens displayed on the display device 50 inside the cabin 10 of the excavator 100. As a result, an operator using the remote control support device 200 can remotely control the shovel 100 while checking the displayed content, such as surrounding images and information screens showing the surroundings of the shovel 100, which are displayed on the remote control display device. The shovel 100 operates its driven elements in response to signals (hereinafter referred to as "remote control signals") that represent the content of the remote control, which are received from the remote control support device 200 via the communication device 60. As a result, the remote control support system SYS can realize remote control of the shovel 100 using the remote control support device 200.

[0028] Furthermore, the excavator 100 may operate its actuators automatically, regardless of the operator's actions. This allows the excavator 100 to automatically operate at least some of its driven elements, such as the lower traveling body 1, the upper rotating body 3, and the attachment AT, thus realizing what is known as an "automatic driving function" or "machine control (MC) function."

[0029] The automatic driving function may include, for example, a semi-automatic driving function (operation-assistance type MC function). The semi-automatic driving function is a function that automatically operates driven elements (actuators) other than the target driven element (actuator) in response to the operator's operation. The automatic driving function may also include a fully automatic driving function (fully automatic type MC function). The fully automatic driving function is a function that automatically operates at least some of multiple driven elements (actuators) without operator intervention. In the case of the shovel 100, if the fully automatic driving function is enabled, the interior of the cabin 10 may be unoccupied. The semi-automatic driving function and the fully automatic driving function may also include, for example, a rule-based automatic driving function. The rule-based automatic driving function is an automatic driving function in which the operation content of the driven elements (actuators) that are the target of automatic driving is automatically determined according to predetermined rules. The semi-automatic driving function and the fully automatic driving function may also include an autonomous driving function. The autonomous driving function is an autonomous driving function in which the shovel 100 makes various decisions autonomously, and the operation of the driven elements (actuators) that are the target of the autonomous driving is determined according to the results of those decisions.

[0030] Furthermore, the operation of the shovel 100 may be monitored from outside the shovel 100. For example, when the shovel 100 is operated automatically, its operation is monitored from outside the shovel 100. In this case, a remote monitoring support device similar to the remote operation support device 200 is provided to assist the operator in monitoring the operation of the shovel 100 from outside.

[0031] The remote monitoring support device includes, for example, a display device for remote monitoring, and, similar to a display device for remote operation, displays surrounding images and information screens that show the conditions around the shovel 100. This allows the monitor to monitor the operation of the shovel 100 by checking the surrounding images and information screens using the remote monitoring support device.

[0032] Furthermore, the supervisor may be able to intervene in the operation of the shovel 100 using a remote control support device. For example, the remote monitoring support device includes an operation device for intervention and transmits a remote control signal to the shovel 100 that indicates the operation content of the operation device for intervention. This allows the supervisor to, for example, if the operation of the shovel 100 is inappropriate or if a safety problem arises with the shovel 100, to perform an emergency stop or an evacuation operation to move the shovel 100 to a safe position or posture by operating the operation device for intervention.

[0033] [Loading the shovel] The loading operation of the shovel 100 will be explained with reference to Figures 3 and 4.

[0034] Figures 3 and 4 illustrate an example of loading work using shovel 100. Specifically, Figure 3 is a top view showing an example of loading work for the shovel 100, and Figure 4 is a side view showing an example of loading work for the shovel 100. Figure 4 shows an example of loading work for the shovel 100 as seen from the left side of the page of Figure 3, and for convenience, only the bucket 6 of the shovel 100 is drawn.

[0035] As shown in Figures 3 and 4, the shovel 100 performs an excavation operation using attachment AT to scoop up soil from the ground (see position PT1 of bucket 6). The excavation operation is a combined operation of the boom 4, arm 5, and bucket 6. Specifically, the excavation operation involves a combined operation of raising the boom 4 and closing the arm 5 to pull the bucket 6, which has been driven into the ground, towards the shovel 100 in an almost horizontal direction, thereby excavating the ground. After that, a combined operation of raising the boom 4 while closing the bucket 6 scoops up the soil from the ground. As shown in Figure 4, at the completion of the excavation operation, the height of the bucket 6 is approximately the same as the ground level.

[0036] Subsequently, as shown in Figures 3 and 4, the shovel 100 performs a boom-raising and slewing operation, which is a combined operation of the rightward rotation of the upper slewing body 3 and the raising of the boom 4. In this boom-raising and slewing operation, the attachment AT may only perform the raising of the boom 4, or it may perform a combined operation in which the raising of the boom 4 is performed along with the movement of at least one of the arm 5 and the bucket 6 (for example, the closing movement). As a result, the rightward rotation of the upper slewing body 3 of the shovel 100 brings the orientation of the attachment AT closer to the direction in which the dump truck DT's cargo bed is located (as viewed from the shovel 100), while the raising of the boom 4 raises the height of the bucket 6 to a position higher than the height Hd of the dump truck DT's cargo bed (see position PT2 of the bucket 6).

[0037] Subsequently, as shown in Figures 3 and 4, the shovel 100 continues the rightward rotation of its upper slewing body 3, bringing the orientation of the attachment AT closer to the direction of the dump truck DT, while performing a soil discharge operation which is a combined operation of lowering the boom 4 and opening the arm 5 (see position PT3 of the bucket 6). This allows the shovel 100 to discharge the soil contained in the bucket 6 onto the bed of the dump truck DT and load it onto the dump truck DT.

[0038] Subsequently, the shovel 100 performs a boom lowering and slewing operation, which is a combined operation of the leftward rotation of the upper slewing body 3 and the lowering of the boom 4. This allows the shovel 100 to align the orientation of the attachment AT with the working range in which the excavation operation DM is performed.

[0039] In this way, the shovel 100 performs the loading operation by repeatedly performing a series of operations: digging, raising and rotating the boom, removing soil, and lowering and rotating the boom, thereby loading the soil onto the bed of the dump truck DT.

[0040] In this example, the dump truck DT is parked so that, when viewed from directly above, its longitudinal direction coincides with the direction in which the attachment AT extends from the body of the shovel 100. However, it may also be parked perpendicular to the direction in which the attachment AT extends.

[0041] [Shovel configuration] In addition to Figures 1 and 2, Figure 5 will be used to describe the configuration of the shovel 100.

[0042] Figure 5 shows an example of the configuration of shovel 100.

[0043] Excavator 100 includes components for the hydraulic drive system, operating system, user interface system, and control system.

[0044] <Hydraulic drive system> The hydraulic drive system of the shovel 100 is a group of components related to the hydraulic drive of the driven elements of the shovel 100.

[0045] As shown in Figure 5, the hydraulic drive system of the excavator 100 includes multiple hydraulic actuators HA that hydraulically drive each of the multiple driven elements. The multiple driven elements include the left and right crawlers 1C of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc. The multiple hydraulic actuators HA include the traveling hydraulic motor 1M, the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc. In addition, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a main pump 14, and a control valve 17.

[0046] Hereinafter, the hydraulic actuator HA will be used to represent components such as the travel hydraulic motor 1M, the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc., either comprehensively or individually.

[0047] Furthermore, the excavator 100 may have some or all of its hydraulic actuator HA replaced with an electric actuator. In other words, the excavator 100 may be a hybrid excavator or an electric excavator.

[0048] Engine 11 is the prime mover for the shovel 100 and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, at the rear of the upper rotating body 3. Engine 11 rotates at a constant speed at a preset target speed, for example, under direct or indirect control by a controller 30, which will be described later, and drives the main pump 14 and the pilot pump 15.

[0049] Furthermore, in place of or in addition to engine 11, other types of prime movers (for example, electric motors) may be mounted on the shovel 100.

[0050] The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The main pump 14 is driven by the engine 11, as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and under the control of the controller 30, the stroke length of the piston is adjusted by adjusting the angle of the swash plate through a regulator, thereby controlling the discharge flow rate and discharge pressure.

[0051] The control valve 17 drives the hydraulic actuators HA in response to operator input or an operation command corresponding to an automatic operation function (hereinafter referred to as "automatic operation command"). The control valve 17 is mounted, for example, in the center of the upper slewing body 3. The control valve 17 is connected to the main pump 14 through a hydraulic line and selectively supplies hydraulic fluid from the main pump 14 to each hydraulic actuator HA in response to operator input or an automatic operation command. For example, the control valve 17 is a valve unit that includes multiple directional control valves that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each of the hydraulic actuators HA.

[0052] <Operation system> The operating system of the Shovel 100 consists of a group of components related to the operation of the hydraulic actuator HA.

[0053] As shown in Figure 5, the operating system of the shovel 100 includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31.

[0054] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., hydraulic control valve 31) via the pilot line 25. The pilot pump 15 is mounted at the rear of the upper slewing body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump and is driven by the engine 11 as described above.

[0055] The pilot pump 15 may be omitted. In this case, the hydraulic fluid discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like may be supplied to the various hydraulic devices such as the operating device 26.

[0056] The operating device 26 is located within reach of the operator in the driver's seat of the cabin 10 and is used by the operator to operate each of the driven elements, namely the left and right crawlers of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuator HA that drives each of the driven elements.

[0057] The operating device 26 is, for example, electrically operated. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as "operation signal") corresponding to the operation performed by the operator, and the operation signal is received by the controller 30. The controller 30 then outputs a control command (operation command) corresponding to the content of the operation signal, that is, an operation command corresponding to the operation performed on the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation performed by the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation performed by the operating device 26.

[0058] Furthermore, the operating device 26 may be a hydraulic pilot type that uses pilot pressure supplied from the pilot pump 15 as the source pressure to output pilot pressure according to the operator's operation. This allows the operating device 26 to supply pilot pressure to the control valve 17 according to the operation performed on it. As a result, the control valve 17 can drive each hydraulic actuator HA according to the operation performed by the operating device 26.

[0059] Furthermore, the directional control valves that drive each hydraulic actuator HA, which are built into the control valve 17, may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the electromagnetic solenoid type directional control valve built into the control valve 17.

[0060] Furthermore, as described above, some or all of the hydraulic actuator HA may be replaced with an electric actuator. In this case, the controller 30 outputs control commands to the electric actuator or a driver that drives the electric actuator, for example, according to the operator's actions or the remote control content defined by the remote control signal.

[0061] A hydraulic control valve 31 is provided for each hydraulic actuator HA that the operating device 26 controls, and for each driving direction of the hydraulic actuator HA (for example, the extension and retraction directions of the boom cylinder 7). For example, a pair of hydraulic control valves 31 are provided for each double-acting hydraulic actuator HA that drives the left and right crawlers 1C, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. The hydraulic control valve 31 is provided, for example, in the pilot line between the pilot pump 15 and the control valve 17, and may be configured to change its flow area (i.e., the cross-sectional area through which hydraulic fluid can flow). As a result, the hydraulic control valve 31 can use the hydraulic fluid from the pilot pump 15 supplied through the pilot line to output a predetermined pilot pressure to the secondary pilot line. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 in accordance with the control command (operation command) from the controller 30. Therefore, for example, the controller 30 can apply pilot pressure to the control valve 17 in accordance with the operation command (automatic operation command) corresponding to the automatic operation function from the hydraulic control valve 31, thereby realizing the operation of the shovel 100 by the automatic operation function. In addition, the controller 30 can apply pilot pressure to the control valve 17 in accordance with the operation command corresponding to the remote operation signal from the hydraulic control valve 31, thereby realizing the operation of the shovel 100 by remote operation.

[0062] <User Interface System> The user interface system of Shovel 100 is a set of components related to the exchange of information between the user and Shovel 100.

[0063] As shown in Figure 5, the user interface system of the shovel 100 includes an operating device 26, a display device 50, and an input device 52.

[0064] The display device 50 transmits various information to the operator inside the cabin 10 in a visual manner. The display device 50 is, for example, a liquid crystal display or an organic EL (electroluminescence) display.

[0065] In addition to the display device 50, a lighting device that transmits various information to the operator in a visual manner may be provided inside the cabin 10. The lighting device may be, for example, various warning lights (also called "indicator lamps"). Furthermore, in addition to the display device 50, an external display device may be provided to transmit various information to workers or site supervisors outside the cabin 10. Furthermore, in addition to the display device 50 and the lighting device inside the cabin 10, an external lighting device for the cabin 10 may be provided to transmit various information to workers or site supervisors outside the cabin 10. Furthermore, the shovel 100 may be provided with a sound output device that transmits various information in an auditory manner to the operator inside the cabin 10, workers outside the cabin 10, site supervisors, etc. The sound output device may include, for example, a buzzer or a speaker. Furthermore, the shovel 100 may be provided with a device that transmits various information in a tactile manner, such as vibration of the driver's seat where the operator sits.

[0066] The input device 52 receives various inputs from the user of the shovel 100, and the signals corresponding to the received inputs are taken into the controller 30. The inputs received from the input device 52 are of a different type from the inputs received by the operating device 26 for operating the hydraulic actuator HA. For example, the input device 52 is installed inside the cabin 10 and receives inputs from operators inside the cabin 10. Alternatively, the input device 52 may be installed, for example, on the side of the housing section of the upper slewing body 3 and receive inputs from workers around the shovel 100.

[0067] For example, the input device 52 includes a mechanical input device that accepts input from the user through mechanical operation. The mechanical input device includes, for example, a touch panel, a touch pad, a button switch, a lever, a toggle, a knob switch, etc. For example, the mechanical input device installed inside the cabin 10 includes a touch panel, various levers, switches, and dials.

[0068] Furthermore, the input device 52 may include a voice input device that accepts voice input from the user. The voice input device may include, for example, a microphone.

[0069] Furthermore, the input device 52 may include a gesture input device that receives gesture input from the user. The gesture input device may include, for example, an imaging device that captures images of the gestures performed by the user.

[0070] Furthermore, the input device 52 may include a biometric input device that accepts biometric input from the user. Biometric input may include, for example, the input of biometric information such as the user's fingerprints or iris scan.

[0071] <Communications System> The communication system of the Shovel 100 is a set of components that enable the Shovel 100 to communicate with the outside world.

[0072] As shown in Figure 5, the communication system of the shovel 100 according to this embodiment includes a communication device 60.

[0073] The communication device 60 connects to an external communication line and communicates with a device provided separately from the shovel 100. The device provided separately from the shovel 100 may include not only a device located outside the shovel 100, but also a portable terminal device (mobile terminal) brought into the cabin 10 by the user of the shovel 100. The communication device 60 may, for example, use 4G (4 th Generation) and 5G (5 th The communication device 60 may include a mobile communication module that conforms to standards such as Generation. Furthermore, the communication device 60 may include, for example, a satellite communication module. It may also include, for example, a WiFi communication module or a Bluetooth® communication module. Additionally, if there are multiple connectable communication lines NW, the communication device 60 may include multiple communication devices according to the type of communication line NW.

[0074] Furthermore, the shovel 100 may operate in a standalone state without communicating with the outside world. In this case, the communication system of the shovel 100, including the communication device 60, may be omitted.

[0075] <Control System> The control system for Shovel 100 consists of a group of components related to the various controls of Shovel 100.

[0076] As shown in Figure 5, the control system of the shovel 100 includes a controller 30. The control system of the shovel 100 also includes an imaging device 40, attitude sensors S1 to S4, a slewing angle sensor S5, a compass sensor S6, and cylinder pressure sensors S7 to S9.

[0077] The controller 30 performs various controls related to the shovel 100.

[0078] The functions of the controller 30 can be realized by any hardware, or any combination of hardware and software. For example, the controller 30 includes an auxiliary storage device, a memory device, a processor, and an interface device, all of which are connected communicatively by a bus.

[0079] The auxiliary storage device is a non-volatile storage means that stores the program installed in the controller 30, as well as files and data necessary for processing in the controller 30. Examples of auxiliary storage devices include EEPROM (Electrically Erasable Programmable Read-Only Memory) and flash memory. The memory device loads the program from the auxiliary storage device into the processor's readable state when a program startup command is received. Examples of memory devices include SRAM (Static Random Access Memory). The processor executes various processes according to the program's instructions by executing the program loaded into the memory device. The processor includes, for example, a CPU (Central Processing Unit). It may also include a GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), or FPGA (Field-Programmable Gate Array). The interface device functions as a communication interface for connecting to the internal communication lines of the shovel 100. The interface device may include multiple different types of communication interfaces depending on the type of communication line being connected. The interface device also functions as an external interface for reading data from and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected by a detachable cable to a connector installed inside the cabin 10. Alternatively, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the program that realizes the various functions of the controller 30 can be provided, for example, on a portable recording medium and installed in the auxiliary storage device of the controller 30. Alternatively, the program may be downloaded from another computer outside the shovel 100 via the communication device 60 and installed in the auxiliary storage device.

[0080] Furthermore, some of the functions of the controller 30 may be implemented by other devices. In other words, the functions of the controller 30 may be implemented in a distributed manner by multiple devices. For example, the functions of the memory area included in the controller 30 may be implemented by an external storage device mounted on the shovel 100 in a manner that is communicatively connected to the controller 30. Alternatively, the functions of the controller 30 may be implemented in a distributed manner by multiple controllers mounted on the shovel 100.

[0081] The imaging device 40 captures images of the area around the shovel 100.

[0082] The imaging device 40 is, for example, a monocular camera. Alternatively, the imaging device 40 may be a 3D camera capable of acquiring not only 2D image information but also 3D information including the distance to objects in the image and the depth of the image, such as a stereo camera, a ToF (Time of Flight) camera, or a depth camera.

[0083] For example, as shown in Figure 1, the imaging device 40 includes cameras 40F, 40B, 40L, and 40R. Camera 40F images the area in front of the upper rotating body 3. Camera 40B images the area behind the upper rotating body 3. Camera 40L images the area to the left of the upper rotating body 3. Camera 40R (not shown) images the area to the right of the upper rotating body 3. Camera 40R is positioned, for example, symmetrically to camera 40L in a top view of the shovel 100. This allows the imaging device 40 to image the entire circumference of the shovel 100, i.e., a range spanning 360 degrees in the angular direction, in a top view of the shovel 100. Hereinafter, cameras 40F, 40B, 40L, and 40R may be collectively or individually referred to as "camera 40X".

[0084] The output data from the imaging device 40 (camera 40X) is received by the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30, for example, to understand the surrounding conditions of the shovel 100 based on the output data from the camera 40X.

[0085] Furthermore, some or all of the cameras 40F, 40B, 40L, and 40R may be omitted. In addition, the shovel 100 may be equipped with a distance sensor (also called a "distance sensor") capable of acquiring information representing the distance to objects around the shovel 100, instead of or in addition to the imaging device 40. Examples of distance sensors include LIDAR (Light Detecting and Ranging), millimeter-wave radar, and ultrasonic sensors.

[0086] Attitude sensor S1 is attached to boom 4 and measures the attitude state of boom 4. Attitude sensor S1 outputs a measurement signal representing the attitude state of boom 4. The attitude state of boom 4 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection part of boom 4 with the upper slewing body 3 (hereinafter referred to as "boom angle"). Attitude sensor S1 includes, for example, a rotary potentiometer, rotary encoder, acceleration sensor, angular acceleration sensor, 6-axis sensor, IMU (Inertial Measurement Unit), etc. The same may apply to attitude sensors S2 to S4 below. Attitude sensor S1 may also include a cylinder sensor that detects the extension and retraction position of boom cylinder 7. The same may apply to attitude sensors S2 and S3 below. The output of attitude sensor S1 (i.e., the measurement signal representing the attitude state of boom 4) is taken up by controller 30. This allows controller 30 to understand the attitude state of boom 4.

[0087] The attitude sensor S2 is attached to the arm 5 and measures the attitude state of the arm 5. The attitude sensor S2 outputs measurement data representing the attitude state of the arm 5. The attitude state of the arm 5 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection point between the arm 5 and the boom 4 (hereinafter referred to as "arm angle"). The output of the attitude sensor S2 (measurement signal representing the attitude state of the arm 5) is received by the controller 30. This allows the controller 30 to understand the attitude state of the arm 5.

[0088] The attitude sensor S3 is attached to the bucket 6 and measures the attitude state of the bucket 6. The attitude sensor S3 outputs measurement data representing the attitude state of the bucket 6. The attitude state of the bucket 6 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection part of the bucket 6 with the arm 5 (hereinafter referred to as "bucket angle"). The output of the attitude sensor S3 (measurement signal representing the attitude state of the bucket 6) is received by the controller 30. This allows the controller 30 to understand the attitude state of the bucket 6.

[0089] The attitude sensor S4 measures the attitude state of the excavator 100 (for example, the upper rotating body 3). The attitude sensor S4 outputs a measurement signal representing the attitude state of the excavator 100. The attitude state of the excavator 100 is, for example, the inclination state of the excavator with respect to a predetermined reference plane (for example, the horizontal plane). For example, the attitude sensor S4 is attached to the upper rotating body 3 and measures the inclination angles of the excavator 100 around two axes, the longitudinal and lateral directions (hereinafter referred to as "longitudinal inclination angle" and "lateral inclination angle"). The output of the attitude sensor S4 (measurement signal representing the attitude state of the excavator 100) is received by the controller 30. This allows the controller 30 to understand the attitude state (inclination state) of the excavator (upper rotating body 3).

[0090] The rotation angle sensor S5 is attached to the upper rotating body 3 and measures the rotation angle of the upper rotating body 3. The rotation angle of the upper rotating body 3 is, for example, an absolute angle with respect to a predetermined position defined in the rotation direction of the upper rotating body 3. Alternatively, the rotation angle of the upper rotating body 3 may be a relative angle with respect to the starting position of the most recent rotation movement of the upper rotating body 3. The rotation angle sensor S5 outputs a measurement signal representing the rotation angle of the upper rotating body 3. The rotation angle sensor S5 includes, for example, a gyro sensor, resolver, rotary encoder, etc. The output of the rotation angle sensor S5 (measurement data representing the rotation angle of the upper rotating body 3) is received by the controller 30. This allows the controller 30 to determine the rotation angle of the upper rotating body 3.

[0091] The controller 30 can estimate and determine the position of the tip of the attachment AT (i.e., the bucket 6) based on the outputs of the attitude sensors S1 to S4 and the rotation angle sensor S5.

[0092] Furthermore, if the attitude sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc., capable of detecting angular velocity around three axes, the rotation angle of the upper rotating body 3 may be detected based on the detection signal from the attitude sensor S4. In this case, the rotation angle sensor S5 may be omitted.

[0093] The compass sensor S6 measures the direction as seen from the shovel 100. The compass sensor S6 is, for example, a GNSS (Global Navigation Satellite System) compass or a geomagnetic sensor. The output (measurement signal) of the compass sensor S6 is received by the controller 30.

[0094] The compass sensor S6 may be omitted.

[0095] The cylinder pressure sensor S7 measures the pressure (cylinder pressure) in the oil chamber of the boom cylinder 7. The cylinder pressure sensor S7 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the boom cylinder 7 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side. The output of the cylinder pressure sensor S7 (i.e., the measurement signal of the cylinder pressure of the boom cylinder 7) is taken up by the controller 30.

[0096] The cylinder pressure sensor S8 measures the pressure (cylinder pressure) in the oil chamber of the arm cylinder 8. The cylinder pressure sensor S8 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the arm cylinder 8 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side of the arm cylinder 8. The output of the cylinder pressure sensor S8 (i.e., the measurement signal of the cylinder pressure of the arm cylinder 8) is received by the controller 30.

[0097] The cylinder pressure sensor S9 measures the pressure (cylinder pressure) in the oil chamber of the bucket cylinder 9. The cylinder pressure sensor S9 includes, for example, a sensor that measures the cylinder pressure (rod pressure) in the oil chamber on the rod side of the bucket cylinder 9 and a sensor that measures the cylinder pressure (bottom pressure) in the oil chamber on the bottom side of the bucket cylinder 9. The output of the cylinder pressure sensor S9 (i.e., the measurement signal of the cylinder pressure of the bucket cylinder 9) is taken up by the controller 30.

[0098] The controller 30 can determine the load condition acting on the attachment AT based on the outputs of the cylinder pressure sensors S7 to S9. The load acting on the attachment AT includes, for example, the reaction force acting on the bucket 6 from the soil on the ground being worked on, and the weight of the soil contained in the bucket 6.

[0099] [Shovel payload capabilities] Next, we will explain the payload capabilities of the 100 shovel, referring to Figure 5.

[0100] Shovel 100, for example, has a payload function.

[0101] The payload function calculates the amount of soil or sand to be loaded onto the object being loaded (for example, the bed of a dump truck DT) during the loading operation of the Shovel 100.

[0102] The payload function is implemented by a control mode (hereinafter referred to as "payload mode" for convenience) for controlling the payload function of the controller 30.

[0103] As shown in Figure 5, the controller 30 includes a position / attitude calculation unit 301, a load calculation unit 302, a load amount calculation unit 303, a cancellation processing unit 304, and a display processing unit 305 as functional units related to the payload function. These functional units are realized, for example, by loading a program installed in an auxiliary storage device into a memory device and executing it by a processor.

[0104] The position and orientation calculation unit 301 calculates the position and orientation of a specific part of the shovel 100 based on the outputs of orientation sensors S1 to S4, slewing angle sensor S5, orientation sensor S6, etc.

[0105] For example, the position and attitude calculation unit 301 calculates the position of a specific part of the bucket 6 (for example, a specific part on the back or the toe). Also, for example, the position and attitude calculation unit 301 calculates the attitude angles of the boom 4, arm 5, and bucket 6.

[0106] The load calculation unit 302 calculates the weight of the soil contained in the bucket 6. For example, the controller 30 calculates the weight of the soil contained in the bucket 6 based on the output of the cylinder pressure sensors S7 to S9.

[0107] The load capacity calculation unit 303 calculates the amount of soil to be loaded onto the object to be loaded (the bed of the dump truck DT). Specifically, the controller 30 calculates the load capacity LC to be loaded onto the object by adding (i.e., accumulating) the weight of the soil (soil weight SW) discharged from the bucket 6 each time the shovel 100 performs a soil discharge operation.

[0108] For example, the load capacity calculation unit 303 determines whether the shovel 100 is performing a soil removal operation by determining whether the current posture state of the attachment AT corresponds to a soil removal operation, based on the specific position of the bucket 6 and the posture angles of the boom 4, arm 5, and bucket 6, which are calculated by the position and posture calculation unit 301. In other words, in this example, the load capacity calculation unit 303 determines whether the shovel 100 is performing a soil removal operation based on the outputs of posture sensors S1 to S4. Alternatively, the load capacity calculation unit 303 may determine whether the shovel 100 is performing a soil removal operation by determining whether the current operating state of the shovel 100 corresponds to a soil removal operation based on the operation signal received from the operating device 26, the remote operation signal received from the communication device 60, or an automatic operation command. Furthermore, the load capacity calculation unit 303 may determine whether the shovel 100 is performing a soil removal operation by monitoring the weight of the soil contained in the bucket 6 based on the outputs of cylinder pressure sensors S7 to S9. Furthermore, the load capacity calculation unit 303 may determine whether or not the shovel 100 is performing a soil removal operation based on the image captured by the imaging device 40 (specifically, the camera 40F). Alternatively, the load capacity calculation unit 303 may determine whether or not the shovel 100 is performing a soil removal operation by combining at least two of the outputs of the attitude sensors S1 to S4, the current operating state of the shovel 100, the outputs of the cylinder pressure sensors S7 to S9, and the output of the imaging device 40. If the shovel 100 is performing a soil removal operation, the load capacity calculation unit 303 updates the load capacity LC by adding the weight of the soil SW that was in the bucket 6 immediately before the soil removal operation to the current load capacity LC. As a result, the controller 30 can calculate the amount of soil to be loaded onto the object to be loaded (the bed of the dump truck DT) by accumulating the weight of the soil SW during the soil removal operation until the completion of the loading work.

[0109] Furthermore, the load capacity calculation unit 303 may calculate the load capacity LC of the object to be loaded by considering the error between the weight SW of the soil contained in the bucket 6 and the actual weight of the soil that is loaded onto the object to be loaded by being discharged. The error between the weight SW of the soil contained in the bucket 6 and the actual weight of the soil that is loaded onto the object to be loaded may include, for example, the weight of soil that was not discharged from the bucket 6 because it was stuck to the inner surface of the bucket 6, and the weight of soil that spilled out onto the outside of the object to be loaded when it was discharged from the bucket 6. For example, the average value of the above errors that may occur with each soil discharge operation may be predetermined, and the load capacity calculation unit 303 updates the load capacity LC by adding the weight SW of the soil contained in the bucket 6 immediately before the soil discharge operation to the current load capacity LC, and then subtracting the average value of the errors. Furthermore, the load capacity calculation unit 303 may calculate the error for each soil discharge operation of the shovel 100 by detecting soil adhering to the bucket 6 and soil spilling outside the object being loaded, based on the image captured by the imaging device 40 (specifically, the camera 40F).

[0110] Furthermore, the load capacity calculation unit 303 calculates the remaining load capacity that can be loaded onto the object to be loaded (the cargo bed of the dump truck DT) (hereinafter referred to as "remaining load capacity" for convenience). Specifically, the controller 30 calculates the remaining load capacity of the object to be loaded by subtracting the current load capacity already loaded on the dump truck from the maximum load capacity of the object to be loaded.

[0111] The maximum load capacity of the dump truck is set, for example, based on instructions such as the type and size of the dump truck, which are input by the user through the input device 52. Alternatively, the maximum load capacity of the dump truck may be set by numerical input from the user through the input device 52. Furthermore, the load capacity calculation unit 303 may estimate the maximum load capacity of the dump truck by detecting dump trucks DT around the shovel 100 based on the image from the imaging device 40 and identifying the type and size of the dump trucks DT.

[0112] The cancellation processing unit 304 performs a cancellation process to revoke the addition of the soil weight SW to the load amount LC performed by the load amount calculation unit 303. Specifically, the cancellation processing unit 304 performs a cancellation process in which it subtracts the soil weight SW that was most recently added from the latest load amount LC calculated by the load amount calculation unit 303.

[0113] For example, the cancellation processing unit 304 performs a cancellation process if the location where soil was removed by the most recent soil removal operation, as determined by the load capacity calculation unit 303, does not correspond to the object to be loaded (the bed of the dump truck DT). On the other hand, the cancellation processing unit 304 does not perform a cancellation process if the location where soil was removed by the most recent soil removal operation, as determined by the load capacity calculation unit 303, does correspond to the object to be loaded (the bed of the dump truck DT).

[0114] The cancellation processing unit 304 performs a cancellation process if, for example, the condition indicating that the location where soil was removed by the most recent soil removal operation, as determined by the load amount calculation unit 303, corresponds to the object to be loaded (hereinafter referred to as the "non-cancellation condition") is not met. On the other hand, the cancellation processing unit 304 does not perform a cancellation process if the non-cancellation condition is met.

[0115] For example, the non-cancellation condition is that, when the excavator 100 is viewed from above, the orientation of the attachment AT during the most recent soil removal operation corresponds to the direction in which the object to be loaded (the bed of the dump truck DT) is located as viewed from the excavator 100. The orientation of the attachment AT when the excavator 100 is viewed from above corresponds to the direction in which the attachment AT extends from the upper slewing body 3 when the excavator 100 is viewed from above. Specifically, for example, the non-cancellation condition is that the slewing angle of the upper slewing body 3 during the most recent soil removal operation is within a predetermined range that includes a reference slewing angle (hereinafter, for convenience, referred to as the "non-cancellation reference angle") that corresponds to the direction in which the object to be loaded is located as viewed from the excavator 100.

[0116] Furthermore, for example, a non-cancellation condition is that the height of the bucket 6 when the most recent soil removal operation was performed corresponds to the height of the object being removed (the bed of the dump truck DT). Specifically, for example, a non-cancellation condition is that the height of the bucket 6 when the most recent soil removal operation was performed (for example, the height of the rear) is within a range of a reference height (hereinafter referred to as the "non-cancellation reference height") which is set higher than the height Hd of the side panels of the dump truck DT.

[0117] For example, in payload mode, when the initial soil discharge operation toward the object to be loaded is performed, the measured value of the rotation angle of the upper rotating body 3 is registered in the controller 30's auxiliary storage device based on a predetermined input received from the operator, etc. This allows the controller 30 to set the rotation angle of the upper rotating body 3 to a non-cancellation reference value based on the measured value of the rotation angle of the upper rotating body 3 registered in it. Alternatively, the measured value of the rotation angle of the upper rotating body 3 may be registered in the controller 30's auxiliary storage device in conjunction with the operator's input to sound the horn to signal the dump truck DT to stop as it reverses and approaches the shovel 100. This is because when the dump truck DT is replaced and approaches the shovel 100, the orientation of the attachment AT on the shovel 100 is almost the same as when soil discharge for loading onto the dump truck DT is performed. This allows the controller 30 to set the rotation angle of the upper rotating body 3 to a non-cancellation reference angle based on the measured value of the rotation angle of the upper rotating body 3 registered in it.

[0118] Furthermore, at the start of payload mode, the controller 30 may set a non-cancellation reference angle by recognizing the position of the object to be loaded as seen from the shovel 100, based on the orientation sensor S6 and the image captured by the imaging device 40.

[0119] Similarly, for example, when the initial soil discharge operation toward the object to be loaded is performed in payload mode, the measured value (calculated value) of the height of a specific part of the bucket 6 is registered in the auxiliary storage device of the controller 30 based on a predetermined input received from the operator, etc. This allows the controller 30 to set a non-cancellation reference height based on the measured value of the height of a specific part of the bucket 6 that is registered in it. In addition, the measured value (calculated value) of the height of a specific part of the bucket 6 may be registered in the auxiliary storage device of the controller 30 in accordance with the input from the operator to sound the horn to signal the dump truck DT to stop when it is reversing and approaching the shovel 100. This is because when the dump truck DT is replaced and approaches the shovel 100, the posture of the attachment AT of the shovel 100 is in almost the same state as when soil discharge for loading onto the dump truck DT is performed. This allows the controller 30 to set a non-cancellation reference height based on the measured value of the height of a specific part of the bucket 6 that is registered in it.

[0120] Alternatively, the non-cancellation reference height may be set at the start of payload mode by recognizing the position of the object to be loaded as seen from the shovel 100, based on the orientation sensor S6 and the image captured by the imaging device 40.

[0121] When the initial soil removal operation toward the load in payload mode is performed, the predetermined input received from the operator, etc., includes predetermined input from the operator to the input device 52, as well as predetermined input from the operator via the remote control support device 200. Furthermore, when the initial soil removal operation toward the load in payload mode is performed, the predetermined input received from the operator, etc., may also include predetermined input from the monitor via the remote monitoring support device.

[0122] The predetermined input received from the operator, etc., when the initial soil removal operation toward the load in payload mode is performed is a type of input specifically set for registration. Alternatively, the predetermined input received from the operator, etc., when the initial soil removal operation toward the load in payload mode is performed may also be a predetermined input that is required during loading operations when soil is removed from the load (the bed of the dump truck DT), regardless of registration. As a result, the controller 30 does not need to make the operator aware of the input for registration, and can automatically register the slewing angle of the upper slewing body 3 and the measured height of the bucket 6 in conjunction with the operator's normal loading operation of the shovel 100.

[0123] Furthermore, the cancellation processing unit 304 performs a cancellation process if, for example, a condition (hereinafter referred to as the "cancellation condition") is met, indicating that the location where soil was removed by the most recent soil removal operation, as determined by the load amount calculation unit 303, corresponds to a location different from the object to be loaded, where soil removal operations may be performed. The location different from the object to be loaded, where soil removal operations may be performed, is, for example, a location where excavation operations are performed. On the other hand, the cancellation processing unit 304 does not perform a cancellation process if the cancellation condition is not met.

[0124] For example, the cancellation condition is that, when the shovel 100 is viewed from above, the orientation of the attachment AT when the most recent soil removal operation was performed corresponds to the direction in which the excavation operation is performed as viewed from the shovel 100. Specifically, for example, the cancellation condition is that the rotation angle of the upper rotating body 3 when the most recent soil removal operation was performed is within a predetermined range that includes a reference rotation angle (hereinafter, for convenience, referred to as the "cancellation reference angle") that corresponds to the direction in which the excavation operation is performed as viewed from the shovel 100.

[0125] Furthermore, for example, a cancellation condition is that the height of the bucket 6 at the time of the most recent soil removal operation corresponds to a height different from that of the object being loaded, where the soil removal operation may be performed. Specifically, for example, a cancellation condition is that the height of the bucket 6 at the time of the most recent soil removal operation (for example, the height of the back) is within a predetermined range that includes a reference height set near the location of the ground where the excavation operation is performed (hereinafter, for convenience, referred to as the "cancellation reference height"). This predetermined range is set at a position sufficiently lower than the height Hd of the side panels.

[0126] For example, when the initial drilling operation is performed in payload mode, the controller 30's auxiliary storage device registers the measured value of the upper slewing angle 3 based on a predetermined input received from the operator or the like. As a result, the controller 30 can set the cancellation threshold value based on the measured value of the upper slewing angle 3 that it has registered.

[0127] Furthermore, at the start of payload mode, the controller 30 may set a cancellation reference angle by recognizing the location where the excavation operation is performed as seen from the shovel 100, based on the orientation sensor S6 and the image captured by the imaging device 40.

[0128] Similarly, for example, when the initial loading and excavation operation is performed in payload mode, the measured (calculated) height of a specific part of the bucket 6 is registered in the auxiliary storage device of the controller 30 based on predetermined input received from the operator or the like. As a result, the controller 30 can set a cancellation reference height based on the measured height of the specific part of the bucket 6 that is registered in it.

[0129] Furthermore, at the start of payload mode, the controller 30 may set a cancellation reference height by recognizing the location where the excavation operation is performed as seen from the shovel 100, based on the orientation sensor S6 and the image captured by the imaging device 40.

[0130] The predetermined input received from the operator, etc., when the initial digging operation is performed in payload mode is a type of input specifically set for registration. Alternatively, the predetermined input received from the operator, etc., when the initial digging operation is performed in payload mode may also be a predetermined input that is required to be performed during the digging operation during loading work, regardless of registration. As a result, the controller 30 does not need to make the operator aware of the input for registration, and can automatically register the slewing angle of the upper slewing body 3 and the measured height of the bucket 6 in conjunction with the operator's normal operation of the shovel 100 for loading work.

[0131] The display processing unit 305 causes the display device 50 to display a predetermined screen. Details of the screen displayed on the display device 50 will be described later (see screen 41 in Figures 6 and 7).

[0132] For example, the display processing unit 305 transmits the content to be displayed on the display device 50 (display content) to the display device 50, and the processing unit built into the display device 50 generates a screen based on the display content received from the controller 30 and displays it in the display area of ​​the display device 50. Alternatively, the display processing unit 305 may generate a screen to be displayed on the display device 50 and transmit the image of the screen to the display device 50, thereby displaying the screen directly in the display area of ​​the display device 50.

[0133] [Other functions of the shovel] This section describes the Shovel 100's features other than its payload capabilities.

[0134] <Crane function> Shovel 100, for example, has a crane function.

[0135] The crane function is a function that assists the operator in crane operations, where a load is suspended from a hook (not shown) located at the tip of the AT attachment of the shovel 100 and moved from there.

[0136] The crane function is implemented by a control mode (hereinafter referred to as "lift mode" for convenience) for controlling the crane function of the controller 30.

[0137] The controller 30 prohibits the opening of the bucket 6 in lift mode. This prevents the bucket 6 from opening during crane operation.

[0138] Furthermore, in lift mode, the controller 30 limits the operating speed of the hydraulic actuator HA. Specifically, the controller 30 sets the operating speed of the attachment in response to the operation of the hydraulic actuator HA to a lower level than in normal mode (also referred to as "normal mode"). Normal mode is the standard control mode of the controller 30. This allows the controller 30 to suppress large swings and drops of the suspended load during crane operation.

[0139] Furthermore, in lift mode, the controller 30 calculates the load state of the shovel 100 due to the suspended load and displays the calculation result on the display device 50 inside the cabin 10. This allows the operator in the cabin 10 to proceed with crane operations while being aware of the load state of the shovel 100 due to the suspended load.

[0140] The load state of the shovel 100 is divided into several stages, and is defined by the load (weight) W of the suspended load. The load W of the suspended load is measured based on the output of the cylinder pressure sensors S7 to S9, as described above. Specifically, the load state of the shovel 100 may be defined in order from lowest to highest as the first stage, second stage, and third stage. The first stage represents a state in which the load W of the suspended load is less than the threshold Wth1. The threshold Wth1 is predetermined as a value less than the predetermined rated load Wlim. The second stage represents a state in which the load W of the suspended load is greater than or equal to the threshold Wth1 and less than the threshold Wth2. The threshold Wth2 is predetermined as a value greater than the threshold Wth1 and less than the rated load Wlim. The third stage represents a state in which the load W of the suspended load is greater than or equal to the threshold Wth2.

[0141] Furthermore, the load condition of the shovel 100 may take into account not only the load of the suspended load but also the posture of the attachment AT. The posture of the attachment AT is measured based on the outputs of the posture sensors S1 to S4 and the slewing angle sensor S5, as described above. For example, the controller 30 may calculate the tipping moment of the shovel 100 from the load of the suspended load and the posture of the attachment, and then calculate the load condition of the shovel 100 due to the suspended load based on the magnitude of the tipping moment.

[0142] Furthermore, in lift mode, the controller 30 changes the color of the external indicator light (not shown) according to the load state of the shovel 100 due to the suspended load. For example, when the load state of the shovel 100 due to the suspended load is in the first stage, the controller 30 controls the external indicator light to emit green or blue light. When the load state of the shovel 100 due to the suspended load is in the second stage, the controller 30 controls the external indicator light to emit yellow or orange light. When the load state of the shovel 100 due to the suspended load is in the third stage, the controller 30 controls the external indicator light to emit red light. As a result, the controller 30 allows workers around the shovel 100, such as workers performing rigging work, to confirm the load state of the shovel 100 due to the suspended load by the color of the external indicator light.

[0143] <Machine guidance function and machine control function> Excavator 100 has, for example, a machine guidance function and a machine control function.

[0144] The machine guidance function and machine control function are functions that assist the operator in performing operations on the workpiece using the shovel 100 in relation to the target shape of the workpiece. The target shape of the workpiece is, for example, a predetermined target construction surface.

[0145] Specifically, the machine guidance function provides the operator with information regarding the relative position and relative posture of the work area of ​​the attachment AT relative to the target shape of the work object via the display device 50.

[0146] Furthermore, the machine control function allows the shovel 100 to automatically or semi-automatically operate the attachment AT to achieve the target shape of the workpiece. In addition to the attachment AT, the machine control function may also automatically or semi-automatically operate the lower traveling body 1 and the upper rotating body 3.

[0147] Furthermore, semi-automatic operation includes, for example, a mode in which, when an operator operates one hydraulic actuator HA, other hydraulic actuators HA operate in conjunction, thereby causing the attachment AT to operate to achieve the target shape of the workpiece. In addition, semi-automatic operation may also include a mode in which, based on operator operation, the operation of the attachment AT is appropriately corrected from the operation corresponding to the operator's operation, thereby causing the attachment AT to operate to achieve the target shape of the workpiece.

[0148] The machine control function and machine guidance function are implemented by a control mode (hereinafter referred to as "MC-MG mode" for convenience) for controlling the machine control function and machine guidance function in the controller 30.

[0149] For example, in MC-MG mode, the controller 30 always provides machine guidance functionality. Furthermore, in MC-MG mode, the controller 30 provides machine control functionality when an input requesting machine control functionality is received from the operator via the input device 52.

[0150] In MC-MG mode, the controller 30 measures the distance between the work area of ​​the attachment AT, i.e., the reference point of the bucket 6, and the target construction surface, and notifies the operator of this distance via the display device 50. The reference point of the bucket 6 is, for example, the point corresponding to the tip of the bucket 6. Alternatively, the reference point of the bucket 6 is a predetermined point on the flat surface on the back of the bucket 6. Furthermore, the reference point of the bucket 6 may be changed depending on the nature of the work.

[0151] Furthermore, in MC-MG mode, the controller 30 measures the orientation of the work area (bucket 6) of the attachment AT relative to the target construction surface and notifies the operator of this orientation via the display device 50.

[0152] Furthermore, in MC-MG mode, when the machine control function is enabled, the controller 30 operates attachment AT, etc., in response to operator input or automatically, so that the reference point of the bucket 6 moves along the target trajectory.

[0153] The target trajectory is defined, for example, to follow the target construction surface. Alternatively, the target trajectory may be defined based on a comparison between the target construction surface and the shape of the current work area ground. The shape of the current work area ground is obtained, for example, based on images from the imaging device 40. For example, if the difference between the target construction surface and the shape of the current work area ground is greater than or equal to a predetermined standard, the target trajectory for rough excavation is defined to reduce the difference between the work area ground and the target construction surface. On the other hand, if the difference between the target construction surface and the shape of the current work area ground is less than a predetermined standard, the target trajectory is defined to follow the target construction surface.

[0154] [Example of a display screen] Referring to Figure 6, an example of the screen 41 of the display device 50 will be described.

[0155] Furthermore, a screen with the same content as screen 41 in this example (Figure 6) may be displayed on the remote control display device of the remote control support device 200 or the monitoring display device of the remote monitoring support device.

[0156] In this example, the explanation assumes that the controller 30 has four or more control modes, including the normal mode, payload mode, lift mode, and MC-MG mode described above. The same applies to the example shown in Figure 7 below.

[0157] Furthermore, the controller 30 may have two or three control modes.

[0158] Figure 6 shows an example of the screen 41 of the display device 50. Specifically, Figure 6 shows a concrete example of the screen 41 when normal mode is selected as the control mode.

[0159] Screen 41 includes display areas 41A to 41E.

[0160] Display areas 41A to 41E are arranged vertically from top to bottom.

[0161] The display area 41A is located at the top of the screen 41. The display area 41A displays fixed content regardless of the control mode selected by the controller 30.

[0162] Display area 41A includes information display areas 41a to 41e and 41g to 41k.

[0163] Information display area 41a displays the current date and time. Information display area 41b displays the currently selected driving mode of the shovel 100. Information display area 41c displays an image representing the currently installed end attachment. Information display area 41d displays information regarding the shovel 100's fuel consumption rate (fuel efficiency). Information display area 41d includes, for example, information display area 41d1 which displays lifetime average fuel efficiency or section average fuel efficiency, and information display area 41d2 which displays instantaneous fuel efficiency. Information display area 41e displays information representing the control status of the engine 11.

[0164] Information display area 41g displays the current temperature of the engine 11's coolant. Information display area 41h displays the remaining amount of fuel stored in the fuel tank. Information display area 41i displays the operating mode corresponding to the engine speed of the engine 11. Information display area 41j displays the remaining amount of urea solution stored in the urea solution tank. Information display area 41k displays the temperature of the hydraulic fluid in the hydraulic drive system.

[0165] Display areas 41B to 41D are located in the vertical center of screen 41. Display areas 41B to 41D display content specific to the control mode selected by the controller 30. The display content specific to each of the multiple control modes may be fixed or may be changeable in response to requests from the user via the input device 52.

[0166] The surrounding image display area 41n is displayed in the display areas 41B and 41C.

[0167] The surrounding image display area 41n displays an image (hereinafter referred to as "surrounding image") representing the area around the shovel 100, based on the image captured by the imaging device 40. The surrounding image display area 41n includes surrounding image display areas 41n1 to 41n3.

[0168] The peripheral image display area 41n1 is displayed in display area 41B adjacent to and below the information display area 41d included in display area 41A.

[0169] In this example, the peripheral image display area 41n1 displays an overhead view image FV of the area around the shovel 100, generated based on the image captured by the imaging device 40. In addition, the peripheral image display area 41n1 displays a shovel image GE, which simulates the shovel 100 from a top view. The shovel image GE and the overhead view image FV are arranged in the peripheral image display area 41n1 so that their relative positions match the relative positions of the shovel 100 and the imaging range included in the overhead view image FV.

[0170] The peripheral image display areas 41n2 and 41n3 are displayed in the display area 41C adjacent to the lower part of the peripheral image display area 41n1. The peripheral image display areas 41n2 and 41n3 are positioned adjacent to the left and right portions of the display area 41C, respectively, with respect to the center in the horizontal direction.

[0171] In this example, the rear image BM, which shows the view behind the shovel 100, is displayed in the peripheral image display area 41n2, and the right image RM, which shows the view to the right of the shovel 100, is displayed in the peripheral image display area 41n3. The rear image BM and the right image RM correspond to the images captured by camera 40B and camera 40R, respectively.

[0172] Display area 41D includes information display areas 41f and 41m.

[0173] The information display area 41f is positioned below and adjacent to the surrounding image display area 41n2. The cumulative operating time of the engine 11 is displayed in the information display area 41f.

[0174] The information display area 41m is positioned below the surrounding image display area 41n3 and adjacent to the right of the information display area 41f. The operating status of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

[0175] Information display area 41m1 shows the location of the air outlet currently being used for airflow from the air conditioner. Information display area 41m2 shows the current operating mode of the air conditioner. Information display area 41m3 shows the current set temperature of the air conditioner. Information display area 41m4 shows the current set airflow of the air conditioner.

[0176] The display area 41E is located at the bottom of the screen 41. The display area 41E displays fixed content regardless of the control mode selected by the controller 30. Specifically, the display area 41E displays a group of tabs 41q of operation elements for selecting one control mode to be applied to the controller 30 from among multiple control modes. For example, the operator can operate the tab group 41q by using the touch panel of the display device 50 as the input device 52. Alternatively, the operator may operate the tab group 41q by using switches attached to the display device 50 as the input device 52.

[0177] Hereinafter, among the display areas 41A to 41E, display areas 41A and 41E that do not depend on the control mode of the controller 30 will be conveniently referred to as "fixed display areas," and display areas 41B to 41D that depend on the control mode will be conveniently referred to as "variable display areas."

[0178] Tab group 41q includes tabs 41q1 to 41q6. Tabs 41q1 to 41q6 are arranged from left to right in a horizontal direction.

[0179] Tab 41q1 is an operation icon for configuring settings related to screen 41.

[0180] For example, settings for screen 41 include settings for tab group 41q. Settings for tab group 41q include, for example, settings for the order in which operation icons corresponding to the four control modes are arranged in tabs 41q2 to 41q5. This allows the operator to customize the order in which the operation icons corresponding to the four control modes are placed in tabs 41q2 to 41q5. The position of the operation icon corresponding to normal mode may also be fixed to tab 41q2. In this case, the operator can customize the order in which the operation icons corresponding to the three control modes are placed in tabs 41q3 to 41q5. Settings for tab group 41q may also include settings for the specifications of the cursor (also called a "pointer") that represents the control mode of the selected controller 30. The cursor (pointer) is a means of identifying a position on screen 41, and in this example, the control mode of the controller 30 can be represented by identifying one of the tabs in tab group 41q. For example, as shown in Figure 6, the cursor is implemented by highlighting the operation icon corresponding to the selected control mode, but it may also be implemented by a rectangular frame surrounding the operation icon, etc., through a setting change. Hereafter, the state in which the operation icon of one of the operation tabs is highlighted may be described as the state in which the cursor is positioned for convenience. In addition, the settings for tab group 41q include a setting to select four control modes corresponding to the four operation icons arranged in tabs 41q2 to 41q5 from among the multiple control modes when there are four or more control modes. For example, as shown in Figure 5, tabs 41q3 to 41q5 display operation icons corresponding to payload mode, lift mode, and MC-MG mode, respectively, but some or all of them may be changed to operation icons corresponding to other control modes. Also, the operation icon corresponding to normal mode may always be included in tabs 41q2 to 41q5. In this case, the operator can customize the three control modes corresponding to the three operation icons arranged in tabs 41q2 to 41q5, excluding the operation icon corresponding to normal mode.

[0181] Furthermore, the settings for screen 41 may include specifications regarding the display content of the variable display area of ​​screen 41 for each control mode (i.e., display area 41B to display area 41D).

[0182] For example, when tab 41q1 is selected, multiple operation icons corresponding to multiple possible settings are expanded adjacent to each other on the tab group 41q. This allows the operator to perform the desired setting operation by selecting one of the expanded operation icons using a touch panel or the like as an input device 52.

[0183] Tabs 41q2 to 41q5 are operation icons corresponding to four of the multiple control modes. This allows the operator to select one of the multiple control modes to be applied to the controller 30 by using the input device 52, such as a touch panel, to select and confirm one of the tabs 41q2 to 41q5.

[0184] In this example, tab 41q2 displays an operation icon corresponding to the normal mode. The operator can select the normal mode from among several control modes as the control mode applied to the controller 30 by operating tab 41q2 using the touch panel, which serves as the input device 52.

[0185] In this example, tab 41q3 displays operation icons corresponding to the lift mode. This allows the operator to select a lift mode from among several control modes to be applied to the controller 30 by operating tab 41q3 using a touch panel or the like as an input device 52.

[0186] In this example, tab 41q4 displays an operation icon corresponding to the MC-MG mode. This allows the operator to select the MC-MG mode from among several control modes as the control mode applied to the controller 30 by operating tab 41q4 using a touch panel or the like as an input device 52.

[0187] In this example, tab 41q5 displays operation icons corresponding to the payload mode. This allows the operator to select a payload mode from among several control modes to be applied to the controller 30 by operating tab 41q5 using a touch panel or the like as an input device 52.

[0188] Tab 41q6 is an operation icon that corresponds to a control mode other than the four control modes corresponding to the operation icons on tabs 41q2 to 41q5, when there are four or more control modes. This allows the operator to select a control mode other than the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 by using the input device 52, such as a touch panel, to select the tab on tab 41q6.

[0189] For example, when tab 41q6 is selected, operation icons corresponding to other control modes different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 are expanded adjacent to the tab group 41q. This allows the operator to select a control mode different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 by using an input device such as a touch panel to select one of the expanded operation icons.

[0190] For example, if another control mode corresponding to tab 41q6 is selected as the control mode applied to controller 30, the operation icon on tab 41q6 will change from the state in this example to the operation icon corresponding to the other selected control mode. The cursor will then be moved to tab 41q6. This allows the user to check the control mode currently applied to controller 30 through the operation icon on tab 41q6.

[0191] In this example, the normal mode is selected as the control mode applied to the controller 30 from among several control modes. Therefore, tab 41q2, which displays the operation icon corresponding to the normal mode within the tab group 41q, is highlighted, and the cursor is positioned on tab 41q2. This allows the operator to confirm that the normal mode is selected.

[0192] Furthermore, the display content of the variable display area corresponding to the normal mode, specifically the type and arrangement of the displayed information, may be changed according to predetermined inputs received from the operator via the input device 52. Specifically, the controller 30 may change the settings of the display content of the variable display area in response to operations on the tab 41q1 via the touch panel, which serves as the input device 52. For example, the display content of the peripheral image display area 41n, specifically the type and arrangement of peripheral images included in the peripheral image display area 41n, may be arbitrary. Similarly, the display content of the variable display area corresponding to other control modes may also be changed.

[0193] [Other examples of display screens] Referring to Figure 7, another example of the screen 41 of the display device 50 will be described. The screen 41 corresponding to the payload mode will be described.

[0194] Furthermore, a screen with the same content as screen 41 in this example (Figure 7) may be displayed on the remote control display device of the remote control support device 200 or the monitoring display device of the remote monitoring support device.

[0195] Figure 7 shows another example of the screen 41 of the display device 50. Specifically, Figure 7 shows a concrete example of the screen 41 when payload mode is selected as the control mode.

[0196] As shown in Figure 7, screen 41 includes display areas 41A to 41E, similar to the example described above (Figure 6).

[0197] In this example, the explanation will focus on the display content of the variable display area (display area 41B to 41D) which displays content specific to the payload mode corresponding to the control mode currently applied to the controller 30. Furthermore, in this example, the explanation will focus on parts that are the same as or different from the display content of screen 41 corresponding to the normal mode described above, and explanations of the same or corresponding display content may be omitted.

[0198] In display areas 41B and 41C, the surrounding image display area 41n is displayed, just as in normal mode.

[0199] The peripheral image display area 41n includes peripheral image display areas 41n1 and 41n4.

[0200] In the surrounding image display area 41n1, the shovel image GE and the overhead view image FV are displayed, just as in normal mode.

[0201] The peripheral image display area 41n4 is displayed in the display area 41C adjacent to the lower part of the peripheral image display area 41n1. The peripheral image display area 41n4 corresponds to the combined display area of ​​the peripheral image display areas 41n2 and 41n3 in normal mode. The rear image BM is displayed in the peripheral image display area 41n4.

[0202] Display area 41D includes information display areas 41f, 41m, 41r and tab group 41s.

[0203] The information display areas 41f and 41m are positioned adjacent to each other below the surrounding image display area 41n4.

[0204] The information display area 41r is positioned below the information display areas 41f and 41m, and adjacent to the tab group 41s above. The information display area 41r displays information related to the payload mode. The information display area 41r includes a dump image 41r1, numerical information images 41r2 and 41r3, a bucket image 41r4, a soil image 41r5, and a numerical information image 41r6.

[0205] Image 41r1 is a simulated side view of a dump truck. The side view of the dump truck in image 41r1 displays a bar graph representing the load capacity of the dump truck's cargo bed. The bar graph shows the ratio of the amount of soil loaded on the dump truck's cargo bed to the truck's maximum load capacity. This allows the operator to intuitively understand the load status of the soil on the dump truck.

[0206] Numerical information image 41r2 represents the remaining load capacity of the dump truck's cargo bed, while numerical information image 41r3 represents the amount of soil and sand loaded onto the dump truck's cargo bed. The value displayed as numerical information image 41r2 corresponds to the maximum load capacity of the dump truck's cargo bed minus the load capacity corresponding to numerical information image 41r3. This allows the operator to understand the status of soil and sand loading onto the dump truck in concrete numerical terms.

[0207] Bucket image 41r4 is a simulated image representing the state of scooping up soil into bucket 6. Soil image 41r5 is drawn adjacent to the opening of bucket 6. Soil image 41r5 is displayed when bucket 6 contains soil, and not displayed when bucket 6 does not contain soil.

[0208] The numerical information image 41r6 represents the weight of the contents (e.g., soil) inside bucket 6. This allows the operator to know the weight of the soil inside bucket 6 before unloading.

[0209] If the weight of the contents inside the bucket 6, corresponding to the numerical information image 41r6, is greater than the remaining load capacity of the dump truck, corresponding to the numerical information image 41r2, the display mode of the information display area 41r may be changed. For example, the color of at least part of the dump image 41r1, numerical information images 41r2, 41r3, bucket image 41r4, soil image 41r5, and numerical information image 41r6 may be changed to red. This allows the controller 30 to ensure that the operator understands that there is a possibility of overloading if the soil from the bucket 6 is discharged onto the dump truck bed.

[0210] The tab group 41s is positioned below the information display area 41r and adjacent to the information in tab group 41q. The tab group 41s is a dedicated operation element for making various inputs related to the payload mode.

[0211] Tab group 41s includes tabs 41s1 to 41s6. Tabs 41s1 to 41s6 are arranged from left to right in a horizontal direction.

[0212] Tab 41s1 is an operation icon for selecting the type of dump truck DT to be used in payload mode from a predetermined set of types. This allows the operator to select the type of dump truck DT to be used in payload mode according to the actual dump truck DT by operating Tab 41s1. For example, the controller 30 can then calculate the remaining load capacity according to the type of dump truck DT selected through Tab 41s1.

[0213] Tab 41s2 is an operation icon for setting the target value of the load capacity.

[0214] Tab 41s3 is an operation icon for instructing the start of the loading operation. By operating Tab 41s3, the operator can cause the controller 30 to start the process of calculating the load amount.

[0215] Tab 41s4 is an operation icon for manually instructing (requesting) the cancellation process described above. This allows the operator to manually instruct the controller 30 to perform the cancellation process by operating Tab 41s4.

[0216] Tab 41s5 is an operation icon used to signal the end of the loading operation. By operating Tab 41s5, the operator can cause the controller 30 to terminate the loading amount calculation process.

[0217] In this example, the payload mode is selected as one of the control modes applied to the controller 30 from among several control modes. Therefore, tab 41q5, which displays the operation icon corresponding to the payload mode within the tab group 41q, is highlighted, and the cursor is positioned on tab 41q5. This allows the operator to confirm that the payload mode has been selected.

[0218] [Processing related to payload functionality] Refer to Figure 8 for a detailed explanation of the processing related to the payload function.

[0219] Figure 8 is a flowchart illustrating an example of the processing related to the payload function.

[0220] This flowchart starts when the payload mode is selected and the user provides input indicating the start of loading (for example, by operating tab 41s3 on screen 41 in Figure 7). The following explanation assumes that the load capacity LC is initialized to 0 (zero) at the start of this flowchart.

[0221] As shown in Figure 8, in step S102, the controller 30 acquires the measurement values ​​from the attitude sensors S1 to S4.

[0222] Once the processing in step S102 is complete, the controller 30 proceeds to step S104.

[0223] In step S104, the load capacity calculation unit 303 determines whether or not the excavation operation of the shovel 100 has been performed based on the measurements from the attitude sensors S1 to S4. Alternatively, the load capacity calculation unit 303 may determine whether or not the excavation operation of the shovel 100 has been performed based on, or in addition to, the operating status of the attachment AT, the output of the cylinder pressure sensors S7 to S9, and at least one of the images captured by the camera 40F. If the excavation operation of the shovel 100 has been performed, the load capacity calculation unit 303 proceeds to step S106; if the excavation operation of the shovel 100 has not been performed, the process proceeds to step S108.

[0224] Furthermore, the load capacity calculation unit 303 may determine whether or not the excavation operation of the shovel 100 has been performed based on the content of the operation signal, remote operation signal, or automatic operation command output from the operating device 26, as described above. The same applies to the processing in step S120 described later.

[0225] In step S106, the controller 30 determines whether or not input for registering the measured value has been received from the user within a certain period of time. If input for registering the measured value has not been received within a certain period of time, the controller 30 proceeds to step S108; otherwise, it proceeds to step S110.

[0226] In step S108, the controller 30 determines whether an input indicating the completion of the loading operation has been received from the user (for example, an input indicating the operation of tab 41s3 on screen 41 in Figure 7). If the controller 30 has not received an input indicating the completion of the loading operation from the user, it returns to step S102. If the controller 30 has received an input indicating the completion of the loading operation from the user, it terminates the processing of this flowchart.

[0227] Meanwhile, in step S110, the load capacity calculation unit 303 obtains the measured value of the soil weight SW immediately before the excavation operation performed by the shovel 100.

[0228] Once the processing in step S110 is complete, the controller 30 proceeds to step S112.

[0229] In step S112, the load capacity calculation unit 303 updates the load capacity LC by adding the soil weight SW obtained in step S110 to the current load capacity LC (LC = LC + SW).

[0230] Once the processing in step S112 is complete, the controller 30 proceeds to step S114.

[0231] In step S114, the controller 30 obtains a measurement of the slewing angle of the upper slewing body 3 or the height of the bucket 6.

[0232] In step S114, the controller 30 may retrospectively acquire the slewing angle of the upper slewing body 3 or the height of the bucket 6 from the most recent soil removal operation performed by the shovel 100, rather than the current measurement. For example, the controller 30 can retrospectively acquire the slewing angle of the upper slewing body 3 or the height of the bucket 6 from the most recent soil removal operation performed by the shovel 100 by storing the measurement values ​​of the slewing angle of the upper slewing body 3 or the height of the bucket 6 from the most recent soil removal operation performed by the shovel 100 in a cyclic buffer area defined in its memory device, i.e., a ring buffer (also called a "circular buffer"). The buffer area is a storage area defined in the memory device that temporarily holds data. In the ring buffer, the start and end are logically linked, and data is stored historically from the start to the end. Once data is stored up to the end, it returns to the start, and the data is overwritten from the start.

[0233] Once the processing in step S114 is complete, the controller 30 proceeds to step S116.

[0234] In step S116, the controller 30 registers the acquired measurement values ​​in its auxiliary storage device or the like.

[0235] This allows the controller 30 to set the aforementioned non-cancellation reference angle or non-cancellation reference height based on separately registered measurement values.

[0236] Furthermore, the controller 30 may perform a process to set the non-cancellation reference height between steps S116 and S118.

[0237] Once the processing in step S116 is complete, the controller 30 proceeds to step S118.

[0238] In step S118, the load capacity calculation unit 303 determines whether or not the excavation operation of the shovel 100 has been performed based on the measurements from the attitude sensors S1 to S4. If the excavation operation of the shovel 100 has not been performed, the load capacity calculation unit 303 proceeds to step S122; if the excavation operation of the shovel 100 has been performed, the unit proceeds to step S124.

[0239] In step S122, the controller 30 determines whether or not it has received an input from the user indicating the completion of the loading operation. If the controller 30 has not received an input from the user indicating the completion of the loading operation, it returns to step S118. If it has received an input from the user indicating the completion of the loading operation, it terminates the process of this flowchart.

[0240] Meanwhile, in step S124, the load capacity calculation unit 303 and the controller 30 acquire the measured value of the soil weight SW immediately before the excavation operation performed by the shovel 100.

[0241] Once the processing in step S124 is complete, the controller 30 proceeds to step S126.

[0242] In step S126, the load capacity calculation unit 303 updates the load capacity LC by adding the soil weight SW obtained in step S110 to the current load capacity LC (LC = LC + SW).

[0243] Once the processing in step S126 is complete, the controller 30 proceeds to step S128.

[0244] In step S128, the cancellation processing unit 304 reads the already set non-cancellation criteria (non-cancellation criterion angle or non-cancellation criterion height) from the auxiliary storage device or the like.

[0245] Once the processing in step S128 is complete, the controller 30 proceeds to step S130.

[0246] In step S130, the cancellation processing unit 304 uses the non-cancellation criteria read in step S128 to determine whether the location where soil was removed by the most recent soil removal operation of the shovel 100 corresponds to the bed of the dump truck DT. If the location where soil was removed by the most recent soil removal operation of the shovel 100 corresponds to the bed of the dump truck DT, the cancellation processing unit 304 proceeds to step S132; otherwise, it proceeds to step S134.

[0247] In step S132, the cancellation processing unit 304 determines whether or not an input requesting a manual cancellation process has been received from the user (for example, an input requesting to operate tab 41s4 on screen 41 in Figure 7). If an input requesting a manual cancellation process has been received from the user, the cancellation processing unit 304 proceeds to step S134; otherwise, it proceeds to step S138.

[0248] In step S134, the cancellation processing unit 304 cancels the addition of the load amount that was performed once in step S126 by subtracting the most recently added soil weight SW from the load amount LC (LC = LC - SW).

[0249] Once the processing in step S134 is complete, the controller 30 proceeds to step S136.

[0250] In step S136, the display processing unit 305 displays an image on the display device 50 indicating that the addition of soil weight SW associated with the most recent soil removal operation of the shovel 100 has been canceled.

[0251] For example, the display processing unit 305 displays a pop-up on screen 41 in Figure 7 for a certain period of time, notifying the user that the addition of soil weight SW associated with the most recent soil removal operation of the shovel 100 has been canceled.

[0252] Once the processing in step S136 is complete, the controller 30 proceeds to step S138.

[0253] Furthermore, between steps S136 and S138, the controller 30 may accept input from the user to invalidate the automatically performed cancellation process. In this case, if input from the user to invalidate the automatically performed cancellation process is received, the controller 30 performs the same process as in step S126 again. This allows the user to correct the load amount LC if the automatic cancellation process is inappropriate.

[0254] In step S138, the controller 30 determines whether or not an input indicating the completion of the loading operation has been received from the user. If the controller 30 has not received an input indicating the completion of the loading operation from the user, it returns to step S118. If an input indicating the completion of the loading operation has been received from the user, the controller 30 terminates the processing of this flowchart.

[0255] [Other embodiments] Other embodiments will be described.

[0256] The embodiments described above may be modified or altered as appropriate. Hereinafter, examples obtained by modifying or altering the embodiments described above will be conveniently referred to as "modified examples".

[0257] For example, in the above embodiment, the cancellation processing unit 304 may determine whether the location from which soil was discharged during the most recent soil removal operation corresponds to the object to be loaded, based on the position of the bucket 6 in a top view, instead of the height position of the bucket 6, or in addition to that, the position of the bucket 6 in a top view. In this case, for example, when the initial soil removal operation toward the object to be loaded is performed, the measured value of the position of the bucket 6 in a top view is registered in the auxiliary storage device of the controller 30 based on a predetermined input received from the operator, etc. This allows the controller 30 to set a non-cancellation condition based on the measured value of the position of the bucket 6 in a top view at the time of the initial soil removal operation toward the object to be loaded, which is registered in the auxiliary storage device. Alternatively, for example, when the initial excavation operation is performed, the measured value of the position of the bucket 6 in a top view is registered in the auxiliary storage device of the controller 30 based on a predetermined input received from the operator, etc. This allows the controller 30 to set a cancellation condition based on the measured value of the position of the bucket 6 in a top view at the time of the initial excavation operation, which is registered in the auxiliary storage device.

[0258] Furthermore, in the above-described embodiment, the cancellation processing unit 304 may determine whether the location where soil is discharged by the soil discharge operation of the shovel 100 corresponds to the object to be loaded, based on information input by the user specifying the position and orientation (direction) of the object to be loaded as seen from the shovel 100. In this case, the user inputs the position and orientation of the object to be loaded as seen from the shovel 100 via the input device 52, the remote operation support device 200, or the remote monitoring support device, and this information specifying the position and orientation is registered in the auxiliary storage device of the controller 30. As a result, the controller 30 can set non-cancellation conditions based on the information specifying the position and orientation (direction) of the object to be loaded as seen from the shovel 100.

[0259] Similarly, in the above-described embodiment, the cancellation processing unit 304 may determine whether the location where soil is removed by the soil removal operation of the shovel 100 corresponds to the object to be loaded, based on information input by the user specifying the position and direction in which the soil removal operation by the attachment AT is performed as seen from the shovel 100. In this case, the user inputs information specifying the position and direction in which the soil removal operation by the attachment AT is performed as seen from the shovel 100, via the input device 52, the remote operation support device 200, or the remote monitoring support device, and this information specifying the position and direction is registered in the auxiliary storage device of the controller 30. As a result, the controller 30 can set cancellation conditions based on the information specifying the position and direction (orientation) in which the soil removal operation by the attachment AT is performed as seen from the shovel 100.

[0260] Furthermore, in the above-described embodiment, the cancellation processing unit 304 may determine, based on the output of the imaging device 40 (for example, camera 40F) or the distance sensor, whether the position where the soil was discharged by the excavation operation of the shovel 100 corresponds to the object to be loaded (the cargo bed of the dump truck DT).

[0261] Furthermore, in the embodiments and modifications described above, when the shovel 100 is remotely operated or remotely monitored, various functions related to the payload function may be transferred to the remote operation support device 200 or the remote monitoring support device. In this case, in order to realize the various functions in the remote operation support device 200 or the remote monitoring support device, the outputs of the attitude sensors S1-S4, the slewing angle sensor S5, the orientation sensor S6, and the cylinder pressure sensors S7-S9 are transmitted from the shovel 100 to the remote operation support device 200 or the remote monitoring support device. For example, when the shovel 100 is remotely operated, some or all of the functions related to the processing in Figure 8, such as the position / attitude calculation unit 301, the load calculation unit 302, the load amount calculation unit 303, the cancellation processing unit 304, and the display processing unit 305, are transferred to the remote operation support device 200. Similarly, for example, when the operation of the shovel 100 is remotely monitored, some or all of the functions that execute the processing in Figure 8 are transferred to the remote monitoring support device.

[0262] Furthermore, in the embodiments and modifications described above, the controller 30 calculates the load capacity of the object to be loaded by releasing (removing soil) the soil contained in the bucket 6 onto the object to be loaded. However, the controller 30 may also calculate the load capacity of the object to be loaded by releasing an object held by another type of end attachment onto the object to be loaded. When an object held by another type of end attachment is released, the controller 30 adds the weight of that object to the load capacity and performs a cancellation process if the most recent release location of the object does not correspond to the object to be loaded. For example, the controller 30 calculates the load capacity of the object to be loaded by releasing an object held by a grappler or lifting magnet onto the object to be loaded. When an object held by a grappler or lifting magnet is released, the controller 30 adds the weight of that object to the load capacity and performs a cancellation process if the most recent release location of the object does not correspond to the object to be loaded.

[0263] Furthermore, the method for calculating the load capacity of an object to be loaded, as described in the above embodiments and modifications, by releasing the object held by the end attachment onto the object to be loaded, may also be applied to other types of work machines different from excavators. Other types of work machines include, for example, crawler cranes.

[0264] Furthermore, in the embodiments and modifications described above, when an object held by the end attachment is released, the controller 30, etc., adds the weight of the object to the load capacity, and then cancels the addition to the load capacity if the position from which the object was released does not correspond to the object to be loaded. However, it may also cancel the addition without adding the weight. Specifically, when the end attachment performs a predetermined operation to release an object, the controller 30, etc., determines whether the position from which the object was released corresponds to the object to be loaded before adding the weight of the object to the load capacity. Then, the controller 30, etc., adds the weight of the object to the load capacity if the position from which the object was released corresponds to the object to be loaded, and cancels the addition of the weight of the object to the load capacity if the position from which the object was released does not correspond to the object to be loaded.

[0265] [Effect] Next, the operation of the work machine and control device according to this embodiment will be described.

[0266] In a first aspect of this embodiment, a work machine is provided comprising a lower traveling body, an upper rotating body, an attachment, a first acquisition unit, and a control unit. The work machine is, for example, the excavator 100 described above. Alternatively, the work machine may be another type of work machine other than the excavator 100, such as the crawler crane described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The attachment is, for example, the attachment AT described above. The first acquisition unit is, for example, cylinder pressure sensors S7 to S9. The control unit is, for example, the processor of the controller 30 described above. Specifically, the upper rotating body is mounted on the lower traveling body so as to be rotatable. The attachment is attached to the upper rotating body and includes an end attachment at the tip. The end attachment is, for example, the bucket 6 described above. The first acquisition unit acquires information regarding the weight of an object held by the end attachment. The object is, for example, soil and sand. The control unit calculates the load amount of the object on the object to be loaded by adding the weight of the object held by the end attachment each time the object held by the end attachment is released, based on the information acquired by the first acquisition unit. The object to be loaded is, for example, the dump truck DT described above. The load amount is, for example, the load amount LC described above. When a predetermined operation is performed by the attachment to release the object held by the end attachment, the control unit stops adding to the load amount if the position where the object was released does not correspond to the object to be loaded. The predetermined operation is, for example, a soil discharge operation to discharge soil and sand contained in the bucket 6.

[0267] Furthermore, in a first aspect of this embodiment, a control device may be provided for a work machine comprising a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, an attachment attached to the upper rotating body and including an end attachment at its tip, and a first acquisition unit that acquires information regarding the weight of an object held by the end attachment, which calculates the load amount of the object on the object to be loaded by adding the weight of the object held by the end attachment each time the object held by the end attachment is released, based on the information acquired by the first acquisition unit. The control device is, for example, the controller 30 described above. Alternatively, the control device may be, for example, a remote operation support device 200 or a remote monitoring support device. Specifically, when a predetermined operation is performed by the attachment to release the object held by the end attachment, the control device stops adding the load amount if the position where the object was released does not correspond to the object to be loaded.

[0268] This allows the work machinery and control devices (hereinafter referred to as "work machinery, etc.") to improve the accuracy of calculating the load capacity during the loading operation of the work machinery.

[0269] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, when the predetermined operation of releasing the object by the attachment is performed, the weight of the object that was most recently held by the end attachment may be added to the load capacity based on the information acquired by the first acquisition unit, and the addition to the load capacity may be canceled by subtracting the added weight when the position where the object was released does not correspond to the object to be loaded.

[0270] As a result, when implementing the process of discontinuing the addition to the total quantity in work machinery, etc., this can be achieved by adding a process to discontinue the addition to the load capacity in addition to the basic process of adding to the load capacity. Therefore, the processing structure of work machinery, etc. can be simplified.

[0271] Furthermore, in a third aspect of this embodiment, based on the first or second aspect described above, the work machine may be equipped with a storage unit that stores at least one of the following: first information relating to the position of the object to be loaded, and second information relating to a position different from the position of the object to be loaded, where the predetermined operation may be performed. The storage unit is, for example, an auxiliary storage device of the controller 30. The first information is, for example, the rotation angle of the upper rotating body 3 and the measured position of the bucket 6 when the soil discharge operation toward the object to be loaded is performed. The second information is, for example, the rotation angle of the upper rotating body 3 and the measured position of the bucket 6 when the excavation operation described above is performed. The control unit may then determine, based on the information in the storage unit, whether the position from which the object was released corresponds to the object to be loaded.

[0272] This allows the work machine, etc., to determine, based on at least one of the first and second pieces of information, whether or not the position from which the object was released from the end attachment corresponds to the object being loaded.

[0273] Furthermore, in a fourth aspect of this embodiment, based on the third aspect described above, at least one of the first information and the second information may be registered in the storage unit based on the orientation of the attachment or the position of the end attachment when a predetermined input is received from the user, or an input received from the user specifying the position or orientation as seen from the work machine.

[0274] This allows the work machine to register information that serves as the basis for determining whether the position from which an object is released from the end attachment corresponds to the object being loaded.

[0275] Further, in the fifth aspect of the present embodiment, on the premise of the above-described third or fourth aspect, after the start of the calculation of the loading amount, in accordance with the first execution of the loading operation of the object onto the object to be loaded, including the predetermined operation, at least one of the first information and the second information may be registered. Then, in the second and subsequent times of the loading operation, when the predetermined operation of releasing the object held by the end attachment by the attachment is performed, the control unit determines whether the position where the object is released corresponds to the object to be loaded based on at least one of the first information and the second information registered in the first time.

[0276] Thereby, a work machine or the like can determine whether the position where the object is released from the end attachment corresponds to the object to be loaded after the start of the loading operation and in the second and subsequent times.

[0277] Further, in the sixth aspect of the present embodiment, on the premise of any one of the above-described third to fifth aspects, the first information may be information representing the height of the end attachment when the object held by the end attachment is released toward the object to be loaded, or the turning angle of the upper slewing body.

[0278] Thereby, a work machine or the like can determine whether the position where the object is released from the end attachment corresponds to the object to be loaded.

[0279] Further, in the seventh aspect of the present embodiment, on the premise of any one of the above-described third to sixth aspects, the second information may be information representing the height of the end attachment when the operation for holding the object by the end attachment is performed, or the turning angle of the upper slewing body. For example, the operation for holding the object is, for example, the above-described excavation operation.

[0280] This allows the work machine to determine whether the position from which the object is released from the end attachment corresponds to the object being loaded.

[0281] Furthermore, in the eighth aspect of this embodiment, assuming any one of the first to seventh aspects described above, when the predetermined operation of releasing the object by the attachment is performed, the weight of the object that was most recently held by the end attachment may be added to the load capacity based on the information acquired by the acquisition unit, and when an input is received from the user requesting the cancellation of the addition to the load capacity, the addition to the load capacity may be canceled by subtracting the already added weight.

[0282] This allows the work machine to, upon request from the user, stop adding the most recently released object to the load capacity of the object being loaded. For example, even if the work machine is unable to automatically stop adding the most recently released object to the load capacity of the object being loaded, it can manually stop adding it to the load capacity upon request from the user. Thus, the work machine can further improve the accuracy of load capacity calculation during loading operations.

[0283] Furthermore, in the ninth aspect of this embodiment, the work machine may be equipped with a second acquisition unit. Specifically, the second acquisition unit may acquire information representing the posture state of the work machine. The second acquisition unit is, for example, the posture sensors S1 to S4 described above. Alternatively, the second acquisition unit may be a slewing angle sensor S5, because the slewing angle of the upper slewing body 3 corresponds to the posture state of the upper slewing body 3 around its slewing axis. The control unit may then determine, based on the information acquired by the second acquisition unit, whether the position from which the object was released corresponds to the object being loaded.

[0284] This allows the work machine to determine whether the position from which an object is released from the end attachment corresponds to the object being loaded. Furthermore, while there is a possibility of misjudgment due to noise and other factors when using outputs from, for example, imaging devices or distance sensors, the work machine can suppress misjudgment by using information that represents the posture of the work machine.

[0285] Although embodiments have been described in detail above, this disclosure is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims. [Explanation of Symbols]

[0286] 1. Lower running body 1C Crawler 1M Hydraulic Motor for Travel 2. Swivel mechanism 2M Swivel Hydraulic Motor 3. Upper rotating body 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 cabins 17 Control valve 26 Operating device 30 controllers 31 Hydraulic control valve 40 Imaging device 41 screens 41r Information display area 41r1 Dump image 41r2 Numerical Information Image 41r3 Numerical Information Image 41r4 Bucket Image 41r5 Image of soil and debris 41r6 Numerical Information Image 41s Tab Group 41s1 tab 41s2 tab 41s3 tab 41s4 tab 41s5 tab 41s6 tab 50 Display device 52 Input device 60 Communication device 100 Excavator 200 Remote operation support device 301 Position and orientation calculation unit 302 Load calculation unit 303 Payload calculation unit 304 Cancellation processing unit 305 Display processing unit AT Attachment DT Dump truck HA Hydraulic actuator LC Payload S1 Attitude sensor S2 Attitude sensor S3 Attitude sensor S4 Attitude sensor S5 Turning angle sensor S6 Azimuth sensor S7 Cylinder pressure sensor S8 Cylinder pressure sensor S9 Cylinder pressure sensor SW Earth and sand weight SYS Remote operation support system

Claims

1. Lower running body and An upper slewing body mounted on the lower traveling body so as to be able to rotate, The attachment is attached to the upper rotating body and includes an end attachment at the tip, A first acquisition unit that acquires information regarding the weight of an object held by the end attachment, The system includes a control unit that calculates the load amount of the object on the object to be loaded by adding the weight of the object held by the end attachment each time the object held by the end attachment is released, based on the information acquired by the first acquisition unit, When the control unit performs a predetermined operation to release the object held by the end attachment by the attachment, and the position from which the object was released does not correspond to the object to be loaded, the control unit cancels the addition to the load amount. A type of machinery used for industrial work.

2. When the predetermined operation of releasing the object is performed by the attachment, the weight of the object that was most recently held by the end attachment is added to the load capacity based on the information acquired by the first acquisition unit, and if the position where the object was released does not correspond to the object to be loaded, the added weight is subtracted, thereby canceling the addition to the load capacity. The work machine according to claim 1.

3. The system includes a storage unit that stores at least one of the following: first information relating to the position of the object to be loaded, and second information relating to a position different from the position of the object to be loaded, where the predetermined operation may be performed. The control unit determines, based on the information in the storage unit, whether the position from which the object was released corresponds to the object being loaded. The work machine according to claim 1 or 2.

4. At least one of the first and second pieces of information is registered in the storage unit based on the orientation of the attachment or the position of the end attachment when a predetermined input is received from the user, or an input received from the user specifying the position or orientation as seen from the work machine. The work machine according to claim 3.

5. After the calculation of the load amount begins, at least one of the first information and the second information is registered in conjunction with the first execution of the loading operation onto the object to be loaded, which includes the predetermined operation. When the predetermined operation of releasing the object held by the end attachment by the attachment is performed during the second or subsequent loading operations, the control unit determines, based on at least one of the first information and the second information registered during the first operation, whether the position from which the object was released corresponds to the object to be loaded. The work machine according to claim 3.

6. The first piece of information is information representing the height of the end attachment or the rotation angle of the upper rotating body when the object held by the end attachment is released toward the object to be loaded. The work machine according to claim 3.

7. The second piece of information is information representing the height of the end attachment or the rotation angle of the upper rotating body when the end attachment performs an action to hold the object. The work machine according to claim 3.

8. When the predetermined operation of releasing the object is performed by the attachment, the weight of the object most recently held by the end attachment is added to the load capacity based on the information acquired by the acquisition unit, and when an input is received from the user requesting the cancellation of the addition to the load capacity, the addition is canceled by subtracting the already added weight. The work machine according to claim 1 or 2.

9. It includes a second acquisition unit that acquires information representing the posture of the work machine, The control unit determines, based on the information acquired by the second acquisition unit, whether the position from which the object was released corresponds to the object being loaded. The work machine according to claim 1 or 2.

10. A work machine comprising a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, an attachment attached to the upper rotating body and including an end attachment at its tip, and a first acquisition unit for acquiring information regarding the weight of an object held by the end attachment, wherein a control device calculates the load amount of an object to be loaded by adding the weight of the object held by the end attachment each time the object held by the end attachment is released, based on the information acquired by the first acquisition unit, When a predetermined operation is performed by the attachment to release the object held by the end attachment, if the position where the object was released does not correspond to the object to be loaded, the addition of the load amount is stopped. Control device.

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