Excavator, remote control support system

Abstract

This technology provides an improved ease of operation for excavators through a simplified configuration. [Solution] An excavator 100 according to one embodiment of the present disclosure comprises a lower traveling body 1 including a pair of left and right crawlers 1C, an upper rotating body 3, a cabin 10, travel hydraulic motors 1ML and 1MR that drive each of the left and right crawlers 1C, a driver's seat 70 provided in the cabin 10 where an operator can sit, and a pedal device 26C including pedals 26C1 and 26C2. The excavator 100 is capable of selectively switching the operating mode of the lower traveling body 1, including a normal mode and a single-pedal mode. In the normal mode, the travel hydraulic motor 1ML is driven in response to the operation of pedal 26C1, and the travel hydraulic motor 1MR is also driven in response to the operation of pedal 26C1. In the single-pedal mode, both the travel hydraulic motors 1ML and 1MR are driven in response to the operation of pedal 26C2 only.

Description

Technical Field

[0001] This disclosure relates to a shovel and the like.

Background Art

[0002] For example, regarding a shovel, in addition to a pair of left and right pedal devices for individually operating each of a pair of left and right crawlers, a straight-ahead dedicated pedal device is disclosed to be installed (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, since the number of operating parts (pedal devices) for operating a pair of left and right crawlers increases, there is a possibility of causing a complication in the configuration.

[0005] An object of this disclosure is to provide a technology that can improve the convenience of traveling operation with a simple configuration for a shovel.

Means for Solving the Problems

[0006] To achieve the above object, in one embodiment of this disclosure, a lower traveling body including a pair of left and right first crawlers and second crawlers, an upper swing body swingably mounted on the lower traveling body, a cabin provided on the upper swing body, a first actuator for driving the first crawler, a second actuator for driving the second crawler, a driver's seat provided in the cabin and on which an operator can sit, The system includes a pedal device that can be operated by an operator seated in the driver's seat with their feet, comprising a first pedal and a second pedal, The operating modes of the lower traveling body, including a first operating mode and a second operating mode, can be selectively switched. In the first operating mode, the first actuator is driven in response to the operation of the first pedal, and the second actuator is driven in response to the operation of the second pedal. In the second operating mode, both the first actuator and the second actuator are driven in response to the operation of either the first pedal or the second pedal. A shovel will be provided.

[0007] In other embodiments of this disclosure, A remote control support system for assisting the remote operation of an excavator, comprising: a lower traveling body including a pair of left and right first and second crawlers; an upper rotating body mounted on the lower traveling body so as to be rotatable; a cabin provided on the upper rotating body; a first actuator for driving the first crawlers; and a second actuator for driving the second crawlers, wherein The shovel is provided with an external driver's seat where an operator can sit, The system includes a pedal device that can be operated by an operator seated in the driver's seat with their feet, comprising a first pedal and a second pedal, The operating modes of the lower traveling body, including a first operating mode and a second operating mode, can be selectively switched. In the first operating mode, the first actuator is driven in response to the operation of the first pedal, and the second actuator is driven in response to the operation of the second pedal. In the second operating mode, both the first actuator and the second actuator are driven in response to the operation of either the first pedal or the second pedal. A remote operation support system will be provided. [Effects of the Invention]

[0008] According to the above embodiment, for the excavator, the convenience of the traveling operation can be improved with a simple configuration.

Brief Description of the Drawings

[0009] [Figure 1] It is a side view showing an example of an excavator. [Figure 2] It is a diagram showing an example of the configuration of an excavator. [Figure 3] It is a top view showing an example of the inside of the cab. [Figure 4] It is a diagram showing a first example of the functional configuration related to the traveling operation of the lower traveling body. [Figure 5] It is a diagram showing a specific example of the output characteristics of the traveling hydraulic motor with respect to the operation amount of the pedal device. [Figure 6] It is a diagram showing a first example of the screen of the display device. [Figure 7] It is a diagram showing a second example of the screen of the display device. [Figure 8] It is a diagram showing a third example of the screen of the display device. [Figure 9] It is a diagram showing a fourth example of the screen of the display device. [Figure 10] It is a diagram showing a fifth example of the screen of the display device. [Figure 11] It is a diagram showing a sixth example of the screen of the display device. [Figure 12] It is a flowchart diagram schematically showing a first example of the process related to the traveling operation of the lower traveling body. [Figure 13] It is a flowchart diagram schematically showing a second example of the process related to the traveling operation of the lower traveling body. [Figure 14] It is a diagram showing a seventh example of the screen of the display device. [Figure 15] It is a flowchart diagram schematically showing a third example of the process related to the traveling operation of the lower traveling body. [Figure 16] It is a diagram showing an eighth example of the screen of the display device. [Figure 17]This flowchart schematically illustrates an example of the process for switching the operating mode of the lower vehicle. [Figure 18] This figure shows a second example of the functional configuration related to the movement of the lower vehicle. [Figure 19] This figure shows the ninth example of a display device screen. [Figure 20] This flowchart provides a schematic example of the process for determining which users will operate the shovel. [Figure 21] This figure shows another example of a shovel configuration. [Figure 22] This figure shows a third example of the functional configuration related to the movement of the lower vehicle. [Figure 23] This flowchart provides a schematic example of the processing related to the auto-cruise function. [Figure 24] This figure shows the tenth example of a display device screen. [Figure 25] This figure shows an example of a remote control support system. [Modes for carrying out the invention]

[0010] The embodiments will be described below with reference to the drawings.

[0011] [Shovel Overview] Referring to Figure 1, an overview of the shovel 100 according to this embodiment will be described.

[0012] Figure 1 is a side view showing an example of the shovel 100. Hereafter, in a top view of the shovel 100, the direction in which the attachment AT extends from the upper rotating body 3 will be defined as "forward" when describing directions on the shovel 100, or directions as seen from the shovel 100.

[0013] As shown in Figure 1, the shovel 100 comprises a lower traveling body 1, an upper rotating body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

[0014] The lower vehicle 1 uses a pair of left and right crawlers 1C to move the shovel 100. The left crawler 1C and the right crawler 1C are each hydraulically driven by a hydraulic motor 1M. This allows the lower vehicle 1 to move under its own power. Hereinafter, the hydraulic motor 1M that drives the left crawler 1C may be referred to as the hydraulic motor 1ML (see Figure 2), and the hydraulic motor 1M that drives the right crawler 1C may be referred to as the hydraulic motor 1MR (see Figure 2).

[0015] The upper rotating body 3 is mounted on the lower traveling body 1 so as to be able to rotate via the rotating mechanism 2. For example, the upper rotating body 3 can rotate relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by the rotating hydraulic motor 2M (see Figure 2).

[0016] The boom 4 is attached to the front center of the upper slewing body 3 so that it can be raised and lowered about an axis of rotation that runs along the left-right direction. The arm 5 is attached to the tip of the boom 4 so that it can rotate about an axis of rotation that runs along the left-right direction. The bucket 6 is attached to the tip of the arm 5 so that it can rotate about an axis of rotation that runs along the left-right direction.

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

[0018] Bucket 6 is attached to the tip of arm 5 in a manner that allows it to be replaced as appropriate depending on the work being performed by the shovel 100. In other words, instead of bucket 6, a different type of bucket, such as a larger bucket than bucket 6, a slope bucket, a dredging bucket, etc., may be attached to the tip of arm 5. In addition, an end attachment of a type other than a bucket, such as an agitator, breaker, crusher, lifting magnet, etc., may be attached to the tip of arm 5. Furthermore, a spare attachment, such as a quick coupler or tilt rotator, may be provided between arm 5 and the end attachment.

[0019] The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, arm cylinder 8, and 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, the remote control support system SYS includes an excavator 100 and a remote control support device 150 (see, for example, Figure 25 described later).

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

[0025] The remote control support device 150 is connected to the shovel 100 via a communication line and is used by an operator who remotely controls the shovel 100.

[0026] The remote control support device 150 is installed, for example, in a remote control room RC outside the excavator 100 and includes a remote control device 42 similar to the control device 26 inside the cabin 10. This allows the operator to remotely control the excavator 100 from a remote location where the excavator 100 cannot be directly seen by sitting in the driver's seat DS installed in the remote control room RC and operating the remote control device 42. Alternatively, the remote control support device 150 may be a portable control terminal device. This allows the operator to remotely control the excavator 100 while directly checking the working status of the excavator 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 45 mounted on it. Alternatively, the excavator 100 may transmit the image output from the imaging device 45 to the remote control support device 150 via the communication device 60, and the remote control support device 150 may process the image received from the excavator 100 to generate the surrounding image. The remote control support device 150 includes a display device for remote operation (for example, the display device D1E described later), and displays the surrounding image representing the surrounding area including the front of the excavator 100 on the remote control display device. The remote control support device 150 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 150 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 a 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 150 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 150.

[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 150 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] [Example of a shovel configuration] In addition to Figure 1, an example of the configuration of shovel 100 will be described with reference to Figures 2 and 3.

[0034] Figure 2 shows an example of the configuration of the shovel 100. Figure 3 is a top view showing an example of the interior of the cabin 10.

[0035] Excavator 100 includes components for the hydraulic drive system, operating system, user interface system, and control system.

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

[0037] As shown in Figure 2, 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 motors 1ML, 1MR, the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0038] 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.

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

[0040] Engine 11 is the prime mover for the shovel 100 and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, 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.

[0041] 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.

[0042] The regulator 13 adjusts the discharge rate of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilt angle") in response to a control command from the controller 30.

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

[0044] The control valve 17 drives the hydraulic 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 rotating body 3. The control valve 17 is connected to the main pump 14 through a hydraulic line and selectively supplies hydraulic fluid supplied 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 a plurality of control valves (e.g., 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, and includes control valves 17A and 17B.

[0045] Control valve 17A controls the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to the travel hydraulic motor 1ML. This allows control valve 17A to control the output (driving force) and rotation direction of the travel hydraulic motor 1ML. Control valve 17B controls the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to the travel hydraulic motor 1MR. This allows control valve 17B to control the output (driving force) and rotation direction of the travel hydraulic motor 1MR.

[0046] <Operation system> The operating system of the Shovel 100 consists of a group of components related to the operation of the hydraulic actuator HA.

[0047] As shown in Figure 2, the operating system of the shovel 100 includes a pilot pump 15, a gate lever 23, a gate lock valve 25v, a limit switch 25s, an operating device 26, and a hydraulic control valve 31.

[0048] 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.

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

[0050] The gate lock valve 25v is located upstream of all hydraulic equipment that receives hydraulic fluid from the pilot pump 15 in the pilot line 25. The gate lock valve 25v switches the connection and disconnection (deconnection) of the pilot line 25 by switching a limit switch 25s ON / OFF, which is linked to the operating state of the gate lever 23 located inside the cabin 10.

[0051] The gate lever 23 is a mechanical input device for switching between a state in which the shovel 100 can be operated by the shovel 100 starting and operating device 26 and a state in which the shovel 100 cannot be started or operated. For example, the gate lever 23 is provided on the upper surface of the console 72L on the left side of the driver's seat 70. For example, the controller 30 controls whether or not to start the shovel 100, including starting the engine 11, according to the operating state of the gate lever 23. Also, as described above, the gate lever 23 can switch the connection and disconnection of the pilot line 25 according to its operating state, and as a result, the state in which the hydraulic actuator HA of the shovel 100 can be operated and the state in which it cannot be operated can be switched. For example, as shown in Figure 2, the limit switch 25s is turned ON / OFF according to the operating state of the gate lever 23, and an output (electrical signal) corresponding to the ON / OFF state of the limit switch 25s is input to the controller 30. The controller 30 then outputs a control signal to the gate lock valve 25v according to the content of the electrical signal from the limit switch 25s. Furthermore, the output (electrical signal) of the limit switch 25s is input to the gate lock valve 25v, which may allow the gate lock valve 25v to switch between connected and disconnected states depending on the operating state of the gate lever 23.

[0052] Furthermore, a gate bar 24 is positioned on the front of the console 72L to the left of the driver's seat 70, and its operation is linked to the state of the gate lever 23. When the gate lever 23 is in an operational state for the shovel 100, the gate bar 24 is raised forward to block lateral movement between the driver's seat 70 and the entrance / exit of the cabin 10 (see Figure 3). On the other hand, when the gate lever 23 is in an operational state for the shovel 100, the gate bar 24 is retracted downward and housed inside the console 72L to allow lateral movement between the driver's seat 70 and the entrance / exit of the cabin 10. As a result, unless the gate bar 24 is extended forward in response to the operation of the gate lever 23, the operator cannot operate the shovel 100, thereby improving the safety of the shovel 100.

[0053] The operating device 26 is located within reach of the operator in the driver's seat 70 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.

[0054] 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 via the pilot line 27, and the control valve 17 can drive each hydraulic actuator HA according to the operation performed by the operating device 26.

[0055] As shown in Figure 3, the operating device 26 includes a lever device 26A, a lever device 26B, and a pedal device 26C.

[0056] The lever device 26A is located, for example, at the front of the upper surface of the console 72L to the left of the driver's seat 70 inside the cabin 10, and its base is covered by a lever cover CVA. The lever device 26A is used by the operator to operate any two of the following: the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. This allows the operator seated in the driver's seat 70 to operate two of the hydraulic actuators HA from the slewing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 by operating the lever device 26A with their left hand. For example, the lever device 26A operates the slewing hydraulic motor 2M and the arm cylinder 8, with the slewing hydraulic motor 2M being operated by lateral operation of the lever device 26A, and the arm cylinder 8 being operated by longitudinal operation of the lever device 26A. The vertical and horizontal directions of the lever device 26A correspond to the front-to-back and left-to-right directions of the shovel 100, respectively, and the same applies to the vertical and horizontal directions of the lever device 26B described later.

[0057] The lever device 26B is located, for example, at the front of the upper surface of the console 72R to the right of the driver's seat 70 inside the cabin 10, and its base is covered by a lever cover CVB. The lever device 26B is used by the operator to operate the two remaining components of the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, which are not operated by the lever device 26A. This allows the operator seated in the driver's seat 70 to operate the remaining two hydraulic actuators HA of the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 by operating the lever device 26B with their right hand. For example, the components of the lever device 26B are the boom cylinder 7 and the bucket cylinder 9, with longitudinal operation of the lever device 26B operating the boom cylinder 7, and lateral operation of the lever device 26B operating the bucket cylinder 9.

[0058] The pedal device 26C is located on the floor in front of the driver's seat inside the cabin 10. The pedal device 26C is used by the operator to operate the travel hydraulic motor 1ML and the travel hydraulic motor 1MR. The pedal device 26C includes pedal 26C1, pedal 26C2, left lever 26C3, and right lever 26C4.

[0059] Pedal 26C1 is used by the operator to control the hydraulic motor 1ML that drives the left crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1ML by operating pedal 26C1 with their left foot.

[0060] Pedal 26C2 is used by the operator to control the hydraulic motor 1MR that drives the right-side crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1MR by operating pedal 26C2 with their right foot.

[0061] The left lever 26C3 is used by the operator to control the hydraulic motor 1ML that drives the left crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1ML by operating the left lever 26C3 with their left hand.

[0062] The right lever 26C4 is used by the operator to control the hydraulic motor 1MR that drives the right crawler 1C. This allows the operator, seated in the driver's seat 70, to operate the hydraulic motor 1MR by operating the right lever 26C4 with their right hand.

[0063] For example, the operating device 26 includes an operating sensor 26s capable of detecting the operation performed by an operator on the operating device 26. The operation includes the amount of operation relative to the neutral position and the direction of operation. The operating sensor 26s is, for example, a tilt sensor that detects the tilt angle of a lever or pedal, or an angle sensor that detects the oscillation angle around the pivot axis of a lever or pedal. The operating sensor 26s may also include other types of sensors such as a pressure sensor, a current sensor, or a distance sensor. The operating sensor 26s is provided for each actuator to be operated, and outputs an electrical signal (operating signal) representing the operation of the actuator to be operated via the operating device 26, and the operating signal is taken up by the controller 30 as described above.

[0064] 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.

[0065] Furthermore, the 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 control valve built into the control valve 17.

[0066] 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.

[0067] 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 25 to output a predetermined pilot pressure to the secondary pilot line 27. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 through the pilot line 27 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.

[0068] <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.

[0069] 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.

[0070] 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. For example, as shown in Figure 3, the display device 50 is installed in the front right part of the cabin 10 and outputs various information to the operator inside the cabin 10 in a visual manner.

[0071] 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.

[0072] 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.

[0073] For example, the input device 52 includes a mechanical input device that accepts input from the user through mechanical operation. Mechanical input devices include, for example, touch panels, touch pads, button switches, levers, toggles, knob switches, etc. Mechanical input devices installed inside the cabin 10 include touch panels, levers, switches, and dials installed on the display device 50, and various levers, switches, and dials installed on consoles 72L, 72R, 74, etc. The gate lever 23 is also an example of an input device 52.

[0074] 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.

[0075] Furthermore, the input device 52 may include a gesture input device that accepts gesture input from the user. The gesture input device may include, for example, an imaging device that captures images of gestures or hand signs made by the user.

[0076] 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.

[0077] <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.

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

[0079] The communication device 60 connects to an external communication line and communicates with a device provided separately from the shovel 100. The device provided separately from the shovel 100 may include not only a device located outside the shovel 100, but also a portable terminal device (mobile terminal) brought into the cabin 10 by the user of the shovel 100. The communication device 60 may, for example, use 4G (4 th Generation) and 5G (5 thThe 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.

[0080] 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.

[0081] <Control System> The control system for Shovel 100 consists of a group of components related to the various controls of Shovel 100.

[0082] As shown in Figure 2, the control system of the shovel 100 includes a controller 30. The control system of the shovel 100 also includes an imaging device 45. Furthermore, the control system of the shovel 100 includes various sensors and switches, such as a limit switch 25s and an operation sensor 26s, which acquire raw data for various controls performed by the controller 30.

[0083] The controller 30 performs various controls related to the shovel 100.

[0084] 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 30A, a memory device 30B, a processor 30C, and an interface device 30D, all of which are communicated via the bus BS1.

[0085] The auxiliary storage device 30A 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. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory. The memory device loads the program from the auxiliary storage device so that the processor can read it when, for example, a program startup instruction is received. The memory device is, for example, an SRAM (Static Random Access Memory). The processor executes various processes according to the program instructions by, for example, executing the program loaded into the memory device 30B. The processor includes, for example, a CPU (Central Processing Unit). The processor 30C may also include a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array). The interface device 30D functions as, for example, a communication interface for connecting to the internal communication line of the shovel 100. The interface device 30D may include multiple different types of communication interfaces to match the type of communication line to be connected. The interface device also functions as an external interface for reading data from and writing data to a recording medium. The recording medium is, for example, a dedicated tool connected by a detachable cable to a connector installed inside the cabin 10. Alternatively, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the program that realizes the various functions of the controller 30 may be provided, for example, by a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Alternatively, the program may be downloaded from another computer outside the shovel 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0086] 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.

[0087] The imaging device 45 captures images of the area around the shovel 100.

[0088] The imaging device 45 is, for example, a monocular camera. Alternatively, the imaging device 45 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.

[0089] For example, the imaging device 45 includes a front camera, a rear camera, a left camera, and a right camera. The front camera images the area in front of the upper rotating body 3. The rear camera images the area behind the upper rotating body 3. The left camera images the area to the left of the upper rotating body 3. The right camera images the area to the right of the upper rotating body 3. As a result, the imaging device 45 can capture images of the entire circumference of the shovel 100, i.e., a range spanning 360 degrees in the angular direction, from a top view of the shovel 100. Hereinafter, the front camera, rear camera, left camera, and right camera may be collectively or individually referred to as "camera 45X".

[0090] The output data from the imaging device 45 (camera 45X) 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 45X.

[0091] Furthermore, some or all of the cameras 45X 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 in the vicinity of the shovel 100, instead of or in addition to the imaging device 45. Examples of distance sensors include LIDAR (Light Detecting and Ranging), millimeter-wave radar, and ultrasonic sensors.

[0092] [First example of a functional configuration related to the movement of the lower vehicle] Referring to Figures 4 and 5, a first example of the functional configuration related to the running motion of the lower running body 1 will be described.

[0093] Figure 4 is a diagram showing a first example of the functional configuration related to the driving operation of the lower traveling body 1. Figure 5 is a diagram showing a specific example of the output characteristics of the traveling hydraulic motor 1M in relation to the amount of operation of the pedal device 26C. Figure 5 includes Figure 5A, which shows an example of the output characteristics of the traveling hydraulic motor 1M in relation to the amount of operation of the pedal device 26C, and Figure 5B, which shows an example of the output characteristics of the traveling hydraulic motor 1M in relation to the amount of operation of the pedal device 26C.

[0094] In this example, we will proceed with the explanation assuming that there are multiple operating modes for the lower travel body 1. For example, the shovel 100 has a normal travel mode and a single pedal mode (SPM) as operating modes for the lower travel body 1.

[0095] In normal driving mode, the shovel 100 drives the travel hydraulic motor 1ML in response to the operation of pedal 26C1, and drives the travel hydraulic motor 1MR in response to the operation of pedal 26C2. As a result, in normal driving mode, the operator can operate the travel hydraulic motor 1ML by operating pedal 26C1, and the travel hydraulic motor 1MR by operating pedal 26C2. Therefore, in normal driving mode, the operator can individually operate the travel hydraulic motors 1ML and 1MR using pedals 26C1 and 26C2 to drive the lower traveling body 1.

[0096] In single-pedal mode, the shovel 100 drives both the travel hydraulic motors 1ML and 1MR in the same rotational direction by operating either pedal 26C1 or 26C2 (hereinafter referred to as the "main pedal" for convenience). This allows the operator to control both the travel hydraulic motors 1ML and 1MR by operating the main pedal of pedal 26C1 or 26C2. Therefore, in single-pedal mode, the operator can move the lower travel body 1 by operating only the main pedal. This improves the convenience of operation related to the travel movement of the lower travel body 1.

[0097] In single-pedal mode, the main pedal is predetermined to be either pedal 26C1 or 26C2. The predetermined main pedal may be changeable among pedals 26C1 and 26C2 in response to a predetermined input from a user such as an operator via the input device 52 (for example, an input on the main pedal setting screen displayed on the display device 50). Alternatively, in single-pedal mode, the main pedal may be variable to any one of the pedals 26C1 or 26C2 when operation is initiated from a state where neither pedal is being operated. The following explanation will focus on the case where the main pedal in single-pedal mode is the right-hand pedal 26C2 of pedals 26C1 and 26C2.

[0098] As shown in Figure 4, the shovel 100 includes control valves 17A, 17B, pedals 26C1, 26C2, operating sensors 26C1s, 26C2s, a controller 30, hydraulic control valves 31A, 31B, a display device 50, and an input device 52A as components related to the travel operation of the lower traveling body 1. The shovel 100 may also further include an input device 52B.

[0099] The operation sensor 26C1s is a specific example of the operation sensor 26s. The operation sensor 26C1s detects the operation of the pedal 26C1 and outputs an operation signal corresponding to that operation.

[0100] The operation sensor 26C2s is a specific example of the operation sensor 26s. The operation sensor 26C2s detects the operation of the pedal 26C2 and outputs an operation signal corresponding to that operation.

[0101] The operation signals from the operation sensors 26C1s and 26C2s are received by the controller 30 via a one-to-one communication line, an in-vehicle network, or the like.

[0102] The controller 30 includes, as functional units, an operating mode switching unit 301, a driving command output unit 302, and a notification unit 303. These functions are realized, for example, by loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing it on the processor 30C.

[0103] The hydraulic control valve 31A is a specific example of the hydraulic control valve 31. The hydraulic control valve 31A uses the primary pilot pressure supplied from the pilot pump 15 to apply pilot pressure corresponding to the travel command output from the travel command output unit 302 to the pilot port of the control valve 17A. In Figure 4, for convenience, one hydraulic control valve 31A is shown, but specifically, a pair of hydraulic control valves 31A are provided to apply pilot pressure to pilot ports provided for each drive direction of the double-acting travel hydraulic motor 1ML. As a result, the control valve 17A can control the output (driving force) and drive direction of the travel hydraulic motor 1ML in accordance with the pilot pressure supplied from the pair of hydraulic control valves 31A.

[0104] The hydraulic control valve 31B is a specific example of the hydraulic control valve 31. The hydraulic control valve 31B uses the secondary pilot pressure supplied from the pilot pump 15 to apply a pilot pressure corresponding to the travel command output from the travel command output unit 302 to the pilot port of the control valve 17B. In Figure 4, for convenience, one hydraulic control valve 31B is shown, but specifically, a pair of hydraulic control valves 31B are provided to apply pilot pressure to pilot ports provided for each drive direction of the double-acting travel hydraulic motor 1MR. As a result, the control valve 17B can control the output (driving force) and drive direction of the travel hydraulic motor 1MR in accordance with the pilot pressure supplied from the pair of hydraulic control valves 31B.

[0105] Input device 52A is a specific example of input device 52 provided inside the cabin 10. Input device 52A receives input from the user of the shovel 100, such as an operator, to switch the operating mode of the lower travel body 1, in other words, to request a switch in the operating mode of the lower travel body 1 (i.e., a change in settings). Input device 52A may be a dedicated input device 52 for receiving input to switch the operating mode of the lower travel body 1, or it may be a general-purpose input device 52 that can also receive other types of inputs. Input device 52A is, for example, a knob switch provided at the tip (upper end) of the lever device 26B (or lever device 26A). The knob switch may be an alternate switch or a momentary switch. In the former case, for example, each time the knob switch is operated (pressed), the normal travel mode and single pedal mode are switched alternately. In the latter case, for example, if the knob switch is not operated (pressed), it is in normal driving mode, and based on that state, it switches to single-pedal mode only while the knob switch is operated (pressed). The input device 52A may also be other types of switches, levers, etc., or it may be a touch panel that can operate the setting screen for the operating mode of the lower driving unit 1 displayed on the display device 50. The input device 52A may also be the voice input device or gesture input device described above.

[0106] Input device 52B is a specific example of input device 52 provided inside the cabin 10. Input device 52B receives input from the user of the shovel 100, such as an operator, to adjust the direction of travel of the lower travel body 1 in single-pedal mode, in other words, input requesting adjustment of the direction of travel of the lower travel body 1. When the operation of the travel hydraulic motors 1ML and 1MR (specifically, rotational speed and direction of rotation) is exactly the same, the lower travel body 1 moves in a straight line. On the other hand, if there is a difference in the rotational operation of the travel hydraulic motors 1ML and 1MR, the direction of travel of the lower travel body 1 changes according to the nature of the difference between the travel hydraulic motors 1ML and 1MR. Specifically, when the travel hydraulic motors 1ML and 1MR rotate in the same direction at different rotational speeds, the lower travel body 1 makes a slow turn; when one of the travel hydraulic motors 1ML and 1MR stops and the other rotates, the lower travel body 1 makes a pivot turn; and when the travel hydraulic motors 1ML and 1MR rotate in different directions, the lower travel body 1 makes a pivot turn. Therefore, the input for adjusting the direction of travel of the lower travel body 1 corresponds to an input that adjusts at least one of the rotational speed and rotational direction of the travel hydraulic motors 1ML and 1MR to be different. This allows, for example, a user of the shovel 100, such as an operator, to create a difference in the driving speed of the left and right crawlers 1C while keeping their driving directions the same, via the input device 52B. As a result, a user of the shovel 100, such as an operator, can gently turn the lower travel body 1 towards the crawler 1C driven by the travel hydraulic motor 1ML or 1MR that has a lower driving speed than the other, thereby changing the direction of travel of the lower travel body 1. Furthermore, for example, a user of the shovel 100, such as an operator, can, via the input device 52B, stop one of the left or right crawlers 1C or drive the other crawler 1C in the opposite direction. As a result, a user of the shovel 100, such as an operator, can perform pivot turns or super-pivot turns (spin turns) of the lower travel body 1. The input device 52B is, for example, an alternate-type slide lever provided at the tip (upper end) of the lever device 26B (or lever device 26A).Furthermore, the input device 52B may be any other type of switch, lever, etc., or it may be a touch panel that allows operation of a setting screen for adjusting the relative magnitudes of the outputs of the travel hydraulic motors 1ML and 1MR, which is displayed on the display device 50. Alternatively, the function of the input device 52B may be performed by the other pedal of pedals 26C1 and 26C2 that is not the main pedal (hereinafter referred to as the "sub-pedal"). In this case, the operator can control the absolute value of the overall output of the travel hydraulic motors 1ML and 1MR by operating the main pedal of pedals 26C1 and 26C2, while adjusting the difference between at least one of the rotational speeds and rotational directions of the travel hydraulic motors 1ML and 1MR by operating the sub-pedal.

[0107] In single-pedal mode, the output (driving force) of the travel hydraulic motors 1ML and 1MR is essentially the same value, corresponding only to the input from the operation sensor 26C1s and 26C2s that corresponds to the main pedal. Therefore, in single-pedal mode, the travel hydraulic motors 1ML and 1MR basically rotate in the same direction at the same rotational speed, and as a result, the lower travel body 1 moves in a straight line. In contrast, in single-pedal mode, the shovel 100 achieves a state in which at least one of the rotational speeds and rotational directions of the travel hydraulic motors 1ML and 1MR differs depending on the input from the input device 52B. This allows the operator to move the lower travel body 1 by operating only one of the pedals 26C1 and 26C2 (the main pedal), and further adjust the direction of travel of the lower travel body 1 by inputting to the input device 52B (or by operating the sub-pedal).

[0108] The operating mode switching unit 301 switches the operating mode of the lower vehicle 1 to the one actually used from among the multiple operating modes of the lower vehicle 1. In this example, the operating mode switching unit 301 switches (i.e., sets) the operating mode of the lower vehicle 1 by selecting either the normal driving mode or the single pedal mode.

[0109] For example, the operating mode switching unit 301 switches the operating mode of the lower vehicle 1 between normal driving mode and single pedal mode in response to input from the input device 52A. Specifically, for example, when the operating mode switching unit 301 receives an input from the input device 52 requesting a switch in the operating mode of the lower vehicle 1 (i.e., a setting change), it switches the operating mode of the lower vehicle 1 to the operating mode specified by the input. Also, for example, if the input device 52A is a voice input device, when the operating mode switching unit 301 receives a voice input through the input device 52A requesting a switch in the operating mode of the lower vehicle 1 (for example, "Switch to SPM," "Return to normal driving mode," etc.) (specifically, when it performs voice recognition), it switches the operating mode of the lower vehicle 1 to the operating mode instructed by the voice input. Furthermore, for example, if the input device 52A is a gesture input device, the operation mode switching unit 301, upon receiving a specific gesture or hand sign through the input device 52A that requests a switching (setting change) of the operation mode of the lower mobile body 1 (specifically, through image recognition), switches the operation mode of the lower mobile body 1 to the operation mode indicated by the gesture input.

[0110] Furthermore, when the operation mode switching unit 301 receives an input from the input device 52A requesting a switch in the operation mode of the lower vehicle 1 (i.e., a change in settings), it may request the operator to approve (also referred to as "approval") the switch in the operation mode of the lower vehicle 1. When the operation mode switching unit 301 receives an input indicating approval of the switch in the operation mode of the lower vehicle 1 through the input device 52, it may switch the operation mode of the lower vehicle 1 to the operation mode specified by the target input. The input indicating approval may be received by the input device 52A, or it may be attached by another input device 52 different from the input device 52A. In this case, the operation mode switching unit 301 may also prohibit the operation of the lower vehicle 1 unless the operator approves the change in the operation mode of the lower vehicle 1. Specifically, for example, the operation mode switching unit 301 may shut off the gate lock valve 25V unless the operator approves it. Furthermore, the operation mode switching unit 301 may be configured not to input the operation signals of pedals 26C1 and 26C2 to the travel command output unit 302. As a result, no travel commands are output to the hydraulic control valves 31A and 31B corresponding to the travel hydraulic motors 1ML and 1MR, respectively, and consequently, the controller 30 can prohibit the travel operation of the lower travel body 1.

[0111] Specifically, for example, when the operation mode switching unit 301 receives an input from the input device 52A requesting a change in the operation mode of the lower vehicle 1 (i.e., a setting change), it displays an acceptance screen on the display device 50 to confirm the setting change of the operation mode of the lower vehicle 1. The acceptance screen is a screen that the operator can operate through the input device 52 (e.g., a touch panel). Then, when the input device 52 performs an operation on the acceptance screen to accept the change in the operation mode of the lower vehicle 1 (setting change), the operation mode switching unit 301 switches the operation mode of the lower vehicle 1 to the operation mode specified in the initial input.

[0112] Furthermore, for example, when the operating mode switching unit 301 receives a voice input requesting a switch in the operating mode of the lower vehicle 1 via the input device 52A, it outputs a confirmation message requesting consent to switch the operating mode of the lower vehicle 1 (for example, "Switching to SPM. Is that OK?", "Returning to normal driving mode. Is that OK?", etc.) via a speaker inside the cabin 10. Then, when the operating mode switching unit 301 receives a voice input of a phrase indicating consent (for example, "Yes, that's OK.", etc.) via the input device 52A, it switches the operating mode of the lower vehicle 1 to the operating mode specified in the initial voice input.

[0113] Furthermore, for example, when the operating mode switching unit 301 receives input such as a gesture or hand sign requesting a switch in the operating mode of the lower vehicle 1 via the input device 52A, it displays a message requesting consent to switch the operating mode of the lower vehicle 1 (for example, "Switching to SPM. Is that OK?", "Returning to normal driving mode. Is that OK?", etc.) on the display device 50. Alternatively, the operating mode switching unit 301 may output a message requesting consent to switch the operating mode of the lower vehicle 1 from a speaker inside the cabin 10. When the operating mode switching unit 301 receives input such as a specific gesture or hand sign indicating consent via the input device 52A, it switches the operating mode of the lower vehicle 1 to the operating mode specified in the initial input.

[0114] The travel command output unit 302 outputs operation commands (travel commands) for the crawler 1C to travel to the hydraulic control valves 31A and 31B corresponding to the travel hydraulic motors 1ML and 1MR, respectively. The travel command output unit 302 includes a travel command output unit 3021 and a travel command output unit 3022.

[0115] The travel command output unit 3021 outputs a travel command to the hydraulic control valves 31A and 31B when the operating mode of the lower travel body 1 is the normal travel mode. The travel command output unit 3021 includes travel command output units 3021A and 3021B.

[0116] The travel command output unit 3021A generates a travel command corresponding to the right crawler 1C based on the operation signal received from the operation sensor 26C1s and outputs it to the hydraulic control valve 31A. The travel command output unit 3021B generates a travel command corresponding to the left crawler 1C based on the operation signal received from the operation sensor 26C2s and outputs it to the hydraulic control valve 31B. As a result, in normal travel mode, the operator can move the lower travel body 1 by individually operating the pedals 26C1 and 26C2.

[0117] The driving command output unit 3022 outputs a driving command to the hydraulic control valves 31A and 31B when the operating mode of the lower driving body 1 is single-pedal mode.

[0118] For example, the drive command output unit 3022 generates a drive command with the same content in response to the operation signal received from the operation sensor corresponding to the main pedal among the operation sensors 26C1s and 26C2s, and outputs it to the hydraulic control valves 31A and 31B. As a result, the controller 30 can make the lower drive unit 1 move in a straight line in response to the operation of either pedal 26C1 or 26C2 by the operator.

[0119] Furthermore, the travel command output unit 3022 generates a travel command in addition to the operation signal received from the operation sensor corresponding to the main pedal, and in response to the user input received by the input device 52B, and outputs it to the hydraulic control valves 31A and 31B. In this case, the travel command output to the hydraulic control valves 31A and 31B is generated such that there is a difference in the output of the travel hydraulic motors 1ML and 1MR depending on the content of the input received by the input device 52B. As a result, the controller 30 can make the lower travel body 1 travel in a gentle turn in response to the operation of either of the operator's pedals 26C1 or 26C2, and the input from the input device 52B.

[0120] The notification unit 303 notifies the user of the shovel 100, such as an operator, about the operating mode of the lower traveling body 1. The notification unit 303 notifies the user about the operating mode of the lower traveling body 1 by a visual method, for example, through the display device 50. The notification unit 303 may also notify the user about the operating mode of the lower traveling body 1 by an auditory method, for example, through a sound output device (for example, a speaker). The notification unit 303 may also notify the user about the operating mode of the lower traveling body 1 by a tactile method, for example, through vibrations in the driver's seat.

[0121] Notifications regarding the operating mode of the lower vehicle 1 include, for example, a notification indicating the current operating mode of the lower vehicle 1 (see, for example, the information display area 41t1 in Figure 7 described later). Notifications indicating the current operating mode of the lower vehicle 1 do not need to be given for all operating modes, but may be given only for specific operating modes, such as single-pedal mode (see, for example, Figures 6 and 7 described later).

[0122] Furthermore, notifications regarding the operating mode of the lower vehicle 1 may include, for example, notifications of the specific details of the current operating mode. Notifications of the specific details of the current operating mode may include, for example, notifications of how to operate the lower vehicle 1 in single-pedal mode (see, for example, the information display area 41t2 in Figure 7 described later).

[0123] Furthermore, notifications regarding the operating mode of the lower vehicle 1 may include, for example, notifications regarding a method for canceling the current operating mode (see, for example, the information display area 41t3 in Figure 7 described later).

[0124] [Specific example of the output characteristics of the hydraulic motor for travel in response to the amount of pedal operation] Next, with reference to Figure 5, a specific example of the output characteristics of the travel hydraulic motor 1M in relation to the amount of operation of the pedal device 26C will be described.

[0125] Figure 5 shows a specific example of the output characteristics of the travel hydraulic motor 1M in relation to the amount of operation of the pedal device 26C.

[0126] Specifically, Figure 5 includes Figure 5A, which shows a first example of the output characteristics of the travel hydraulic motor 1M in response to the amount of operation of the pedal device 26C, and Figure 5B, which shows a second example of the output characteristics of the travel hydraulic motor 1M in response to the amount of operation of the pedal device 26C.

[0127] For example, as shown in Figure 5A, in single-pedal mode, the rate at which the output (speed) increases in response to an increase in the input is set to be more gradual than in normal driving mode.

[0128] This allows the operator to easily fine-tune the speed of the lower vehicle 1, for example, in single-pedal mode. Therefore, the operability of the lower vehicle 1 by the operator can be improved.

[0129] Furthermore, as shown in Figure 5B, for example, in single-pedal mode, the upper limit of the output in response to an increase in the amount of input may be set lower than in normal driving mode.

[0130] This allows the operator to easily make fine adjustments to the position of the lower vehicle 1, for example, in single-pedal mode. Therefore, the operability of the lower vehicle 1 by the operator can be improved.

[0131] Furthermore, the first and second examples described above may be combined.

[0132] Thus, in this example, the drive command output unit 302 suppresses the output characteristics with respect to the input amount in single-pedal mode compared to normal drive mode. This improves the operability of the lower drive unit 1 by the operator in single-pedal mode.

[0133] [First example of a display device screen] Referring to Figure 6, a first example of the screen of the display device 50 (screen 41) will be described.

[0134] 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 150 or the monitoring display device of the remote monitoring support device.

[0135] In this example, the explanation assumes that the controller 30 has four or more control modes, including normal mode, payload mode, lift mode, and MC-MG mode. The same applies to the example shown in Figure 7 below.

[0136] For example, multiple control modes such as normal mode, payload mode, lift mode, and MC-MG mode are selectively used by the controller 30.

[0137] Normal mode is the standard control mode for controller 30.

[0138] The lift mode is a control mode in which the controller 30 controls the crane function of the shovel 100.

[0139] The crane function of the Shovel 100 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 Shovel 100's attachment AT and moved.

[0140] For example, the controller 30 prohibits the opening of the bucket 6 in lift mode. This prevents the bucket 6 from opening during crane operation.

[0141] Furthermore, for example, 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 lower 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.

[0142] Furthermore, for example, 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.

[0143] 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, for example, based on the output of cylinder pressure sensors that detect the pressure in the oil chambers of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9. 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.

[0144] Furthermore, the load state of the shovel 100 may take into account not only the load of the suspended load but also the attitude state of the attachment AT. The attitude state of the attachment AT is measured, for example, based on the output of attitude sensors that detect the attitude states of the upper slewing body 3, boom 4, arm 5, and bucket 6. For example, the controller 30 may calculate the tipping moment of the shovel 100 based on the load of the suspended load and the attitude state of the attachment, and then calculate the load state of the shovel 100 due to the suspended load based on the magnitude of the tipping moment.

[0145] Furthermore, for example, in lift mode, the controller 30 changes the color of an external indicator light (not shown) according to the load state of the shovel 100 due to the suspended load. For example, 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 first stage. The controller 30 also 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 second stage. The controller 30 also controls the external indicator light to emit red light when the load state of the shovel 100 due to the suspended load is in the third stage. In this way, the controller 30 can allow 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.

[0146] The MC-MG mode is a control mode in which the controller 30 controls the machine control function and machine guidance function of the excavator 100.

[0147] Excavator 100 has, for example, a machine guidance function and a machine control function.

[0148] The machine guidance and machine control functions of the Shovel 100 are functions that assist the operator in operating 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.

[0149] For example, 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.

[0150] Furthermore, for example, the machine control function allows the excavator 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.

[0151] "Semi-automatic" includes, for example, a mode in which, when an operator operates one hydraulic actuator HA, other hydraulic actuators HA operate in conjunction, thereby causing the attachment AT to operate in order to achieve the target shape of the workpiece. Furthermore, "semi-automatic" may also include a mode in which, based on the operator's operation, the operation of the attachment AT is appropriately corrected from the operation corresponding to the operator's operation, thereby achieving the target shape of the workpiece.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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 45. 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.

[0157] Furthermore, the number of control modes available to the controller 30 may be two, three, or five or more.

[0158] Figure 6 shows a first example of the screen of the display device 50. Specifically, Figure 6 shows a specific example of the screen (screen 41) when the normal mode is selected as the control mode of the controller 30 and the normal driving mode is selected as the operating mode of the lower driving body 1.

[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 45. 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 45. 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 the rear camera and the right camera, 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, the arrangement order of the operation icons corresponding to the four control modes arranged in tabs 41q2 to 41q5. This allows the operator to customize the arrangement order of the operation icons corresponding to the four control modes 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 arrangement order of the operation icons corresponding to the three control modes 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. For example, as shown in Figure 6, the cursor is realized by highlighting the operation icon corresponding to the selected control mode, but it may also be realized by a rectangular frame surrounding the operation icon, etc., depending on the settings. 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. Furthermore, 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 multiple control modes, when there are four or more control modes. For example, as shown in Figure 6, tabs 41q3 to 41q5 display operation icons corresponding to payload mode, lift mode, and MC-MG mode, respectively, but some or all of these 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] Furthermore, the settings related to screen 41 may include settings related to the operating mode of the lower vehicle 1.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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 a touch panel or similar device to select the tab 41q6.

[0190] 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 a touch panel or the like to select one of the expanded operation icons.

[0191] 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.

[0192] 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.

[0193] 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. 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.

[0194] [Second example of a display device screen] Referring to Figure 7, a second example of the display screen of the display device 50 (screen 41) will be described.

[0195] In this example, the same or corresponding components as in the first example (Figure 6) described above are denoted by the same reference numerals, and the explanation will focus on the parts that differ from the first example, while the explanation of parts that are the same or corresponding to the first example may be omitted.

[0196] 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 150 or the monitoring display device of the remote monitoring support device.

[0197] Figure 7 shows a second example of the display screen of the display device 50. Specifically, Figure 7 shows a concrete example of the screen (screen 41) when the normal mode is selected as the control mode of the controller 30 and the single-pedal mode is selected as the operating mode of the lower vehicle 1.

[0198] As shown in Figure 7, in this example, screen 41 differs from the first example (Figure 6) described above in that it includes a pop-up image 41t. Also, in this example, screen 41 may be the same as the first example described above in other respects.

[0199] In this example, the pop-up image 41t is positioned in the display area 41D below the information display areas 41f and 41m, and adjacent to the display area 41E. The pop-up image 41t includes the information display areas 41t1, 41t2, and 41t3.

[0200] The information display area 41t1 displays text indicating that the lower vehicle 1 is currently operating in single-pedal mode. This allows the operator to easily understand that the current operating mode of the lower vehicle 1 is single-pedal mode.

[0201] The information display area 41t2 displays textual and graphical information indicating that the vehicle can be driven by operating only the right pedal 26C2 of the left and right pedals 26C1 and 26C2.

[0202] This allows the operator to easily understand that, in single-pedal mode, the lower vehicle 1 can be driven by operating only the right pedal 26C2.

[0203] The information display area 41t3 displays information explaining how to deactivate single-pedal mode, that is, how to switch from single-pedal mode to normal operation mode. Specifically, the information display area 41t3 displays textual and graphical information indicating that single-pedal mode can be deactivated by operating the knob switch (input device 52A) located at the tip (upper end) of the lever held by the operator in the lever device 26B.

[0204] This makes it easy for the operator to understand how to deactivate single-pedal mode.

[0205] [Third example of a display device screen] Referring to Figure 8, a third example of the display screen of the display device 50 (screen 41) will be described.

[0206] In this example, the same or corresponding components as in the first example (Figure 6) and the second example (Figure 7) described above are denoted by the same reference numerals. The explanation will focus on the parts that differ from the first and second examples, and the explanation of parts that are the same or corresponding to the first and second examples may be omitted.

[0207] Furthermore, a screen with the same content as screen 41 in this example (Figure 8) may be displayed on the remote control display device of the remote control support device 150 or the monitoring display device of the remote monitoring support device.

[0208] Figure 8 shows a third example of the screen of the display device 50. Specifically, Figure 8 shows a concrete example of the screen (screen 41) when the normal mode is selected as the control mode of the controller 30 and the normal driving mode is selected as the operating mode of the lower driving body 1.

[0209] As shown in Figure 8, in this example, screen 41 differs from the first example (Figure 6) in that it includes an icon image 41u. In this example, screen 41 may be the same as the first example in other respects.

[0210] Icon image 41u is an image representing the currently selected operating mode of the lower vehicle 1.

[0211] In this example, the icon image 41u is positioned in the display area 41A below the information display area 41a and to the right of the information display area 41d, adjacent to the display area 41B in the vertical direction. The icon image 41u includes an icon 41u1 and text information 41u2.

[0212] Icon 41u1 is an image that mimics feet pressing pedals 26C1 and 26C2. In this example, icon 41u1 is drawn in white on a black background, indicating that the operating mode of the lower vehicle 1 is the normal driving mode.

[0213] The text information 41u2 represents the currently selected operating mode of the lower vehicle 1. Specifically, the text information 41u2 is placed above the icon 41u1 and is drawn with the word "Normal" in white on a black background. This allows the operator to recognize that the currently selected operating mode of the lower vehicle 1 is the normal operating mode.

[0214] Thus, in this example, the display device 50 can inform the operator that the normal driving mode is selected as the operating mode of the lower traveling body 1 by using the icon image 41u.

[0215] [Fourth example of a display device screen] Referring to Figure 9, a fourth example of the display screen of the display device 50 (screen 41) will be described.

[0216] In this example, the same reference numerals are used for components that are the same as or correspond to those in the first example (Figure 6) to the third example (Figure 8) described above. The explanation will focus on the parts that differ from the first to third examples, and explanations of parts that are the same as or correspond to those in the first to third examples may be omitted.

[0217] Furthermore, a screen with the same content as screen 41 in this example (Figure 9) may be displayed on the remote control display device of the remote control support device 150 or the monitoring display device of the remote monitoring support device.

[0218] Figure 9 shows a fourth example of the screen of the display device 50. Specifically, Figure 9 shows a concrete example of the screen (screen 41) when the normal mode is selected as the control mode of the controller 30 and the single pedal mode is selected as the operating mode of the lower vehicle 1.

[0219] As shown in Figure 9, in this example, screen 41 differs from the second example (Figure 7) described above in that it includes an icon image 41u. Also, in this example, screen 41 may be the same as the second example described above in other respects.

[0220] The icon image 41u includes an icon 41u1 and text information 41u2, similar to the third example described above (Figure 8).

[0221] As shown in Figure 9, in this example, unlike the third example described above, icon 41u1 is drawn with a textured finish on a black background, indicating that the operating mode of the lower vehicle 1 is single-pedal mode.

[0222] In this example, unlike the third example described above, the text information 41u2 is drawn with the letters "SPM" in a textured finish on a black background. This allows the operator to recognize that the currently selected operating mode of the lower vehicle 1 is single-pedal mode.

[0223] Thus, in this example, the display device 50 can inform the operator that the normal driving mode is selected as the operating mode of the lower traveling body 1 by using the icon image 41u.

[0224] [Screen for setting the operating mode of the lower vehicle] Referring to Figures 10 and 11, specific examples (screens 46 and 44) ​​of the setting screen for the operating mode of the lower traveling body 1 displayed on the display device 50 will be explained.

[0225] Furthermore, screens with the same content as screens 46 and 44 in this example (Figures 10 and 11) may be displayed on the remote control display device of the remote control support device 150 or the display device of the remote monitoring support device.

[0226] Figures 10 and 11 show the fifth and sixth examples of the display device 50 screen. Specifically, Figure 10 shows an example of a screen (screen 46) for setting the operating mode of the lower traveling body 1, and Figure 11 shows an example of a confirmation screen (screen 44) for confirming the setting status of the operating mode of the lower traveling body 1.

[0227] For example, in the screen 41 shown in Figures 6 to 9 (hereinafter referred to as the "standard screen" for convenience), a selection operation of tab 41q1 is performed via the input device 52, and an operation icon for setting the operating mode of the lower mobile body 1 is selected from among the expanded operation icons, thereby displaying the screen 46 of Figure 10 on the display device 50. Also, for example, in response to a predetermined input via the input device 52 in the screen 48 of Figure 19, which will be described later, the screen 46 of Figure 10 is displayed on the display device 50.

[0228] As shown in Figure 10, screen 46 includes selected images 46a and 46b, a confirmation icon 46c, and screen transition icons 46d and 46e.

[0229] The selected images 46a and 46b are a group of images representing the options for the operating mode of the lower mobile unit 1.

[0230] The selected image 46a is an image representing the normal driving mode as an option for the operating mode of the lower vehicle 1. The selected image 46a displays an image for explaining the normal driving mode, and a radio button for selecting the normal driving mode is displayed in the upper left corner. The image for explaining the normal driving mode in the selected image 46a includes, for example, text information of an explanatory sentence showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1, and image information of a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1.

[0231] Selection image 46b is an image representing the single-pedal mode as an option for the operating mode of the lower vehicle 1. Selection image 46b displays an image for explaining the single-pedal mode, and a radio button for selecting the single-pedal mode is displayed in the upper left corner. The image for explaining the single-pedal mode in selection image 46a includes, for example, text information of an explanatory text showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1, and image information of a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1.

[0232] The operator can select either the normal driving mode or the single-pedal mode by selecting one of the radio buttons for either of the selected images 46a or 46b via the input device 52. In this example, the radio button for selected image 46a is selected, and the normal driving mode is selected as the operating mode for the lower vehicle 1.

[0233] The confirmation icon 46c is an icon that can be operated via the input device 52. Specifically, the confirmation icon 46c is the icon that can be operated to confirm the operating mode of the lower mobile body 1 based on the selection state of the radio buttons in the selected images 46a and 46b.

[0234] The screen transition icons 46d and 46e are icons that can be operated via the input device 52. Specifically, the screen transition icons 46d and 46e are icons that can be operated under the control of the controller 30 to transition the display content of the display device 50 from the operating mode setting screen (screen 46) of the lower mobile body 1 to other screens.

[0235] The screen transition icon 46d is the icon that controls the operation of the display device 50, transitioning the display content from the operating mode setting screen (screen 46) of the lower mobile unit 1 back to the screen that was displayed immediately before.

[0236] The screen transition icon 46e is the icon that controls the operation of the display device 50 to transition the display content from the operating mode setting screen (screen 46) of the lower mobile unit 1 to the standard screen (for example, screen 41).

[0237] For example, when the confirmation icon 46c on screen 46 is operated via the input device 52, the display content of the display device 50 transitions from screen 46 to an acceptance screen (for example, screen 44 in Figure 11) for finally confirming the operating mode of the lower mobile body 1, under the control of the controller 30.

[0238] For example, as shown in Figure 11, screen 47, which serves as the acceptance screen, is configured such that the content of screen 46 is displayed in gray, and a pop-up image 47a is displayed superimposed on the grayed-out content of screen 46.

[0239] The pop-up image 47a includes text information 47a1, image information 47a2, an acceptance icon 47a3, and a screen transition icon 47a4.

[0240] Text information 47a1 is text information indicating that the operating mode of the lower vehicle 1 is set to the content of image information 47b. In this example, text information 47a1 displays the explanation, "The operation method will be changed as follows."

[0241] Image information 47a2 represents the operating mode of the lower vehicle 1 that is subject to setting acceptance via screen 47. In this example, image information 47a2 represents the normal driving mode that was selected by the radio button on the selected image 46a on screen 46. Specifically, for example, image information 47a2 displays the name, common name, or abbreviation of the operating mode of the lower vehicle 1 that is subject to setting acceptance (in this example, "Normal"), as well as a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1 in the operating mode of the lower vehicle 1 that is subject to setting acceptance.

[0242] The acceptance operation icon 47a3 is an icon that can be operated via the input device 52. Specifically, the acceptance operation icon 47a3 is the icon that can be operated to accept the operating mode of the lower mobile body 1 (in this example, the normal operating mode), which is represented by the image information 47a2, under the control of the controller 30. Specifically, when the acceptance operation icon 47a3 is operated via the input device 52, the setting change to the operating mode of the lower mobile body 1, which is represented by the image information 47a2, is completed under the control of the controller 30. Then, under the control of the controller 30, the display content of the display device 50 transitions, for example, from the acceptance screen (screen 47) to the standard screen (for example, screen 41).

[0243] The screen transition icon 47a4 is an icon that can be operated via the input device 52. Specifically, the screen transition icon 47a4 is an icon that, under the control of the controller 30, is used to transition the display content of the display device 50 from the acceptance screen (screen 47) for the operating mode of the lower mobile unit 1 to the settings screen (i.e., return). This allows an operator or other person to return to the settings screen (screen 46) and reconfigure the operating mode of the lower mobile unit 1 by operating the screen transition icon 47a4 via the input device 52.

[0244] Thus, in this example, the display device 50 allows an operator or other person to set the operating mode of the lower mobile unit 1 via the screen 46. In addition, in this example, the display device 50 allows an operator or other person to confirm the setting of the operating mode of the lower mobile unit 1 on screen 46 via screen 47.

[0245] [First example of control processing related to the movement of the lower vehicle] Referring to Figure 12, a first example of the control processing related to the movement of the lower traveling body 1 will be specifically described.

[0246] Figure 12 is a flowchart illustrating a schematic example of the control process related to the movement of the lower traveling body 1.

[0247] This flowchart is executed repeatedly at predetermined processing cycles, for example, while the shovel 100 is in operation.

[0248] As shown in Figure 12, in step S102, the operating mode switching unit 301 determines whether the current operating mode of the lower vehicle 1 is single pedal mode or not. If the current operating mode of the lower vehicle 1 is not single pedal mode (i.e., normal driving mode), the operating mode switching unit 301 proceeds to step S104; if it is single pedal mode, it proceeds to step S108.

[0249] In step S104, the driving command output units 3021A and 3021B acquire the latest operation signals received from the operation sensors 26C1s and 26C2s corresponding to the left and right pedals 26C1 and 26C2.

[0250] Once the processing in step S104 is complete, the controller 30 proceeds to step S106.

[0251] In step S106, the travel command output units 3021A and 3021B each generate a travel command for the crawler 1C, corresponding to the operation signals that correspond to the left and right pedals 26C1 and 26C2, respectively.

[0252] Once the processing in step S106 is complete, the controller 30 proceeds to step S112.

[0253] Meanwhile, in step S108, the drive command output unit 3022 acquires an operation signal from the operation sensor 26C2s corresponding to the right pedal 26C2. Furthermore, if an input from the input device 52B is received, i.e., an input for adjusting at least one of the rotational speed and rotational direction between the drive hydraulic motors 1ML and 1MR (adjustment input), the drive command output unit 302 may acquire the adjustment input as well.

[0254] Once the processing in step S108 is complete, the controller 30 proceeds to step S110.

[0255] In step S110, the travel command output unit 3022 generates travel commands for the left and right crawlers 1C based on the operation signals from the operation sensors 26C2s corresponding to the right pedal 26C2. Furthermore, if an input (adjustment input) is acquired from the input device 52B in step S108, the travel command output unit 3022 generates travel commands for the left and right crawlers 1C based on the adjustment input from the input device 52B, in addition to the operation signals from the operation sensors 26C2s corresponding to the right pedal 26C2.

[0256] Once the processing in step S110 is complete, the controller 30 proceeds to step S112.

[0257] In step S112, the travel command output unit 302 outputs the travel commands for the left and right crawlers 1C, which were generated in step S106 or step S110, to the hydraulic control valves 31A and 31B corresponding to the left and right crawlers 1C, respectively.

[0258] Once step S112 is complete, the controller 30 terminates the processing of this flowchart.

[0259] [Second example of control processing related to the movement of the lower vehicle] Referring to Figure 13, a second example of control processing related to the movement of the lower traveling body 1 will be described.

[0260] Figure 13 is a flowchart illustrating a schematic example of the control process for the movement of the lower traveling body 1.

[0261] This flowchart is executed repeatedly at predetermined processing cycles, for example, while the shovel 100 is in operation.

[0262] As shown in FIG. 13, in step S202, the operation mode switching unit 301 determines whether the current operation mode of the lower traveling body 1 is the single pedal mode. If the current operation mode of the lower traveling body 1 is not the single pedal mode (that is, when it is the normal traveling mode), the operation mode switching unit 301 proceeds to step S204. If it is the single pedal mode, it proceeds to step S212.

[0263] Since step S204 is the same as the process of step S104 in FIG. 12, the description thereof is omitted.

[0264] When the process of step S204 is completed, the controller 30 proceeds to step S206.

[0265] In step S206, the travel command output unit 3021 determines whether the operator is operating only the right pedal 26C2 among the left and right pedals 26C1 and 26C2 based on the operation signal acquired in step S204. If the operator is operating only the right pedal 26C2, the travel command output unit 3021 proceeds to step S208. Otherwise (that is, when operating the left and right pedals 26C1 and 26C2), it proceeds to step S210.

[0266] In step S208, the travel command output unit 3021 determines whether the rising rate of the operation amount of the right pedal 26C2 in the most recent predetermined time is equal to or greater than a predetermined threshold Th1. The most recent predetermined time is, for example, the time between the previous processing cycle and the current processing cycle. The threshold Th1 corresponds to, for example, the lower limit value of the rising rate corresponding to a state where the pedal 26C2 is depressed relatively deeply (for example, a full - depression state). If the rising rate of the operation amount of the pedal 26C2 in the most recent predetermined time is not equal to or greater than the threshold, the travel command output unit 3021 proceeds to step S210. If it is equal to or greater than the threshold Th1, without outputting a travel command, the processing of this flowchart ends.

[0267] For example, even though the current operating mode of the lower vehicle 1 is the normal driving mode, the operator might mistakenly believe it is in single-pedal mode and suddenly press down on the right pedal 26C2, which is the main pedal. In this case, because it is in normal driving mode, only the right crawler 1C of the shovel 100 will suddenly start moving, and as a result, it may perform a pivot turn contrary to the operator's intention.

[0268] In contrast, the process in steps S206 and S208 prevents the lower vehicle 1 from moving even if the right pedal 26C2 is suddenly pressed down during normal driving mode. Therefore, it is possible to suppress unintended movements of the shovel 100 caused by the operator's misunderstanding of the operating mode of the lower vehicle 1. Thus, it is possible to achieve both improved operator operability through the adoption of a single-pedal mode and safety of the shovel 100.

[0269] Furthermore, in step S208, the drive command output unit 3021 may change its processing so that, if the rate of increase of the pedal operation amount 26C2 over the most recent predetermined time is greater than or equal to the threshold Th1, it generates a drive command to prevent the left and right crawlers 1C from operating, and then proceeds to step S216. Also, in step S208, if the rate of increase of the pedal operation amount 26C2 over the most recent predetermined time is greater than or equal to the threshold Th1, the controller 30 may, at the same time as terminating the processing of this flowchart, display a notification screen on the display device 50 indicating that the operation of the lower drive unit 1 is restricted (see Figure 14). This allows operators and other personnel to recognize that the operation of the lower drive unit 1 is restricted due to their own incorrect operation of pedals 26C1 and 26C2.

[0270] Steps S210, S212, S214, and S216 are the same as the processes in steps S106, S108, S110, and S112, so their explanation is omitted.

[0271] [Notification screen for limitations on the movement of the lower vehicle in normal driving mode] Referring to Figure 14, the notification screen (screen 41) displayed on the display device 50 regarding the operational limitations of the lower vehicle 1 in normal driving mode will be explained.

[0272] In this example, the same or corresponding components of the screen of the display device 50 described above as in the first example (Figure 6) to the fourth example (Figure 9) are denoted by the same reference numerals. The explanation will focus on the parts that differ from the first to fourth examples described above, and the explanation of parts that are the same or corresponding to the first to fourth examples described above may be omitted.

[0273] Furthermore, a screen with the same content as screen 41 in this example (Figure 14) may be displayed on the remote control display device of the remote control support device 150 or the monitoring display device of the remote monitoring support device.

[0274] Figure 14 shows a seventh example of the screen of the display device 50. Specifically, Figure 14 shows an example of a notification screen (screen 41) displayed on the display device 50 regarding the operation restriction of the lower vehicle 1 in normal driving mode.

[0275] As shown in Figure 14, in this example, screen 41 differs from the screens of the first to fourth examples described above in that it includes a pop-up image 41v. Also, in this example, screen 41 may be the same as the third example (Figure 8) described above in other respects.

[0276] The pop-up image 41v indicates that the operation of the lower vehicle 1 is being restricted. For example, in step S208 of Figure 13 above, if it is determined that the rate of increase of the pedal operation amount of the pedal 26C2 over the most recent predetermined time is greater than or equal to the threshold Th1, the pop-up image 41v is displayed under the control of the controller 30, superimposed on the other display contents of the display areas 41D and 41E of the screen 41 (for example, screen 41 in Figure 8 above).

[0277] The popup image 41v contains text information 41v1 and 41v2, image information 41v3, and an icon 41v4 to end display.

[0278] Text information 41v1 indicates that the operation of the lower vehicle 1 is restricted in normal driving mode. In this example, text information 41v1 includes the explanation, "Driving misoperation prevention lock activated."

[0279] Text information 41v2 is text that describes the currently selected operating mode of the lower vehicle 1, i.e., the normal driving mode. Specifically, for example, text information 41v2 includes a descriptive sentence that explains the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1 in the normal driving mode. In this example, text information 41v2 displays, "The current driving mode is Normal. The left and right crawlers can be operated independently with the left and right pedals."

[0280] Image information 41v3 is image information that describes the currently selected operating mode of the lower vehicle 1, i.e., the normal driving mode. Specifically, for example, image information 41V3 displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1 in the normal driving mode.

[0281] The display termination icon 41v4 is an icon that can be operated via the input device 52. Specifically, the display termination icon 41v4 is the icon that can be operated to terminate the display of the pop-up image 41v. This allows the operator to terminate the display of the pop-up image 41v by operating the display termination icon 41v4 via the input device 52 after confirming the contents of the pop-up image 41v.

[0282] Furthermore, the pop-up image 41v may be displayed continuously unless the display termination icon 41v4 is operated, as long as the operation restriction of the lower vehicle 1 continues (specifically, as long as the condition of step S208 in Figure 13 is met). Alternatively, it may be displayed only for a predetermined time (for example, a few seconds) after the operation restriction of the lower vehicle 1 begins, and then the display may end.

[0283] Thus, in this example, in conjunction with the implementation of the operation restriction of the lower traveling body 1 in the normal traveling mode, the controller 30 can notify a person such as an operator of the implementation of the operation restriction of the lower traveling body 1 in the normal traveling mode through the display device 50.

[0284] [Third Example of Control Processing Regarding Traveling Operation of Lower Traveling Body] Referring to FIG. 15, a third example of control processing regarding the traveling operation of the lower traveling body 1 will be described.

[0285] FIG. 15 is a flowchart diagram schematically showing a third example of control measures regarding the traveling operation of the lower traveling body 1.

[0286] This flowchart is repeatedly executed at each predetermined processing cycle, for example, during the operation of the excavator 100.

[0287] As shown in FIG. 15, in step S402, the operation mode switching unit 301 determines whether the current operation mode of the lower traveling body 1 is the single pedal mode. If the current operation mode of the lower traveling body 1 is not the single pedal mode, the operation mode switching unit 301 proceeds to step S404, and if it is the single pedal mode, it proceeds to step S408.

[0288] Steps S404 and S406 are the same as the processes of steps S104 and S106 in FIG. 12, so the description is omitted.

[0289] When the process of step S406 is completed, the controller 30 ends the process of this flowchart.

[0290] On the other hand, step S408 is the same as the process of step S108 in FIG. 12, so the description is omitted.

[0291] When the process of step S408 is completed, the controller 30 proceeds to step S410.

[0292] In step S410, the driving command output unit 3021 determines whether both pedal 26C1 and pedal 26C2 are being operated. If both pedal 26C1 and pedal 26C2 are being operated, the driving command output unit 3021 proceeds to step S412; otherwise, it proceeds to step S414.

[0293] In step S412, the drive command output unit 3021 determines whether the rate of increase of the pedal operation amount 26C1, 26C2 over the most recent predetermined time is equal to or greater than a predetermined threshold Th2. The most recent predetermined time is, for example, the time between the previous processing cycle and the current processing cycle. The threshold Th2 corresponds, for example, to the lower limit of the rate of increase corresponding to a state where the pedals 26C1, 26C2 are pressed down relatively hard (for example, a fully depressed state).

[0294] Specifically, for example, the driving command output unit 3021 determines whether the rate of increase of the operating amounts of both pedals 26C1 and 26C2 over the most recent predetermined time is equal to or greater than the threshold Th2. Alternatively, the driving command output unit 3021 may determine whether the rate of increase of the operating amount of at least one of pedals 26C1 and 26C2 over the most recent predetermined time is equal to or greater than the threshold Th2. If the determination condition is not satisfied, the driving command output unit 3021 proceeds to step S414. If the determination condition is satisfied, it terminates the processing of this flowchart without outputting a driving command.

[0295] For example, even though the current operating mode of the lower vehicle 1 is single-pedal mode, the operator might mistakenly believe it is in normal driving mode and operate both pedals 26C1 and 26C2, pressing them down suddenly. In this case, for example, in single-pedal mode where the direction of operation of the lower vehicle 1 is adjusted by operating the sub-pedal of pedals 26C1 and 26C2, the direction of travel of the lower vehicle 1 of the shovel 100 may change relatively significantly due to the operation of the sub-pedal, and as a result, it may perform a pivot turn contrary to the operator's intention.

[0296] In contrast, the process in steps S410 and S412 prevents the lower travel body 1 from moving even if the pedals 26C1 and 26C2 are suddenly pressed down in single-pedal mode. Therefore, it is possible to suppress unintended movements of the shovel 100 caused by the operator's misunderstanding of the operating mode of the lower travel body 1. Thus, it is possible to achieve both improved operator operability through the adoption of single-pedal mode and safety of the shovel 100.

[0297] Furthermore, in step S412, the drive command output unit 3021 may change its processing so that, if the rate of increase of the operated amount of pedals 26C1 and 26C2 over the most recent predetermined time is greater than or equal to the threshold Th2, it generates a drive command to prevent the left and right crawlers 1C from operating, and then proceeds to step S414. Also, in step S412, if the rate of increase of the operated amount of pedals 26C1 and 26C2 over the most recent predetermined time is greater than or equal to the threshold Th2, the controller 30 may, at the same time as terminating the processing of this flowchart, display a notification screen on the display device 50 indicating that the operation of the lower drive unit 1 is restricted (see Figure 16). This allows operators or other personnel to recognize that the operation of the lower drive unit 1 is restricted due to their own incorrect operation of pedals 26C1 and 26C2.

[0298] Steps S414 and S416 are the same as steps S110 and S112 in Figure 12, so their explanation is omitted.

[0299] Once the process in step S416 is complete, the controller 30 terminates the process in this flowchart.

[0300] [Notification screen regarding the limited movement of the lower vehicle in single-pedal mode] Referring to Figure 16, the notification screen (screen 41) displayed on the display device 50 regarding the operational limitations of the lower vehicle 1 in single-pedal mode will be explained.

[0301] In this example, the same or corresponding components of the screen of the display device 50 described above as in the first example (Figure 6) to the fourth example (Figure 9) are denoted by the same reference numerals. The explanation will focus on the parts that differ from the first to fourth examples described above, and the explanation of parts that are the same or corresponding to the first to fourth examples described above may be omitted.

[0302] Furthermore, a screen with the same content as screen 41 in this example (Figure 16) may be displayed on the remote control display device of the remote control support device 150 or the monitoring display device of the remote monitoring support device.

[0303] Figure 16 shows an example of the eighth screen of the display device 50. Specifically, Figure 16 shows an example of a notification screen (screen 41) displayed on the display device 50 regarding the operational limitations of the lower vehicle 1 in single-pedal mode.

[0304] As shown in Figure 16, in this example, screen 41 differs from the screens in the first to fourth examples described above in that it includes a pop-up image 41w. Also, in this example, screen 41 may be the same as the fourth example (Figure 9) described above in other respects.

[0305] The pop-up image 41w indicates that the operation of the lower vehicle 1 is being restricted. For example, in step S412 of Figure 15 above, if it is determined that the rate of increase of the pedal operation amount 26C2 over the most recent predetermined time is greater than or equal to the threshold Th2, the pop-up image 41w is displayed under the control of the controller 30, superimposed on the other display content of the display areas 41D and 41E of the screen 41 (for example, screen 41 in Figure 9 above).

[0306] The pop-up image 41w contains text information 41w1 and 41w2, image information 41w3, and an icon 41w4 to end display.

[0307] Text information 41w1 indicates that the operation of the lower vehicle unit 1 is restricted in single-pedal mode. In this example, text information 41w1 includes the explanation, "Prevention of misoperation of vehicle operation lock activated."

[0308] Text information 41w2 is text that describes the currently selected operating mode of the lower vehicle 1, namely the single-pedal mode. Specifically, for example, text information 41w2 includes a descriptive sentence that explains the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1 in single-pedal mode. In this example, text information 41w2 displays, "The current driving mode is SPM. The right pedal moves straight, and the left pedal turns."

[0309] Image information 41w3 is image information that describes the currently selected operating mode of the lower vehicle 1, namely the single-pedal mode. Specifically, for example, image information 41w3 displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1 in single-pedal mode.

[0310] The display termination icon 41w4 is an icon that can be operated via the input device 52. Specifically, the display termination icon 41w4 is the icon that can be operated to terminate the display of the pop-up image 41w. This allows the operator to terminate the display of the pop-up image 41w by operating the display termination icon 41w4 via the input device 52 after confirming the contents of the pop-up image 41w.

[0311] Furthermore, the pop-up image 41w may be displayed continuously unless the display termination icon 41w4 is operated, as long as the operation restriction of the lower vehicle 1 continues (specifically, as long as the condition of step S412 in Figure 15 is met). Alternatively, it may be displayed only for a predetermined time (for example, a few seconds) after the operation restriction of the lower vehicle 1 begins, and then the display may end.

[0312] Thus, in this example, the controller 30 can notify an operator or other person of the implementation of the operation restriction on the lower vehicle 1 in single-pedal mode via the display device 50.

[0313] [Other examples of processing related to the movement of the lower vehicle] Another example of processing related to the movement of the lower traveling body 1 will be described.

[0314] Examples 1 to 3 of the processing related to the movement of the lower mobile body 1 may be modified or changed as appropriate.

[0315] For example, the second example (Figure 12) and the third example (Figure 13) concerning the running motion of the lower running body 1 described above may be combined. Specifically, for example, between step S214 and step S216 in Figure 13, a process similar to steps S410 and S412 in Figure 15 may be added.

[0316] [Processing to switch the operating mode of the lower vehicle] Referring to Figure 17, the process for switching the operating mode of the lower traveling body 1 will be explained.

[0317] Figure 17 is a flowchart illustrating a schematic example of the process for switching the operating mode of the lower traveling body 1.

[0318] This flowchart is executed repeatedly at predetermined processing cycles, for example, while the shovel 100 is in operation.

[0319] As shown in Figure 17, in step S302, the operation mode switching unit 301 determines whether or not an input (switching input) for switching the operation mode has been received through the input device 52A. If the switching input is received, the operation mode switching unit 301 proceeds to step S304; if the switching input is not received, it terminates the process in this flowchart.

[0320] In step S304, the operation mode switching unit 301 acquires the operation signals of the operation sensors 26C1s and 26C2s corresponding to the latest left and right pedals 26C1 and 26C2.

[0321] Once the processing in step S304 is complete, the controller 30 proceeds to step S306.

[0322] In step S306, the operation mode switching unit 301 determines whether or not the lower vehicle 1 is being operated. For example, if the current operation mode of the lower vehicle 1 is the normal driving mode, the operation mode switching unit 301 determines whether or not the lower vehicle 1 is being operated based on the operation signals of both operation sensors 26C1s and 26C2s. Also, for example, if the current operation mode of the lower vehicle 1 is the single pedal mode, the operation mode switching unit 301 determines whether or not the lower vehicle 1 is being operated based on the operation signal of only operation sensor 26C2s out of the operation sensors 26C1s and 26C2s. If the lower vehicle 1 is not being operated, the operation mode switching unit 301 proceeds to step S306. If the lower vehicle 1 is being operated, the process of this flowchart is terminated without switching the operation mode of the lower vehicle 1.

[0323] This prevents the controller 30 from changing the operating mode of the lower vehicle 1 while operations are being performed on the lower vehicle 1. Therefore, the controller 30 can ensure the safety of the shovel 100 while improving the operability of the lower vehicle 1, for example by adding a single-pedal mode.

[0324] In addition, in step S306, the operating mode switching unit 301 may determine, for example, whether or not the lower traveling body 1 is in motion.

[0325] In step S306, the operation mode switching unit 301 switches the operation mode of the lower traveling body 1 according to the input content received by the input device 52.

[0326] Once the process in step S306 is complete, the controller 30 terminates the process in this flowchart.

[0327] [Second example of a functional configuration related to the movement of the lower vehicle] Referring to Figure 18, a second example of the functional configuration related to the running operation of the lower running body 1 will be described.

[0328] In the following, components identical to or corresponding to the first example (Figure 4) described above will be denoted by the same reference numerals. The explanation will focus on the parts that differ from the first example, and the explanation of parts that are the same as or corresponding to the first example may be omitted.

[0329] Figure 18 shows a second example of the functional configuration related to the running motion of the lower running body 1.

[0330] As shown in Figure 18, the excavator 100 in this example differs from the above example in that it further includes a memory unit 304, a user confirmation unit 305, a notification unit 306, and a setting unit 307 as functional units related to the travel operation of the lower travel body 1.

[0331] The memory unit 304 stores information and data regarding various settings of the shovel 100, including the operating mode of the lower travel body 1.

[0332] For example, the memory unit 304 stores, in a manner that records record data or the like, the users who will use the shovel 100 as operators and the unique setting information corresponding to those users. The unique setting information corresponding to the target user includes, for example, the operation mode of the lower travel body 1 that the target user will use as the initial setting state from among the multiple operation modes of the lower travel body 1.

[0333] The operating mode of the lower travel unit 1 used by the target user as the initial setting is, for example, the operating mode of the lower travel unit 1 that was in use when the target user most recently used the shovel 100 as an operator and finished using the shovel 100. The end of use of the shovel 100 includes, for example, when the shovel 100 is stopped. Furthermore, if the shovel 100 is not stopped, the end of use also includes, for example, when a predetermined time (for example, several minutes) has elapsed after the operating state of the gate lever 23 has transitioned from an operable state to an inoperable state for the shovel 100. This is because if the operating state of the gate lever 23 remains in the inoperable state for the shovel 100 for a relatively long period, the operator in the cabin 10 may disembark and be replaced by another operator.

[0334] Furthermore, stopping the shovel 100 means transitioning from a state in which the shovel 100 can operate its driven elements to a state in which it cannot operate them. The state in which the shovel 100 can operate its driven elements includes a state in which the prime mover, which is the driven element of the shovel 100, is stopped, but the controller 30, which controls the shovel 100, is activated. This is because the prime mover can be started by the control of the controller 30. Stopping the shovel 100 is achieved, for example, by turning off a key switch that can be operated with a physical key inserted into the key cylinder, or by turning off a button-type key switch (also called a "start button") provided in the cabin 10, which can be operated on the premise of wireless authentication with a predetermined terminal (for example, a physical authentication key or a mobile terminal with an authentication app installed).

[0335] The user confirmation unit 305 confirms the user who will use the shovel 100 as the operator, in accordance with the timing of the operator's start of operation.

[0336] The timing of the start of operation of the shovel 100 includes, for example, the time when the shovel 100 is started. The timing of the start of operation of the shovel 100 also includes, for example, when the shovel 100 is not stopped, the operating state of the gate lever 23 changes from the state in which the shovel 100 can be operated to the state in which it cannot be operated, and after a predetermined time (for example, several minutes) or more has elapsed, the operating state of the gate lever 23 returns to the state in which the shovel 100 can be operated. This is because if the operating state of the gate lever 23 remains in the state in which the shovel 100 cannot be operated for a relatively long period of time before returning to the state in which the shovel 100 can be operated, it is possible that the operator of the cabin 10 has been replaced by another user.

[0337] Furthermore, starting the shovel 100 means transitioning from a state in which the shovel 100 is unable to operate its driven elements to a state in which it is able to operate. Starting the shovel 100 is achieved, for example, by turning off a key switch that can be operated by inserting a physical key into the key cylinder, or by turning on a button-type key switch (start button) provided in the cabin 10, which can be operated on the premise of authentication via wireless communication with a predetermined terminal (for example, a physical authentication key or a mobile terminal with an authentication app installed).

[0338] For example, the user confirmation unit 305 displays a user confirmation screen (hereinafter referred to as the "user authentication screen") on the display device 50 and allows the operator to select a user corresponding to themselves from among a number of pre-registered users by operating the screen through the input device 52.

[0339] Furthermore, the user identification unit 305 may determine the user corresponding to the current operator from among a plurality of pre-registered users by applying known image recognition technology, etc., based on the image captured by an imaging device installed inside the cabin 10, which includes the driver's seat 70 in its imaging range.

[0340] Furthermore, the user identification unit 305 may identify the user corresponding to the current operator from among the pre-registered users by applying biometric authentication technology (e.g., fingerprint authentication, iris authentication, etc.).

[0341] In response to the user confirmation unit 305 confirming the user who will be using the shovel 100 as an operator, the notification unit 306 notifies the operator of various initial setting information associated with the pre-registered target user corresponding to the operator. Specifically, for example, in response to the user confirmation unit 305 confirming the user who will be using the shovel 100 as an operator, the notification unit 306 displays a screen (hereinafter referred to as the "setting confirmation screen") on the display device 50 for confirming various initial setting information associated with the pre-registered user corresponding to the operator (see Figure 19).

[0342] This allows the operator to check various initial settings and, if necessary, change the settings by operating the settings screen displayed on the display device 50 via the input device 52, for example.

[0343] The setting unit 307 configures various settings related to the shovel 100 in the controller 30. The setting unit 307 includes an operation mode switching unit 301 that switches the operation mode of the lower travel body 1.

[0344] [Initial settings confirmation screen when the operator starts operation] Referring to Figure 19, an example of a setting confirmation screen displayed on the display device 50 in response to the user confirmation unit 305 confirming that the user will be using the shovel 100 as an operator will be described.

[0345] Figure 19 shows the ninth example of the screen of the display device 50. Specifically, Figure 19 shows an example of a setting confirmation screen (screen 48) displayed on the display device 50.

[0346] For example, as shown in Figure 19, the settings confirmation screen (screen 48) is constructed by superimposing a pop-up image 48a onto the standard screen (for example, screen 41 in Figures 6 to 9). In this example, screen 48 displays the pop-up image 48a superimposed on the vertical range of the display area 41B to 41D of screen 41 in Figure 6, which is the standard screen.

[0347] The pop-up image 48a includes explanatory information 48a1, user information 48a2, and setting information 48a3 to 48a6.

[0348] Explanation information 48a1 is information that explains the settings confirmation screen.

[0349] For example, explanatory information 48a1 includes a statement prompting the user to check settings information 48a3 to 48a6 ("Check settings"). Also, explanatory information 48a1 includes a statement describing the steps to take after checking the settings information, for example, a statement prompting the user to press the start button after checking the settings information ("then press the start button.").

[0350] User information 48a2 is an image representing a user who has been confirmed by the user confirmation unit 305 as an operator who will use the shovel 100, from among multiple users who have been registered in advance.

[0351] For example, user information 48a2 includes the name of the user who has been confirmed as a user of Shovel 100, usually a shortened or abbreviated name (account name).

[0352] Furthermore, the image corresponding to user information 48a2 may be operable via the input device 52. For example, if the image corresponding to user information 48a2 is manipulated via the input device 52, the controller 30 (specifically, the setting unit 307) transitions the display content of the display device 50 from screen 48 to a screen for changing the operator who will actually use the shovel 100 from among multiple users and for user authentication (for example, a user authentication screen). This allows the operator to change the user using the shovel 100 to one corresponding to themselves by operating screen 48. In this case, once user authentication is complete, the display content of the display device 50 returns to screen 48 under the control of the controller 30 (specifically, the setting unit 307). The contents of the setting information 48a3 to 48a6 are then changed to correspond to the changed user.

[0353] The setting information 48a3 includes information representing the current setting state of the driven element or hydraulic actuator HA to be operated, which is assigned to the vertical and horizontal operations of the lever device 26A, and to the vertical and horizontal operations of the lever device 26B. The setting information 48a3 also includes information representing the setting state of the operating direction of the driven element or hydraulic actuator HA to be operated, which corresponds to the vertical or horizontal operating direction defined by the two directions.

[0354] For example, setting information 48a3 includes a name indicating that it is setting information for lever devices 26A and 26B (in this example, "Lever"), a name indicating the current setting state (in this example, "Pattern A"), and image information indicating the current setting state. In this example, the image information indicating the current setting state displays cross-shaped arrows on the left representing the vertical and horizontal operations of lever device 26A, and cross-shaped arrows on the right representing the vertical and horizontal operations of lever device 26B. The image information indicating the current setting state includes images simulating the driven element to be operated, attached to the left and right cross-shaped arrows, thereby showing the current setting state of the driven element to be operated, which is assigned to the vertical and horizontal operations of lever device 26A and the vertical and horizontal operations of lever device 26B. In addition, the image information indicating the current setting state shows the current setting state of the driven element to be operated or the operating direction of the hydraulic actuator HA, which corresponds to the vertical or horizontal operating direction defined by the two directions.

[0355] The setting information 48a4 represents the current setting state of the operating mode of the lower vehicle 1.

[0356] For example, the setting information 48a4 includes a name (in this example, "Travel") indicating that it is setting information related to the operating mode of the lower vehicle 1, a name, common name, abbreviation, etc. of the current operating mode of the lower vehicle 1 (in this example, "Single Pedal Mode"), and image information and text information that represent the relationship between the operation of pedals 26C1 and 26C2 and the operation of the lower vehicle 1.

[0357] The setting information 48a5 represents the setting status of the type of work tool (end attachment) currently attached to the tip of the arm 5 of attachment AT.

[0358] The configuration information 48a5 includes a name that indicates it is configuration information related to a work tool (in this example, "Work Tool"), and information that indicates the name, abbreviation, common name, model number, etc., of the work tool currently attached to the tip of arm 5.

[0359] The setting information 48a6 contains information that represents the language settings used on various screens displayed on the display device 50.

[0360] For example, the setting information 48a6 includes a name indicating that it is a setting related to the language used on various screens of the display device 50 (in this example, "Language") and the type of language currently set (in this example, "English").

[0361] The operator can check the current setting status of various setting items, i.e., the initial setting status, by seeing screen 48 displayed on the display device 50.

[0362] Furthermore, the operator may be able to change various settings from their default state via screen 48.

[0363] For example, by selecting the display area of ​​the setting information 48a4 in the pop-up image 48a of screen 48 (for example, by touching the touch panel), the display content of the display device 50 transitions from screen 48 to the setting screen (screen 46) shown in Figure 10 above. This allows the operator to change the operating mode of the lower traveling body 1 from its initial setting.

[0364] Furthermore, the setting items corresponding to setting information 48a3, 48a5, and 48a6 can also be changed from their initial settings in a similar manner.

[0365] [Example of user confirmation process] Referring to Figure 20, an example of the process for determining the user who will be using the shovel 100 as an operator will be explained.

[0366] Figure 20 is a flowchart illustrating an example of the process for determining the user who will be using the shovel 100 as an operator.

[0367] This flowchart is executed, for example, when it is time for the operator to begin operating the shovel 100.

[0368] As shown in Figure 20, in step S502, the user confirmation unit 305 causes the display device 50 to display a predetermined user authentication screen.

[0369] Once the processing in step S502 is complete, the controller 30 proceeds to step S504.

[0370] In step S504, the user confirmation unit 305 executes a process to confirm the user who will use the shovel 100 as an operator, in response to the operation input on the user authentication screen received from the operator via the input device 52.

[0371] For example, the user authentication screen displays input fields for the account name and password of the previous user who used the shovel 100 as an operator under the control of the controller 30. If the current operator is the same user as the previous operator, the operator enters the correct password into the password input field via the input device 52. This allows the user confirmation unit 305 to confirm the user who will use the shovel 100 as an operator. On the other hand, if the current operator is a different user from the previous operator, the operator operates the operation target (icon) included in the user authentication screen, which is used to change the user (account name) displayed on the authentication screen, via the input device 52. This causes the display device 50 to display a list or another screen for selecting a different user (account name) under the control of the controller 30. Therefore, the current operator can change the account name of the user displayed on the user authentication screen to one that corresponds to themselves, and then enter the correct password into the password input field via the input device 52. This allows the user confirmation unit 305 to confirm the user who will use the shovel 100 as an operator. Furthermore, on the user authentication screen, under the control of the controller 30 (setting unit 307), the user may be identified by a method other than password authentication (for example, biometric authentication).

[0372] Once the processing in step S504 is complete, the controller 30 proceeds to step S506.

[0373] In step S506, the notification unit 306 displays a setting confirmation screen (for example, screen 48 in Figure 19) on the display device 50.

[0374] Once the processing in step S506 is complete, the controller 30 proceeds to step S508.

[0375] In step S508, the setting unit 307 executes a process to confirm the setting status of various setting items in response to the operation input received from the operator via the input device 52 on the setting confirmation screen and the setting screen to which various setting items are set, which is accessed from the setting confirmation screen.

[0376] Once step S508 is complete, the controller 30 proceeds to step S510.

[0377] In step S510, the controller 30 displays a standard screen (for example, screen 41 in Figures 6 to 9) on the display device 50.

[0378] Once the process in step S510 is complete, the controller 30 terminates the process in this flowchart.

[0379] [Other examples of processes related to user confirmation] This section describes another example of the process for determining which users will be using Shovel 100 as operators.

[0380] The example shown above (Figure 20) may be modified or altered as appropriate.

[0381] For example, steps S502 and S504 in Figure 20 may be omitted. For example, in the setting confirmation screen (screen 48) in Figure 19, the operator can change the user by manipulating the user information 48a2 through the input device 52.

[0382] Furthermore, steps S502 and S504 in Figure 20 may be omitted in specific cases among the anticipated timings for the operator to begin operation. For example, if the gate lever 23 remains in an unoperable state for a relatively long period of time before returning to an operable state, steps S502 and S504 in Figure 20 are omitted. This is because the operator may not have changed. This eliminates the inconvenience that the operator might feel due to having to perform user authentication again.

[0383] [Other examples of shovel configurations] Refer to Figure 21 to illustrate another example of the configuration of shovel 100.

[0384] In the following, components identical to or corresponding to the example configuration of the shovel 100 described above (Figure 2) will be denoted by the same reference numerals. The explanation will focus on the parts that differ from the example configuration of the shovel 100 described above, and the explanation of parts that are the same as or corresponding to the example configuration of the shovel 100 described above may be omitted.

[0385] Figure 21 shows another example of the configuration of shovel 100.

[0386] As shown in Figure 21, the shovel 100 in this example differs from the above example (Figure 2) in that it includes a sound output device 54 and a lighting device 56 for the user interface system.

[0387] The sound output device 54 is capable of emitting sound towards the area surrounding the shovel 100. The sound output device 54 is installed, for example, outside the cabin 10 on the upper rotating body 3. Alternatively, the sound output device 54 may be installed inside the cabin 10, as long as it is capable of emitting sound towards the area surrounding the shovel 100.

[0388] For example, the sound output device 54 includes a travel alarm for outputting a predetermined sound towards the vicinity of the shovel 100 when the lower travel body 1 of the shovel 100 is traveling. The sound output device 54 may also include a speaker that outputs sound towards the vicinity of the shovel 100.

[0389] The lighting device (also called a "lighting device") 56 is capable of illuminating the area around the shovel 100.

[0390] For example, the lighting device 56 is installed outside the cabin 10 on the upper rotating body 3. Specifically, for example, the lighting device 56 includes a work light that illuminates the front of the upper rotating body 3. The lighting device 56 may also include lights that illuminate the left, right, and rear sides of the upper rotating body 3. The lighting device 56 may also be installed inside the cabin 10, insofar as it can illuminate the area around the shovel 100.

[0391] [A third example of the functional configuration related to the movement of the lower vehicle] Referring to Figure 22, a third example of the functional configuration related to the running operation of the lower running body 1 will be described.

[0392] In the following, components that are the same as or correspond to those in the first example (Figure 4) and the second example (Figure 18) described above will be denoted by the same reference numerals. The explanation will focus on the parts that differ from the first and second examples described above, and the explanation of parts that are the same as or correspond to those in the first and second examples described above may be omitted.

[0393] Figure 22 shows a third example of the functional configuration related to the running motion of the lower running body 1.

[0394] As shown in Figure 22, the excavator 100 in this example differs from the above example in that it further includes an auto-cruise control unit 308 and a notification unit 309 as functional units related to the travel operation of the lower traveling body 1.

[0395] The auto cruise control unit 308 performs cruise control (CC) related to the auto cruise function when the operating mode of the lower vehicle 1 is set to single pedal mode.

[0396] The auto-cruise function is a function that allows the lower vehicle 1 to move regardless of the operation of pedals 26C1 and 26C2, when the operating mode of the lower vehicle 1 is set to single-pedal mode. For example, the auto-cruise function allows the lower vehicle 1 to move according to the operation state of pedal 26C2 (i.e., the main pedal) at a predetermined point in the past, regardless of the current operation state of pedals 26C1 and 26C2. Alternatively, the auto-cruise function may allow the lower vehicle 1 to move in a manner that reproduces the driving state of the lower vehicle 1 at a predetermined point in the past, regardless of the current operation state of pedals 26C1 and 26C2. The driving state of the lower vehicle 1 includes, for example, the driving speed and direction of the lower vehicle 1. Furthermore, the auto-cruise function may allow the lower vehicle 1 to move according to a preset operation state, regardless of the current operation state of pedals 26C1 and 26C2. Furthermore, the auto-cruise function may also be a function that causes the lower vehicle 1 to travel in a predetermined driving state, regardless of the current operating state of pedals 26C1 and 26C2.

[0397] For example, the auto cruise control unit 308 maintains the state in which the lower vehicle 1 travels in a straight line when a predetermined condition (hereinafter referred to as the "CC ON condition") for activating (i.e., turning on) the auto cruise function is met, and the pedal 26C2 (i.e., the main pedal) is operated. This allows the operator to use the auto cruise function to make the lower vehicle 1 travel in a straight line in a desired state without operating pedals 26C1 and 26C2. The auto cruise control unit 308 may also maintain the state in which the lower vehicle 1 travels according to the operating state of pedal 26C2 and the state of the adjustment input (for example, the operating state of pedal 26C1 as a sub-pedal) when the CC ON condition is met. The auto cruise control unit 308 may also maintain the state in which the lower vehicle 1 travels according to the state of the lower vehicle 1 traveling when the CC ON condition is met. This allows the operator to use the auto cruise function to make the lower vehicle 1 travel in a straight line or turn in a desired state without operating pedals 26C1 and 26C2.

[0398] The CC ON condition is, for example, when a predetermined input for activating the auto cruise function is received through the input device 52. The predetermined input for activating the auto cruise function is received, for example, through a mechanical input device such as a dedicated switch as the input device 52. Alternatively, the predetermined input for activating the auto cruise function may be received through a knob switch, which is the input device 52, provided on the lever devices 26A and 26B. Alternatively, the predetermined input for activating the auto cruise function may be an operation input via a touch panel on the setting screen displayed on the display device 50. Alternatively, the predetermined input for activating the auto cruise function may be an input of a specific phrase, a specific gesture, a hand sign, etc. Furthermore, the CC ON condition may also be when the operating state of pedals 26C1 and 26C2 is within a relatively small predetermined range of fluctuation (i.e., a state in which the operating state can be considered almost constant) for a predetermined time or longer, or beyond a predetermined time. Furthermore, if there are multiple CC-on conditions, the auto cruise control unit 308 may activate the auto cruise function when at least one of the multiple CC-on conditions is met while the operating mode of the lower vehicle 1 is set to single-pedal mode.

[0399] Furthermore, the auto cruise control unit 308 will deactivate the auto cruise function when a predetermined condition for deactivating (i.e., turning off) the auto cruise function (hereinafter referred to as the "CC off condition") is met while the auto cruise function is operating.

[0400] The CC off condition is, for example, when pedals 26C1 and 26C2 are operated while the auto cruise function is active. Specifically, for example, the auto cruise control unit 308 will deactivate the auto cruise function if the operation of pedals 26C1 and 26C2 deviates relatively significantly from the operation state corresponding to the auto cruise function (for example, if the difference between the actual operation amount and the operation amount corresponding to the auto cruise function is greater than or exceeds a threshold). The auto cruise control unit 308 may also deactivate the auto cruise function when pedals 26C1 and 26C2 are operated, regardless of the content of the operation. The CC off condition may also be when an input requesting the deactivation of the auto cruise function is received through the input device 52 while the auto cruise function is active. Furthermore, there may be multiple CC off conditions, and the auto cruise control unit 308 may deactivate the auto cruise function if at least one of the multiple CC off conditions is met while the auto cruise function is active.

[0401] Furthermore, the auto cruise control unit 308 may notify the operator that the auto cruise function is active via the display device 50 or the like when the auto cruise function is operating (see Figure 24). This prevents situations such as the controller 30 forgetting that the auto cruise function is active and operating pedals 26C1 and 26C2, thereby disabling the auto cruise function.

[0402] The notification unit 309 provides notification (also referred to as "notification") regarding the operating mode of the lower traveling body 1 to the area surrounding the shovel 100. The notification unit 309 provides notification regarding the operating mode of the lower traveling body 1 by an auditory method, for example, using a sound output device 54. Alternatively, the notification unit 309 provides notification regarding the operating mode of the lower traveling body 1 by a visual method, using a lighting device 56 instead of, or in addition to, the sound output device 54.

[0403] Notifications regarding the operating mode of the lower vehicle 1 include, for example, information representing the currently set (i.e., currently used) operating mode of the lower vehicle 1.

[0404] For example, workers around the shovel 100 can check the operator's operation of pedals 26C1 and 26C2 through the front window of the cabin 10. Therefore, workers can predict the direction in which the shovel 100 will travel based on the operator's operation of pedals 26C1 and 26C2 and proceed with their work accordingly. However, even if the operation of pedals 26C1 and 26C2 is the same, there may be differences in the movement pattern of the lower travel body 1 depending on whether the operating mode of the lower travel body 1 is the normal travel mode or the single pedal mode.

[0405] In contrast, in this example, the controller 30 can notify workers around the shovel 100 of the operating mode of the lower travel body 1 currently in use. Therefore, workers around the shovel 100 can appropriately predict the direction in which the shovel 100 will travel based on the operating status of pedals 26C1 and 26C2, while taking into account the operating mode of the lower travel body 1 currently in use.

[0406] For example, the notification unit 309 notifies the area around the shovel 100 of the currently used operating mode of the lower traveling body 1 by varying the sound output from the sound output device 54 for each operating mode of the lower traveling body 1. Specifically, for example, the notification unit 309 varies the volume, sound pressure, pitch, tone, timbre, presence or absence of sound output, and sound output pattern of the sound output from the sound output device 54 for each operating mode of the lower traveling body 1. Also, for example, if the sound output device 54 is a speaker, the notification unit 390 varies the content of the sound output from the sound output device 54 (speaker) for each operating mode of the lower traveling body 1.

[0407] Furthermore, for example, the notification unit 309 notifies the area around the shovel 100 of the currently used operating mode of the lower traveling body 1 by varying the pattern of light irradiation from the lighting device 56 for each operating mode of the lower traveling body 1. Specifically, for example, the notification unit 309 varies the illuminance, color, presence or absence of illumination, and output patterns of illumination and extinguishing of the light emitted from the lighting device 56 for each operating mode of the lower traveling body 1.

[0408] Furthermore, notifications regarding the operating mode of the lower vehicle 1 may include, for example, notifications regarding whether or not the auto cruise function is being used when the operating mode of the lower vehicle 1 is single pedal mode.

[0409] For example, with the auto-cruise function activated, pedals 26C1 and 26C2 are unlikely to be operated. Therefore, workers around the shovel 100 who are unaware that the auto-cruise function is active may not be able to accurately predict the direction in which the shovel 100 will travel.

[0410] In contrast, in this example, the controller 30 can notify people such as workers around the shovel 100 whether or not the auto-cruise function of the shovel 100 is activated, through at least one of the sound output device 54 and the lighting device 56. Therefore, people such as workers around the shovel 100 can appropriately predict the direction in which the shovel 100 will travel based on the operating status of pedals 26C1 and 26C2, while taking into account whether or not the auto-cruise function is activated.

[0411] For example, the notification unit 309 varies the sound output from the sound output device 54 depending on whether the auto-cruise function is activated when single-pedal mode is being used. Specifically, for example, the notification unit 309 varies the volume, sound pressure, pitch, tone, timbre, and sound output pattern of the sound output from the sound output device 54 for each operating mode of the lower travel body 1. Also, for example, if the sound output device 54 is a speaker, the notification unit 390 varies the content of the audio output from the sound output device 54 (speaker) for each operating mode of the lower travel body 1. In this case, the sound output device 54 (speaker) may output an audio explanation of the auto-cruise function itself. This allows, for example, workers around the shovel 100 to recognize the content of the auto-cruise function and appropriately predict the direction in which the shovel 100 will travel based on the operating state of pedals 26C1 and 26C2, even if they are unaware of the auto-cruise function itself.

[0412] Furthermore, for example, the notification unit 309 alters the pattern of light emitted from the lighting device 56 depending on whether or not the auto-cruise function is activated when single-pedal mode is in use. Specifically, for example, the notification unit 309 alters the illuminance, color, and on / off output patterns of the light emitted from the lighting device 56 depending on whether or not the auto-cruise function is activated when single-pedal mode is in use.

[0413] Furthermore, if the sound from the sound output device 54 and the light from the lighting device 56 can be perceived by a person such as an operator inside the cabin 10, the notification unit 309 may, at least one of the sound output device 54 and the lighting device 56, notify the area around the shovel 100 of the operating mode of the lower traveling body 1, and at the same time notify the operator inside the cabin 10 of the operating mode of the lower traveling body 1.

[0414] [Processing related to the auto-cruise function] Refer to Figure 23 to explain the process related to the auto-cruise function.

[0415] Figure 23 is a flowchart illustrating an example of the processing related to the auto-cruise function.

[0416] Specifically, Figure 23 includes Figures 23A and 23B. Figure 23A is a flowchart diagram schematically showing an example of a process executed at predetermined processing cycles when the operating mode of the lower vehicle 1 is set to single pedal mode and the auto cruise function is off. Figure 23B is a flowchart diagram schematically showing an example of a process executed when the operating mode of the lower vehicle 1 is set to single pedal mode and the auto cruise function is on.

[0417] For example, the flowcharts in Figures 23A and 23B are subflowcharts that are executed when the condition in step S102 of the flowchart in Figure 12, or step S202 of the flowchart in Figure 13, is met (i.e., the result is YES). In this case, the processing in steps S108, S110, and S112 of the flowchart in Figure 12 is omitted when the condition in step S102 is met. Similarly, in this case, the processing in steps S212, S214, and S216 of the flowchart in Figure 13 is omitted when the condition in step S202 is met.

[0418] <When the auto-cruise function is turned off> As shown in Figure 23A, in step S602, the auto cruise control unit 308 determines whether the CC-on condition is met. If the CC-on condition is not met, the auto cruise control unit 308 proceeds to step S604; if the CC-on condition is met, it proceeds to step S608.

[0419] Steps S604 and S606 are the same as the processes in steps S108 and S110 in Figure 12, so their explanation is omitted.

[0420] Once the processing in step S606 is complete, the controller 30 proceeds to step S612.

[0421] Meanwhile, in step S608, the auto cruise control unit 308 holds the latest operation signal received from the operation sensor 26C2s corresponding to the right pedal 26C2 (i.e., the main pedal) of the left and right pedals 26C1, 26C2 (for example, stored in a predetermined storage area of ​​the memory device 30B). The auto cruise control unit 308 may also acquire a detected value representing the latest driving state of the lower vehicle 1.

[0422] Once step S608 is complete, the controller 30 proceeds to step S610.

[0423] In step S610, the auto cruise control unit 308 generates travel commands for the left and right crawlers 1C respectively, based on the operation signals or detected values ​​held in step S608.

[0424] Once the processing in step S610 is complete, the controller 30 proceeds to step S612.

[0425] Step S612 is the same as the process in step S112 in Figure 12, so its explanation is omitted.

[0426] Once the process in step S612 is complete, the controller 30 terminates the process in this flowchart.

[0427] <When the auto-cruise function is turned on> As shown in Figure 23B, in step S702, the auto cruise control unit 308 determines whether the CC off condition has been met. If the CC off condition has not been met, the auto cruise control unit 308 proceeds to step S704; if the CC off condition has been met, it proceeds to step S706.

[0428] In step S704, the auto cruise control unit 308 generates travel commands for the left and right crawlers 1C respectively, based on the operation signal or detected value held by the processing in step S608 in Figure 23A.

[0429] Once step S704 is complete, the controller 30 proceeds to step S710.

[0430] On the other hand, steps S706 and S708 are the same as steps S108 and S110 in Figure 12, so their explanation is omitted.

[0431] Once the processing in step S708 is complete, the controller 30 proceeds to step S710.

[0432] Step S710 is the same as the process in step S112 in Figure 12, so its explanation is omitted.

[0433] [Notification screen regarding the auto-cruise function] Referring to Figure 24, a notification screen regarding the auto-cruise function displayed on the display device 50 will be described. Specifically, a concrete example of a notification screen indicating that the auto-cruise function is active, displayed on the display device 50, will be described.

[0434] Figure 24 shows the tenth example of the screen of the display device 50. Specifically, Figure 24 shows a concrete example (screen 41) of a notification screen displayed on the display device 50 indicating that the auto cruise function is active.

[0435] As shown in Figure 24, in this example, screen 41 differs from the screens in the first to fourth examples described above in that it includes a pop-up image 41x. Also, in this example, screen 41 may be the same as in the fourth example (Figure 9) described above in other respects.

[0436] The pop-up image 41x indicates that the auto-cruise function is active. For example, in step S602 of Figure 23A, if it is determined that the CC-on condition is met, the pop-up image 41x is displayed under the control of the controller 30, superimposed on the other display content of the display areas 41D and 41E of the screen 41 (for example, the screen 41 in Figure 9 above).

[0437] The popup image 41x contains text information 41x1 and 41x2, image information 41x3, and an icon 41x4 that ends the display.

[0438] Text information 41x1 indicates that the auto-cruise function is active. In this example, text information 41x1 includes the explanatory text "Auto-cruise function active".

[0439] Text information 41x2 contains text that explains how to deactivate the auto cruise function, that is, how to return to the normal single-pedal mode. In this example, text information 41x2 contains the explanation, "Deactivate auto cruise by operating the pedal. You can return to the following operations."

[0440] Furthermore, the text information 41x2 includes text information explaining how to operate pedals 26C1 and 26C2 after the auto-cruise function is deactivated, that is, after returning to the normal single-pedal mode. Specifically, for example, the text information 41x2 includes an explanatory text explaining the relationship between the operation of pedals 26C1 and 26C2 in the normal single-pedal mode and the operation of the lower vehicle body 1. In this example, the text information 41x2 includes the explanatory text, "Operate the right pedal to go straight, and operate the left pedal to turn."

[0441] Image information 41x3 is image information that explains how to operate pedals 26C1 and 26C2 after the auto cruise function is deactivated, that is, after returning to the normal single-pedal mode. Specifically, for example, image information 41x3 displays a schematic diagram showing the relationship between the operation of pedals 26C1 and 26C2 in single-pedal mode and the operation of the lower vehicle body 1.

[0442] The display termination icon 41x4 is an icon that can be operated via the input device 52. Specifically, the display termination icon 41x4 is the icon that can be operated to terminate the display of the popup image 41x. As a result, the operator can terminate the display of the popup image 41x by operating the display termination icon 41x4 via the input device 52.

[0443] Furthermore, even if the display termination icon 41x4 is operated and the display of the pop-up image 41x is terminated, as long as the auto-cruise function is active, another image with a relatively small occupied area (for example, an icon image displayed in addition to the display area 41A) indicating that the auto-cruise function is active may continue to be displayed on the display device 50.

[0444] Thus, in this example, the controller 30 can notify the operator via the display device 50 that the auto cruise function is in operation when the auto cruise function is activated.

[0445] [Other examples of functional configurations related to the movement of the lower vehicle] Another example of the functional configuration related to the movement of the lower traveling body 1 will be described.

[0446] The first example (Figure 4), second example (Figure 18), and third example (Figure 22) of the functional configuration related to the running operation of the lower running body 1 described above may be modified or changed as appropriate. Hereinafter, examples of modifications or changes made to the first to third examples described above will be referred to as "modified examples" for convenience.

[0447] For example, in the third example of the functional configuration related to the driving operation of the lower vehicle 1 described above (Figure 22), either the auto cruise control unit 308 or the notification unit 309 may be omitted.

[0448] Furthermore, the second example of the functional configuration for the driving operation of the lower vehicle 1 described above, the third example, or a modified version thereof may be combined. Specifically, for example, at least one of the auto cruise control unit 308 and notification unit 309 of the third example described above may be added to the controller 30 of the second example of the functional configuration for the driving operation of the lower vehicle 1 described above (Figure 18).

[0449] [Remote Operation Support System] Referring to Figure 25, the configuration of the remote operation support system SYS according to this embodiment will be described.

[0450] Figure 25 shows an example configuration of the SYS remote control support system.

[0451] As shown in Figure 25, the remote operation support system SYS includes an excavator 100, a remote operation room RC, and a control center RMC.

[0452] In this example, the shovel 100 has the same configuration as in Figures 1 and 2 above. Therefore, the detailed configuration of the shovel 100 is omitted from Figure 25.

[0453] The excavator 100, the remote control room RC, and the management center RMC are connected to each other so that data can be sent and received via a communication line NW. Alternatively, the excavator 100, the remote control room RC, and the management center RMC may be connected to each other so that data can be sent and received directly without using the communication line NW. For example, the excavator 100 transmits information about the work site to the remote control room RC. This allows the remote operator RO in the remote control room RC to understand the situation at the work site based on the information from the excavator 100.

[0454] As described above, the shovel 100 is equipped with an imaging device 45 and distance sensors that can recognize the position and shape of objects present at the work site in three dimensions. Therefore, the shovel 100 can transmit the results of the three-dimensional measurement of the work site to the remote control room RC.

[0455] The SYS remote control support system may include one or more excavators 100. If it includes multiple excavators 100, the remote operator RO of a particular excavator 100 can obtain information about the work sites obtained by that particular excavator 100, as well as information about the work sites obtained by one or more other excavators 100.

[0456] The remote control room RC is equipped with a remote control support device 150. The remote control room RC also has a driver's seat DS where the remote operator RO sits to remotely control the shovel 100.

[0457] The remote control support device 150 includes a communication device T2, a remote controller 40, an operating device 42, an operating sensor 43, a display device D1E, and input devices D2EA and D2EB.

[0458] The communication device T2 is configured to communicate with the communication device 60 attached to the shovel 100 and with the communication device installed in the control center RMC.

[0459] The remote controller 40 is a control device that performs control processing related to the remote operation of the excavator 100. The remote controller 40 is mainly composed of a computer, including a processor, memory device, auxiliary storage device, and interface device, similar to the controller 30 of the excavator 100, for example. In this case, the various functions of the remote controller 40 are realized by loading a program installed in the auxiliary storage device into the memory device and executing it on the processor.

[0460] The operation sensor 43 is installed to detect the operation of the operating device 42. The operation sensor 43 is, for example, a tilt sensor that detects the tilt angle of the operating lever, or an angle sensor that detects the oscillation angle of the operating lever around its pivot axis. The operation sensor 43 may also consist of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information regarding the operation of the operating device 42 that it has detected to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the shovel 100. The operation sensor 43 may be configured to generate the operation signal. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without going through the remote controller 40. With this configuration, the remote operator RO can remotely operate the shovel 100 from the remote control room RC.

[0461] The operating device 42 includes lever devices 42A and 42B and a pedal device 42C. The operating sensor 43 also includes operating sensors 43A to 43C corresponding to lever devices 42A, 42B, and 42C, respectively.

[0462] The lever devices 42A and 42B have the same functions as the lever devices 26A and 26B inside the cabin 10, except that they are used for remote control of the shovel 100, respectively. The arrangement of the lever devices 42A and 42B relative to the driver's seat DS is, for example, similar to the arrangement of the lever devices 26A and 26B relative to the driver's seat 70 inside the cabin 10.

[0463] The pedal device 42C has the same function as the pedal device 26C inside the cabin 10, except that it is for remote operation. The arrangement of the pedal device 26C relative to the driver's seat DS may be, for example, the same as the arrangement of the pedal device 26C relative to the driver's seat 70 inside the cabin 10, and includes a pair of left and right pedals.

[0464] The display device D1E displays various information to the remote operator RO in the driver's seat DS. The display device D1E is, for example, a liquid crystal display or an organic EL display. Alternatively, the display device D1E may be a display or projector that enables naked-eye stereoscopic viewing, or it may be VR (Virtual Reality) goggles. Specifically, the display device D1E displays images similar to those displayed by the display device 50 inside the cabin 10 to the operator. For example, the display device D1E displays surrounding images based on information transmitted from the shovel 100 so that the remote operator RO in the remote control room RC can see the area around the shovel 100. Specifically, the display device D1E displays images captured by the imaging device 45 mounted on the shovel 100. The display device D1E also displays information regarding the operating mode of the lower traveling body 1.

[0465] Input devices D2EA and D2EB receive input from the remote operator RO. The signals (input signals) representing the content of the input received by input devices D2EA and D2EB are taken up by the remote controller 40.

[0466] Input devices D2EA and D2EB have the same functions as input devices 52A and 52B inside the cabin 10, respectively.

[0467] In this example, the above configuration enables remote control of the lower traveling body 1 in response to the operation of the pedal device 42C by the remote operator RO inside the remote control room.

[0468] Furthermore, in this example, the above configuration enables multiple operating modes for the lower vehicle 1, similar to the case of the vehicle's movement, which is controlled by the operator inside the cabin 10 using the pedal device 26C, as well as by the remote operator RO using the pedal device 26C.

[0469] Specifically, for example, in response to input from input device D2EA, the operating mode of the lower vehicle 1 is selectively switched between a normal driving mode and a single-pedal mode. In normal driving mode, the driving hydraulic motors 1ML and 1MR are remotely controlled in response to the operation of the left and right pedals on the pedal device 42C. On the other hand, in single-pedal mode, the driving hydraulic motors 1ML and 1MR are remotely controlled in response to the operation of either the left or right master pedal on the pedal device 42C. As a result, in single-pedal mode, the remote operator RO can remotely control and drive the lower vehicle 1 by operating only the master pedal on the pedal device 42C. In addition, in single-pedal mode, at least one of the rotational speed and rotational direction between the driving hydraulic motors 1ML and 1MR may be adjusted to be different in response to adjustment input from input device D2EB. As a result, in single-pedal mode, the remote operator RO can change the direction of travel of the lower vehicle 1 using the input device D2EB, under the premise that the lower vehicle 1 will be driven by operating either the left or right master pedal of the pedal device 42C.

[0470] Furthermore, when the shovel 100 is remotely operated, some or all of the functions of the controller 30 in the first to third examples or modified versions thereof of the functional configuration related to the travel operation of the lower travel body 1 described above, specifically the operation mode switching unit 301, travel command output unit 302, notification unit 303, storage unit 304, user confirmation unit 305, notification unit 306, setting unit 307, auto cruise control unit 308, and notification unit 309 may be transferred to the remote controller 40.

[0471] The Control Center (RMC) is a facility equipped with various devices for managing the remote operation of the excavator 100, either by the excavator 100 located at the work site or by the remote operator RO in the Remote Control Room (RC). In this example, the Control Center (RMC) is located at a distance from both the excavator 100's work site and the Remote Control Room (RC).

[0472] The management device 200 is, for example, a server device. The server device may be a so-called on-premise server, a cloud server, or an edge server. The management device 200 may also be a terminal device. The terminal device may be a stationary terminal device (for example, a desktop PC) or a portable terminal device, i.e., a mobile terminal (for example, a laptop PC, tablet, smartphone, etc.).

[0473] A manager at the Control Center (RMC) can, for example, use a sound collection device (e.g., a microphone) attached to the excavator 100 and a sound output device (e.g., a speaker) installed at the Control Center (RMC) to hear sounds emitted at the work site. Therefore, a manager at the Control Center (RMC) can, for example, confirm the content of speech from the operator inside the cabin 10 of the excavator 100 and the sounds around the excavator 100. In addition, a manager at the Control Center (RMC) can, for example, use a sound collection device (e.g., a microphone) installed in the remote control room (RC) and a sound output device at the Control Center (RMC) to hear sounds emitted in the remote control room (RC). Therefore, a manager at the Control Center (RMC) can, for example, confirm the content of speech from the remote operator RO in the remote control room (RC). Furthermore, a manager at the control center (RMC) can, for example, use a sound collection device (e.g., a microphone) installed at the control center (RMC) and a sound output device (e.g., a speaker) attached to the shovel 100 to transmit their own voice to the operator inside the cabin 10 of the shovel 100, or to workers around the shovel 100. Also, a manager at the control center (RMC) can, for example, use a sound collection device installed at the control center (RMC) and a sound output device (e.g., a speaker) installed at the remote control room (RC) to transmit their own voice to the remote operator RO in the remote control room (RC).

[0474] [Effect] Next, the operation of the shovel and remote control support system according to this embodiment will be described.

[0475] In a first aspect of this embodiment, a shovel is provided, comprising a lower traveling body, an upper rotating body, a cabin, a first actuator, a second actuator, a driver's seat, and a pedal device. The shovel is, for example, the shovel 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The cabin is, for example, the cabin 10 described above. The first actuator and the second actuator are, for example, the travel hydraulic motor 1ML and the travel hydraulic motor 1MR described above. The driver's seat is, for example, the driver's seat 70 described above. The pedal device is, for example, the pedal device 26C described above. Specifically, the lower traveling body includes a pair of left and right first and second crawlers. The first and second crawlers are, for example, the left crawler 1C and the right crawler 1C described above. The upper rotating body is mounted on the lower traveling body so as to be rotatable. Furthermore, the cabin is provided on the upper rotating body. The first actuator drives the first crawler. The second actuator drives the second crawler. The driver's seat is provided in the cabin and can be occupied by an operator. The pedal device includes a first pedal and a second pedal, which can be operated by an operator seated in the driver's seat with their feet. The first pedal and the second pedal are, for example, the pedals 26C1 and 26C2 described above. The shovel can selectively switch between operating modes of the lower traveling body, including a first operating mode and a second operating mode. The first operating mode is, for example, the normal traveling mode described above. The second operating mode is, for example, the single-pedal mode described above. In the first operating mode, the shovel drives the first actuator in response to the operation of the first pedal and drives the second actuator in response to the operation of the second pedal. In the second operating mode, the shovel drives both the first actuator and the second actuator in response to the operation of either the first pedal or the second pedal.

[0476] This allows the operator seated in the cabin's driver's seat to move the lower vehicle by operating only one of the left or right pedals, while the lower vehicle is in the second operating mode. Therefore, the shovel can improve the convenience of operation through a simplified configuration.

[0477] Furthermore, in a second aspect of this embodiment, assuming the first aspect described above, when operating in the second operating mode, the operator may be notified in a manner that allows them to understand the difference from the first operating mode.

[0478] This allows the operator to understand whether the current operating mode of the lower body of the excavator is the first or second operating mode.

[0479] Furthermore, in a third aspect of this embodiment, based on the first or second aspect described above, the shovel may be provided with a first input unit that receives input from an operator. The first input unit is, for example, the input device 52B described above. When the lower traveling body is operating in the second operating mode, the shovel may drive both the first actuator and the second actuator in response to the operation of either the first pedal or the second pedal, and may also adjust at least one of the operating speed and operating direction between the first actuator and the second actuator to be different in response to the input to the first input unit.

[0480] As a result, the shovel can change the direction of travel of the lower travel body 1 by adjusting at least one of the operating speed and operating direction between the first actuator and the second actuator in response to the input from the first input unit. Therefore, an operator seated in the driver's seat inside the cabin can adjust the direction of travel of the lower travel body 1 using the first input unit while moving the lower travel body by operating only one of the first pedals or the second pedal.

[0481] Furthermore, in a fourth aspect of this embodiment, based on any one of the first to third aspects described above, the shovel may be provided with a second input unit that receives input for switching the operating mode of the lower traveling body. The second input unit is, for example, the input device 52A described above. The shovel does not need to switch the operating mode of the lower traveling body even if it receives input through the second input unit to switch the operating mode of the lower traveling body while the pedal device is being operated or while the lower traveling body is traveling.

[0482] This prevents situations where the operating mode of the lower body of the excavator switches while the lower body is moving or potentially moving. Therefore, by providing multiple operating modes for the lower body of the excavator, the convenience of operation by the operator can be improved while ensuring the safety of the excavator.

[0483] Furthermore, in a fifth aspect of this embodiment, assuming any one of the first to fourth aspects described above, the output characteristics of the first actuator and the second actuator with respect to the amount of pedal operation may differ when the lower traveling body operates in the first operating mode and when the lower traveling body operates in the second operating mode.

[0484] This allows the excavator to improve the operability of its travel operation in the second operating mode by appropriately adjusting, for example, the output characteristics of the pedal devices of the first and second actuators corresponding to the second operating mode.

[0485] Furthermore, in the sixth aspect of this embodiment, based on the fifth aspect described above, when the lower traveling body of the shovel operates in the second operating mode, the degree of increase in the output of the first actuator and the second actuator in response to an increase in the amount of operation of the pedal device may be more gradual than when the lower traveling body operates in the first operating mode.

[0486] This allows the excavator to improve the operability of its travel operation by the operator in the second operating mode.

[0487] Furthermore, in the seventh aspect of this embodiment, based on the fifth or sixth aspect described above, when the lower traveling body of the shovel operates in the second operating mode, the maximum output of the first actuator and the second actuator with respect to the amount of pedal operation may be smaller than when the lower traveling body operates in the first operating mode.

[0488] This allows the excavator to improve the operability of its travel operation by the operator in the second operating mode.

[0489] Furthermore, in the eighth aspect of this embodiment, assuming any one of the first to seventh aspects described above, the shovel does not need to move its lower traveling body if, in the state in which the lower traveling body is operating in the first operating mode, only one of the first pedal and the second pedal is operated and the rate of increase of the amount of operation is greater than or equal to a predetermined first threshold. The first threshold is, for example, the threshold Th1 described above.

[0490] This prevents situations where, for example, the lower vehicle's operating mode is set to the first mode, but the operator mistakenly believes it is set to the second mode and strongly presses either the first or second pedal, causing the lower vehicle to perform a pivot turn against the operator's intention. Therefore, by providing multiple operating modes for the lower vehicle, the excavator can ensure safety while improving the convenience of operation for the operator.

[0491] Furthermore, in the ninth aspect of this embodiment, assuming any one of the first to eighth aspects described above, the shovel does not need to move the lower traveling body if, in the state in which the lower traveling body is operating in the second operating mode, both the first pedal and the second pedal are operated and the rate of increase of the amount of operation is greater than or equal to a predetermined second threshold. The second threshold is, for example, the threshold Th2 described above.

[0492] This prevents situations where, for example, the lower vehicle's operating mode is set to the second mode, but the operator mistakenly believes it is in the first mode and presses both the first and second pedals hard, resulting in the lower vehicle's movement being contrary to the operator's intention. Therefore, by providing multiple operating modes for the lower vehicle, the excavator can ensure safety while improving the convenience of operation for the operator.

[0493] Furthermore, in the tenth aspect of this embodiment, based on any one of the first to ninth aspects described above, the shovel may be provided with a third input unit for receiving input from an operator. The third input unit is, for example, the input device 52 described above. When the lower traveling body is operating in the second operating mode, and the third input unit receives input from an operator, the shovel may activate a function that maintains a state in which both the first and second actuators are driven according to the operating state of either the first pedal or the second pedal at the time the input is received by the third input unit. The function is, for example, the auto-cruise function described above.

[0494] This allows the excavator to maintain a nearly constant movement of its undercarriage, regardless of the operator's pedal operation. Therefore, the excavator can improve operator convenience.

[0495] Furthermore, in the eleventh aspect of this embodiment, based on any one of the first to tenth aspects described above, the operation of the function may be communicated to the area around the shovel.

[0496] This allows the excavator to inform people around it that a function is in place that maintains the movement of the lower body at a nearly constant level, regardless of the operator's pedal operation. For example, this helps prevent situations where people around the excavator might mistakenly assume the excavator has stopped because they see that the operator inside the cabin is not operating any pedals or levers.

[0497] Furthermore, in the twelfth aspect of this embodiment, the selected operating mode of the lower traveling body may be communicated to the area surrounding the shovel, based on any one of the first to eleventh aspects described above.

[0498] This allows the shovel to communicate the operating mode setting of its undercarriage to people in its vicinity. Therefore, the shovel can prevent situations where, for example, people in its vicinity mistakenly predict and act upon the direction of the shovel's movement based on the operator's pedal operation inside the cabin.

[0499] Furthermore, in the 13th aspect of this embodiment, based on any one of the first to 12 aspects described above, the shovel may, in conjunction with the timing of the start of shovel operation, identify the current operator from among a plurality of pre-registered users and switch the operating mode of the lower traveling body to an operating mode pre-associated with the user identified as the current operator.

[0500] This allows the excavator to improve operator convenience.

[0501] Furthermore, in a 14th aspect of this embodiment, based on any one of the first to 13 aspects described above, the excavator may be provided with a second input unit and a display unit. The second input unit is, for example, the input device 52A described above. The display unit is, for example, the display device 50 described above. Specifically, the second input unit may receive an input for switching the operating mode of the lower traveling body. When the display unit receives an input to switch the operating mode of the lower traveling body through the second input unit, it may display a screen for the operator to confirm the switching of the operating mode of the lower traveling body. The screen is, for example, the screen 44 in Figure 11 described above.

[0502] This helps prevent situations where the operator mistakenly sets the operating mode of the lower travel unit of the excavator.

[0503] Furthermore, in a 15th aspect of this embodiment, a remote control support system may be provided to support the remote operation of an excavator having a lower traveling body including a pair of left and right first and second crawlers, an upper rotating body mounted on the lower traveling body so as to be rotatable, a cabin provided on the upper rotating body, a first actuator for driving the first crawler, and a second actuator for driving the second crawler. The remote control support system is, for example, the remote control support system SYS described above. The excavator is, for example, the excavator 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The first crawler and the second crawler are, for example, the left crawler 1C and the right crawler 1C described above. The upper rotating body is, for example, the upper rotating body 3 described above. The cabin is, for example, the cabin 10 described above. The first actuator and the second actuator are, for example, the travel hydraulic motor 1ML and the travel hydraulic motor 1MR described above. Specifically, the remote control support system comprises a driver's seat and a pedal device. The driver's seat is, for example, the driver's seat DS described above. The pedal device is, for example, the pedal device 42C described above. More specifically, the driver's seat is located outside the shovel and is in which an operator can sit. The outside of the shovel is, for example, the remote control room RC described above. The pedal device includes a first pedal and a second pedal, which can be operated with the feet of an operator seated in the driver's seat. The first pedal and the second pedal are the left and right pedals in the pedal device 42C. The remote control support system is also capable of selectively switching between operating modes of the lower traveling body, including a first operating mode and a second operating mode. The first operating mode is, for example, the normal driving mode described above. The second operating mode is, for example, the single-pedal mode described above. In the first operating mode, the remote control support system drives the first actuator in response to the operation of the first pedal and drives the second actuator in response to the operation of the second pedal.Furthermore, in the second operating mode, the remote control support system drives both the first actuator and the second actuator in response to the operation of either the first pedal or the second pedal.

[0504] This allows the operator remotely controlling the shovel from outside to move the lower vehicle by operating only one of the left or right pedals while the lower vehicle is in the second operating mode. Therefore, the shovel can improve the convenience of operation with a simpler configuration.

[0505] Furthermore, the remote control support system can also be implemented in a manner similar to the second to fourteenth embodiments for the excavator, based on the fifteenth embodiment described above.

[0506] This produces the same effects as the second to fourteenth embodiments described above.

[0507] 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]

[0508] 1. Lower running body 1C Crawler 1M Hydraulic Motor for Travel 1ML Hydraulic Motor for Travel 1MR Hydraulic Motor for Travel 3. Upper rotating body 4 Boom 5 Arms 6 buckets 10 cabins 15 Pilot pump 17 Control valve 17A Control valve 17B Control valve 26 Operating device 26A Lever device 26B Lever device 26C Pedal Device 26C1 pedals 26C1s Operation Sensor 26C2 pedals 26C2s Operation Sensor 26s Operation Sensor 30 controllers 31 Hydraulic control valve 31A Hydraulic control valve 31B Hydraulic control valve 40 Remote Controllers 41 screens 42 Operating device 42A Lever device 42B Lever device 42C Pedal Device 43 Operation Sensor 43A Operation Sensor 43B Operation Sensor 43C Operation Sensor 46 screens 47 screens 48 screens 50 Display device 52 Input devices 52A Input Device 52B Input Device 54. Sound output device 56 Lighting equipment 60 Communication equipment 70 Driver's seat 100 Shovel 150 Remote Control Support Device 301 Operation Mode Switching Section 302 Driving command output unit 303 Notification Department 304 Storage section 305 User Confirmation Section 306 Notification Department 307 Settings Section 308 Auto Cruise Control Unit 309 Notification Department 3021 Driving command output unit 3021A Driving command output unit 3021B Driving command output unit 3022 Driving command output unit AT attachment D1E display device D2EA Input Device D2EB Input Device DS driver's seat RC Remote Control Room RO Remote Operator SYS Remote Operation Support System

Claims

1. A lower running body including a pair of left and right first and second crawlers, An upper slewing body mounted on the lower traveling body so as to be able to rotate, A cabin provided on the upper rotating body, A first actuator that drives the first crawler, A second actuator that drives the second crawler, The cabin is provided with a driver's seat where an operator can sit, The system includes a pedal device that can be operated by an operator seated in the driver's seat with their feet, comprising a first pedal and a second pedal, The operating mode of the lower traveling body, including a first operating mode and a second operating mode, can be selectively switched. In the first operating mode, the first actuator is driven in response to the operation of the first pedal, and the second actuator is driven in response to the operation of the second pedal. In the second operating mode, both the first actuator and the second actuator are driven in response to the operation of either the first pedal or the second pedal. Shovel.

2. When operating in the second operating mode, the operator is notified so that they can understand the difference from the first operating mode. The shovel according to claim 1.

3. It is equipped with a first input unit that receives input from an operator, When the lower traveling body is operating in the second operating mode, both the first actuator and the second actuator are driven in response to the operation of either the first pedal or the second pedal, and at least one of the operating speed and operating direction between the first actuator and the second actuator is adjusted to be different in response to the input to the first input unit. The shovel according to claim 1 or 2.

4. It is equipped with a second input unit that receives input for switching the operating mode of the lower traveling body, Even if an input to switch the operating mode of the lower vehicle is received through the second input unit while the pedal device is being operated or while the lower vehicle is in motion, the operating mode of the lower vehicle will not be switched. The shovel according to claim 1 or 2.

5. The output characteristics of the first actuator and the second actuator in response to the amount of pedal operation differ between the first operating mode and the second operating mode when the lower traveling body is operating. The shovel according to claim 1 or 2.

6. When the lower traveling body operates in the second operating mode, the increase in the output of the first actuator and the second actuator in response to an increase in the amount of pedal operation is more gradual than when the lower traveling body operates in the first operating mode. The shovel according to claim 5.

7. When the lower traveling body operates in the second operating mode, the maximum output of the first actuator and the second actuator with respect to the amount of pedal operation is smaller than when the lower traveling body operates in the first operating mode. The shovel according to claim 5.

8. In the state in which the lower traveling body is operating in the first operating mode, if only one of the first pedal and the second pedal is operated and the rate of increase of the amount of operation is greater than or equal to a predetermined first threshold, the lower traveling body will not be moved. The shovel according to claim 1 or 2.

9. In the second operating mode, when the lower vehicle is operating, if both the first pedal and the second pedal are operated and the rate of increase in the amount of operation is greater than or equal to a predetermined second threshold, the lower vehicle is not allowed to move. The shovel according to claim 1 or 2.

10. It is equipped with a third input unit that receives input from the operator, In the second operating mode, when the lower traveling body is operating, the third input unit receives input from the operator, and activates a function that maintains a state in which both the first actuator and the second actuator are driven according to the operating state of either the first pedal or the second pedal at the time the input is received by the third input unit, or according to the traveling state of the lower traveling body at the time the input is received by the third input unit. The shovel according to claim 1 or 2.

11. The function in operation is communicated to those around the shovel. The shovel according to claim 10.

12. The selected operating mode of the lower traveling body is communicated to the area surrounding the shovel. The shovel according to claim 1 or 2.

13. In conjunction with the start of excavator operation, the system identifies the current operator from among several pre-registered users and switches the operating mode of the lower travel unit to the operating mode pre-associated with the user identified as the current operator. The shovel according to claim 1 or 2.

14. A second input unit that receives input for switching the operating mode of the lower traveling body, The system includes, when an input to switch the operating mode of the lower traveling body is received through the second input unit, a display unit that displays a screen for the operator to confirm the switching of the operating mode of the lower traveling body, The shovel according to claim 1 or 2.

15. A remote control support system for remotely operating an excavator, comprising: a lower traveling body including a pair of left and right first and second crawlers; an upper rotating body mounted on the lower traveling body so as to be rotatable; a cabin provided on the upper rotating body; a first actuator for driving the first crawlers; and a second actuator for driving the second crawlers, wherein the system supports the remote operation of the excavator. The shovel is provided with an external driver's seat where an operator can sit, The system includes a pedal device that can be operated by an operator seated in the driver's seat with their feet, comprising a first pedal and a second pedal, The operating mode of the lower traveling body, including a first operating mode and a second operating mode, can be selectively switched. In the first operating mode, the first actuator is driven in response to the operation of the first pedal, and the second actuator is driven in response to the operation of the second pedal. In the second operating mode, both the first actuator and the second actuator are driven in response to the operation of either the first pedal or the second pedal. Remote control support system.

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