Excavator

Abstract

Provided is a technology capable of determining, in a shovel, the positional relationship between the shovel and an object surrounding the shovel. This shovel 100 according to an embodiment of the present disclosure is provided with: an undercarriage 1; an upper rotating body 3 rotatably mounted to the undercarriage 1; an image capturing device S6 that is mounted to the upper rotating body 3 and acquires information indicating a state surrounding the shovel; and a controller 30 that recognizes a reference object stopped or fixed in an area surrounding the shovel on the basis of the information acquired by the image capturing device S6, and estimates the rotation angle of the upper rotating body 3 on the basis of a change in the position of the reference object seen from the upper rotating body 3. A shovel 100 according to another embodiment of the present disclosure is provided with a controller 30 that recognizes an object in an area surrounding the shovel on the basis of image information acquired by the image capturing device S6, and determines the position of the shovel with respect to the recognized object.

Description

[Technical field]

[0001] The present disclosure relates to a shovel. [Background technology]

[0002] For example, a technology is known in which an imaging device is provided to image a lower running structure, and a specific portion of the lower running structure is detected from the image captured by the imaging device to determine the relative angle of an upper rotating structure with respect to the lower running structure (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-58272 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, for example, when an excavator performs work, the positional relationship between the attachment as a working device and objects around the excavator, including the work target (e.g., a dump truck loading soil and sand), is important. Therefore, even if the excavator determines the relative angle of the upper rotating body with respect to the lower traveling body, there is a possibility that the excavator cannot recognize the positional relationship between the attachment and objects around the excavator, specifically, the orientation of the upper rotating body with respect to the objects around the excavator (i.e., the angle when viewed from above).

[0005] In view of the above problems, an object of the present invention is to provide a technology for a shovel that enables a user to reliably grasp the positional relationship between the shovel itself and objects around the shovel. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present disclosure, A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An acquisition device mounted on the upper rotating body and acquiring information representing a situation around the aircraft; Detecting objects around the aircraft based on the information acquired by the acquisition device; Obtaining location information of the detected object, the obtained location information of the detected object including: Self Machine detection death Things Body and Location relationship of represent Map Information Generate Based on the map information, a stationary or fixed object around the aircraft is recognized as a reference, and a rotation angle of the upper rotating body is determined based on a change in the position of the reference object as seen from the upper rotating body. By calculating A control device for estimating the Shovel provided.

[0007] In another embodiment of the present disclosure, A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An acquisition device that is provided on the upper rotating body and acquires information representing a situation around the aircraft; Detecting objects around the aircraft based on the information acquired by the acquisition device; Obtain the location information of the detected object, Without using information about the absolute positions of the vehicle and its surrounding objects at the work site, Acquired location information of detected objects, Self The machine and its surroundings thing Body and Location relationship of represent Map Information Generate Based on the map information, the vehicle recognizes objects around the vehicle. Recognized A control device that grasps the position of the aircraft relative to the object. Shovel provided. Effect of the Invention

[0008] According to the above-described embodiment, a technique can be provided that enables a shovel to reliably grasp the positional relationship between the shovel itself and objects around the shovel. [Brief description of the drawings]

[0009] [Figure 1] FIG. [Diagram 2] FIG. 1 is a diagram illustrating an example of a configuration of a shovel. [Diagram 3] FIG. 1 is a diagram illustrating an example of a configuration of a hydraulic system of a shovel. [Figure 4A] FIG. 2 is a diagram showing an example of components of an operating system in a hydraulic system of a shovel. [Figure 4B] FIG. 2 is a diagram showing an example of components of an operating system in a hydraulic system of a shovel. [Figure 4C] FIG. 2 is a diagram showing an example of components of an operating system in a hydraulic system of a shovel. [Diagram 5] FIG. 2 is a diagram illustrating a first example of a method for estimating a swing angle of a shovel. [Figure 6A] FIG. 2 is a diagram illustrating a first example of a method for estimating a swing angle of a shovel. [Figure 6B] FIG. 2 is a diagram illustrating a first example of a method for estimating a swing angle of a shovel. [Figure 7] FIG. 11 is a diagram illustrating a second example of a method for estimating a swing angle of a shovel. [Figure 8A] FIG. 11 is a diagram illustrating a second example of a method for estimating a swing angle of a shovel. [Figure 8B] FIG. 11 is a diagram illustrating a second example of a method for estimating a swing angle of a shovel. [Figure 9] FIG. 11 is a diagram illustrating a third example of a method for estimating a swing angle of a shovel. [Figure 10] FIG. 11 is a diagram illustrating a third example of a method for estimating a swing angle of a shovel. [Figure 11] FIG. 11 is a diagram illustrating a third example of a method for estimating a swing angle of a shovel. [Figure 12] FIG. 13 is a diagram illustrating another example of the configuration of a shovel. [Figure 13] FIG. 1 is a diagram illustrating a first example of a method for estimating a position of a shovel. [Figure 14A] FIG. 1 is a diagram illustrating a first example of a method for estimating a position of a shovel. [Figure 14B] FIG. 1 is a diagram illustrating a first example of a method for estimating a position of a shovel. [Figure 15] FIG. 11 is a diagram illustrating a second example of a method for estimating the position of a shovel. [Figure 16] FIG. 11 is a diagram illustrating a third example of a method for estimating the position of a shovel. [Figure 17] FIG. 11 is a diagram illustrating a fourth example of a method for estimating the position of a shovel. [Figure 18] FIG. 11 is a diagram illustrating a fourth example of a method for estimating the position of a shovel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0011] [Outline of the excavator] First, with reference to FIG. 1, an overview of a shovel 100 according to this embodiment will be described.

[0012] FIG. 1 is a side view of a shovel 100 as an excavator according to this embodiment.

[0013] In addition, in Figure 1, the shovel 100 is positioned on a horizontal plane facing the upward slope ES to be worked on, and an upward slope BS (i.e., the slope shape after work on the upward slope ES), which is an example of the target work surface described later, is also shown (see Figures 8A and 8B).

[0014] The excavator 100 in this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 that constitute an attachment (work machine), and a cabin 10.

[0015] The lower traveling body 1 has a pair of left and right crawlers that are hydraulically driven by traveling hydraulic motors 1L, 1R, respectively, to travel the excavator 100. That is, the pair of traveling hydraulic motors 1L, 1R as driving parts drive the lower traveling body 1 (crawlers) as a driven part.

[0016] The upper rotating body 3 is driven by the swing hydraulic motor 2A to swing relative to the lower traveling body 1. In other words, the swing hydraulic motor 2A as a drive part is a swing drive part that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3 (in other words, the orientation of the attachment).

[0017] The upper rotating body 3 may be electrically driven by an electric motor (hereinafter, "electric motor for rotation") instead of the hydraulic motor for rotation 2A. In other words, the electric motor for rotation is a rotation drive part that drives the upper rotating body 3 as a driven part, similar to the hydraulic motor for rotation 2A, and can change the orientation of the upper rotating body 3.

[0018] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 serving as an end attachment is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, each of which serves as a hydraulic actuator.

[0019] Incidentally, the bucket 6 is an example of an end attachment, and other end attachments, such as a slope bucket, a dredging bucket, a breaker, etc., may be attached to the tip of the arm 5 instead of the bucket 6 depending on the work content, etc.

[0020] The cabin 10 is a cab in which an operator sits, and is mounted on the front left side of the upper rotating body 3.

[0021] [Example of excavator configuration] Next, referring to FIG. 2 in addition to FIG. 1, an example of a specific configuration of the shovel 100 according to this embodiment, specifically, a specific example of a configuration relating to a method for estimating the swing angle of the shovel 100 (own machine) described below, will be described.

[0022] FIG. 2 is a diagram illustrating an example of the configuration of the shovel 100 according to this embodiment.

[0023] In addition, in Fig. 2, mechanical power lines, hydraulic oil lines, pilot lines, and electrical control lines are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively. The same applies to Figs. 3, 4 (Figs. 4A to 4C), and 12 described below.

[0024] As described above, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators as drive parts such as the traveling hydraulic motors 1L, 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, which hydraulically drive the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, respectively. The hydraulic drive system of the excavator 100 according to this embodiment also includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0025] The engine 11 is the main power source in the hydraulic drive system, and is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, at the rear of the upper rotating body 3, and rotates at a constant speed at a preset target speed under direct or indirect control by a controller 30 (described later), to drive the main pump 14 and the pilot pump 15.

[0026] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter, the "tilt angle") in response to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R, as described below.

[0027] The main pump 14 is mounted on the rear of the upper rotating body 3, for example, like the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. 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 tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston, thereby controlling the discharge flow rate (discharge pressure). The main pump 14 includes, for example, main pumps 14L and 14R, as described below.

[0028] The control valve 17 is a hydraulic control device mounted, for example, at the center of the upper rotating body 3, and controls the hydraulic drive system in response to an operation of the operating device 26 by an operator. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) in response to the operating state of the operating device 26. Specifically, the control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. More specifically, the control valve 171 corresponds to the travel hydraulic motor 1L, the control valve 172 corresponds to the travel hydraulic motor 1R, and the control valve 173 corresponds to the swing hydraulic motor 2A. In addition, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8. Further, the control valve 175 includes, for example, control valves 175L and 175R as described later, and the control valve 176 includes, for example, control valves 176L and 176R as described later. The control valves 171 to 176 will be described in detail later (see FIG. 3).

[0029] The operating system of the shovel 100 according to this embodiment includes a pilot pump 15 and an operating device 26.

[0030] The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 3, and supplies pilot pressure via a pilot line to various hydraulic devices such as the proportional valve 31. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0031] The operation device 26 is provided near the driver's seat of the cabin 10, and is an operation input means for the operator to operate the driven parts of the excavator 100 (the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc.). In other words, the operation device 26 is an operation input means for the operator to operate the hydraulic actuators (i.e., the traveling hydraulic motors 1L and 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.) that drive the respective driven parts. For example, the operation device 26 is an electric type, and outputs an electric signal (hereinafter, "operation signal") corresponding to the operation content, and the operation signal is input to the controller 30. Then, the controller 30 outputs a control command corresponding to the operation signal to the proportional valve 31, so that a pilot pressure according to the operation content of the operation device 26 is supplied from the proportional valve 31 to the control valve 17. As a result, the control valve 17 can realize the operation of the excavator 100 according to the operation content of the operator with respect to the operation device 26. The operation device 26 includes, for example, a lever device that operates the arm 5 (arm cylinder 8). The operation device 26 also includes, for example, lever devices 26A-26C that operate the boom 4 (boom cylinder 7), bucket 6 (bucket cylinder 9), and upper rotating body 3 (swing hydraulic motor 2A) respectively (see Figs. 4A-4C). The operation device 26 also includes, for example, a lever device or pedal device that operates each of the pair of left and right crawlers (travel hydraulic motors 1L, 1R) of the lower traveling body 1.

[0032] The operating device 26 may be of a hydraulic pilot type. In this case, pilot pressure is supplied to the operating device 26 from the pilot pump 15 through a pilot line as a source pressure, and a pilot pressure corresponding to the operation content is output to a secondary pilot line and supplied to the control valve 17 through a shuttle valve. The control valves 171 to 176 in the control valve 17 may be electromagnetic solenoid spool valves driven by commands from the controller 30, or solenoid valves that operate in response to electric signals from the controller 30 may be disposed between the pilot pump 15 and the pilot ports of the control valves 171 to 176. In these cases, the controller 30 can operate the control valves 171 to 176 in accordance with the operation content of the operating device 26 by controlling these solenoid valves to increase or decrease the pilot pressure in response to an operation signal corresponding to the operation amount (e.g., the lever operation amount) of the electric operating device 26.

[0033] The control system of the shovel 100 according to this embodiment includes a controller 30, a discharge pressure sensor 28, a proportional valve 31, a pressure reducing proportional valve 33, a display device 40, an input device 42, a sound output device 43, and a storage device 47. The control system of the shovel 100 according to this embodiment also includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, an imaging device S6, a positioning device P1, and a communication device T1.

[0034] The controller 30 (an example of a control device) is provided, for example, in the cabin 10 and performs various controls related to the excavator 100. The functions of the controller 30 may be realized by any hardware or a combination of hardware and software. For example, the controller 30 is mainly configured with a microcomputer including a central processing unit (CPU), a memory device such as a random access memory (RAM), a non-volatile auxiliary storage device such as a read only memory (ROM), and an interface device related to various inputs and outputs. The controller 30 may also include an arithmetic circuit such as a graphics processing unit (GPU), an application specific integrated circuit (ASIC), or a field-programmable gate array (FPGA) that works in conjunction with the CPU. The controller 30 realizes various functions by, for example, executing various programs installed in the auxiliary storage device on the CPU.

[0035] For example, the controller 30 sets a target rotation speed based on an operation mode or the like that is set in advance by a predetermined operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

[0036] Furthermore, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0037] Furthermore, for example, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the shovel 100 by an operator through the operation device 26. Furthermore, the controller 30 performs control related to a machine control function that automatically assists the manual operation of the shovel 100 by an operator through the operation device 26. In other words, the controller 30 includes a machine guidance unit 50 as a functional unit related to the machine guidance function and the machine control function.

[0038] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function (functions of the machine guidance unit 50) may be realized by a dedicated controller (control device).

[0039] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 28 is input to the controller 30. The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R, as described later.

[0040] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the control valve 17, and is configured to change its flow path area (cross-sectional area through which hydraulic oil can flow). The proportional valve 31 operates in response to a control command input from the controller 30. In this way, the controller 30 can apply a pilot pressure according to the operation content of the operation device 26 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 in response to an operation content signal input from the operation device 26. In addition, even if the operation device 26 (specifically, the lever devices 26A to 26C) is not operated by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31. The proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, and 31CR, as described later.

[0041] Furthermore, the proportional valve 31 can switch between an effective state and an ineffective state of the operation of the operating device 26, that is, the operation of various driven elements of the shovel 100, by setting the cross-sectional area through which the hydraulic oil can flow to zero regardless of the operating state of the operating device 26 or setting the flow path area to a value corresponding to the operating state. In this way, the controller 30 can limit (stop) the operation of the shovel 100 by outputting a control command to the proportional valve 31.

[0042] Furthermore, in the case where the operating device 26 is of a hydraulic pilot type, a hydraulic control valve may be provided in a pilot line between the pilot pump 15 and the operating device 26, switching between communication and cutoff (non-communication) of the pilot line in response to a control command from the controller 30. The hydraulic control valve may be, for example, a gate lock valve configured to operate in response to a control command from the controller 30. For example, when a gate lock lever provided near the entrance to the cockpit of the cabin 10 is pulled up, the gate lock valve is in a connected state, and operation of the operating device 26 is in an enabled state (operable state), and when the gate lock lever is pushed down, the gate lock valve is in a cutoff state, and operation of the operating device 26 is in an disabled state (inoperable state). In this way, the controller 30 can limit (stop) the operation of the excavator 100 by outputting a control command to the hydraulic control valve.

[0043] When a hydraulic pilot type is used instead of an electric type as the operating device 26, the secondary pilot line of the proportional valve 31 is connected to the control valve 17 via the shuttle valve described above. In this case, the pilot pressure supplied to the control valve 17 from the shuttle valve is the higher of the pilot pressure output from the operating device 26 according to the operation content, and a predetermined pilot pressure output from the proportional valve 31 that is unrelated to the operation content of the operating device 26.

[0044] The pressure reducing proportional valve 33 is disposed in a pilot line between the proportional valve 31 and the control valve 17. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator is necessary based on a signal from an object detection device (e.g., the imaging device S6, etc.), the controller 30 reduces the pilot pressure by discharging the hydraulic oil in the pilot line to the tank. This allows the spool of the control valve in the control valve 17 to move in the neutral direction regardless of the state of the proportional valve 31. Therefore, the pressure reducing proportional valve 33 is effective when it is desired to improve the braking characteristics. The pressure reducing proportional valve 33 includes, for example, pressure reducing proportional valves 33AL, 33AR, 33BL, 33BR, 33CL, and 33CR, as described below.

[0045] When a hydraulic pilot type is adopted as the operating device 26 instead of an electric type, the pressure reducing proportional valve 33 is omitted.

[0046] The display device 40 is provided at a location where it can be easily viewed by an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device 40 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

[0047] The input device 42 receives various inputs from an operator in the cabin 10 and outputs a signal corresponding to the received input to the controller 30. The input device 42 includes, for example, an operation input device that is provided within reach of the operator seated in the cabin 10 and receives an operation input from the operator. The operation input device includes a touch panel mounted on the display of the display device 40 that displays various information images, a knob switch provided at the tip of the lever portion of the lever devices 26A to 26C, a button switch, a lever, a toggle, a rotary dial, and the like that are provided around the display device 40. The input device 42 may also include, for example, a voice input device or a gesture input device that receives a voice input or a gesture input from the operator in the cabin 10. The voice input device includes, for example, a microphone provided in the cabin 10. The voice input device includes, for example, an imaging device provided in the cabin 10 that can image the state of the operator. A signal corresponding to the input content to the input device 42 is taken into the controller 30.

[0048] The sound output device 43 is provided, for example, in the cabin 10, and outputs a predetermined sound under the control of the controller 30. The sound output device 43 is, for example, a speaker or a buzzer. The sound output device 43 outputs various information by sound in response to a control command from the controller 30, that is, outputs auditory information.

[0049] The storage device 47 is provided, for example, in the cabin 10, and stores various information under the control of the controller 30. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the shovel 100, or may store information acquired via various devices before the operation of the shovel 100 is started. The storage device 47 may store, for example, data related to a target construction surface acquired via the communication device T1 or the like, or set via the input device 42 or the like. The target construction surface may be set (saved) by the operator of the shovel 100, or may be set by a construction manager or the like.

[0050] The boom angle sensor S1 is attached to the boom 4 and detects the elevation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating body 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2 and bucket angle sensor S3 below. A detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0051] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the “arm angle”), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with respect to a line connecting the fulcrums at both ends of the boom 4 in a side view. A detection signal corresponding to the arm angle by the arm angle sensor S2 is input to the controller 30.

[0052] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the “bucket angle”), for example, the angle formed by a line connecting the fulcrum of the bucket 6 and the tip (blade tip) with respect to a line connecting the fulcrums of both ends of the arm 5 in a side view. A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.

[0053] The machine body tilt sensor S4 detects the inclination state of the machine body (upper rotating body 3 or lower running body 1) with respect to a predetermined plane (e.g., a horizontal plane). The machine body tilt sensor S4 is attached, for example, to the upper rotating body 3, and detects the tilt angles around two axes in the forward / backward and left / right directions (hereinafter, "fore / aft tilt angle" and "left / right tilt angle") of the shovel 100 (i.e., upper rotating body 3). The machine body tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU, etc. A detection signal corresponding to the tilt angle (fore / aft tilt angle and left / right tilt angle) by the machine body tilt sensor S4 is input to the controller 30.

[0054] The imaging device S6 captures images of the periphery of the shovel 100 and acquires image information showing the state of the periphery of the shovel 100. The imaging device S6 includes a camera S6F that captures an image in front of the shovel 100, a camera S6L that captures an image to the left of the shovel 100, a camera S6R that captures an image to the right of the shovel 100, and a camera S6B that captures an image behind the shovel 100.

[0055] Camera S6F (an example of an acquisition device) is attached, for example, to the ceiling of cabin 10, i.e., inside cabin 10. Camera S6F (an example of an acquisition device) may also be attached to the outside of cabin 10, such as the roof of cabin 10 or the side of boom 4. Camera S6L (an example of an acquisition device) is attached to the left end of the upper surface of upper rotating body 3, camera S6R (an example of an acquisition device) is attached to the right end of the upper surface of upper rotating body 3, and camera S6B (an example of an acquisition device) is attached to the rear end of the upper surface of upper rotating body 3.

[0056] The imaging device S6 (cameras S6F, S6B, S6L, and S6R) is, for example, a monocular wide-angle camera having a very wide angle of view. The imaging device S6 may also be a stereo camera, a distance image camera, a depth camera, or the like. Images captured by the imaging device S6 are input to the controller 30 via the display device 40.

[0057] Also, instead of or in addition to the imaging device S6 (cameras S6F, S6B, S6L, S6R), other sensors capable of acquiring information showing the state of the surroundings of the shovel 100 may be provided. The other sensors may be, for example, ultrasonic sensors, millimeter wave radars, LIDAR (Light Detection and Ranging), infrared sensors, etc. Specifically, the other sensors may calculate the distance to the objects around the shovel 100 by point cloud data or the like by receiving a reflected signal of an output signal output to the surroundings of the shovel 100. Also, the imaging device S6 and these other sensors may function as object detection devices. In this case, the imaging device S6 and these other sensors may detect a predetermined object to be detected that exists around the shovel 100. The object to be detected may include, for example, a person, an animal, a vehicle, a construction machine, a building, a hole, etc. The imaging device S6 and these other sensors may acquire (calculate) the distance from themselves or the shovel 100 to the recognized object.

[0058] For example, when a monitored object (e.g., a person, a truck, another construction machine, etc.) is detected in a predetermined monitoring area around the shovel 100 (e.g., a work area within 5 meters from the shovel 100) based on the output of the imaging device S6 or another sensor, the controller 30 performs control (hereinafter, "contact avoidance control") to avoid contact between the shovel 100 and the monitored object. Specifically, as an example of the contact avoidance control, the controller 30 may output a control command to the display device 40 or the sound output device 43 to output an alarm. Also, as an example of the contact avoidance control, the controller 30 may output a control command to the proportional valve 31, the pressure reducing proportional valve 33, or the above-mentioned control valve to restrict the operation of the shovel 100. In this case, the operation restriction may be applied to all driven elements, or may be applied to only some driven elements necessary for avoiding contact between the monitored object and the shovel 100.

[0059] The controller 30 determines whether a monitoring target exists within the monitoring area even in an inoperable state. The shovel 100 may determine whether a monitoring target exists within the monitoring area of ​​the shovel 100 and may also determine whether a monitoring target exists outside the monitoring area of ​​the shovel 100. The determination whether a monitoring target exists outside the monitoring area of ​​the shovel 100 may also be performed even in an inoperable state of the shovel 100.

[0060] The imaging device S6 may be directly connected to the controller 30 so as to be able to communicate with it.

[0061] The positioning device P1 measures the position of the excavator 100 (the upper rotating body 3). The positioning device P1 is, for example, a Global Navigation Satellite System (GNSS) module, and detects the position of the upper rotating body 3. A detection signal corresponding to the position of the upper rotating body 3 is input to the controller 30.

[0062] The position of the shovel 100 may be acquired using an estimation method described later. In this case, the positioning device P1 may be omitted.

[0063] The communication device T1 is connected to a predetermined network that may include a mobile communication network with a base station as an end, a satellite communication network using a communication satellite, the Internet, etc., and communicates with an external device (for example, a management device 200 described below). The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0064] The machine guidance unit 50 executes control of the excavator 100 regarding, for example, the machine guidance function. The machine guidance unit 50 conveys work information, such as the distance between the target construction surface and the tip of the attachment, specifically, the working part of the end attachment, to the operator through the display device 40, the sound output device 43, etc. Data regarding the target construction surface is, for example, stored in advance in the storage device 47, as described above. Data regarding the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, a local coordinate system specific to the construction site. The operator may determine an arbitrary point on the construction site as a reference point, and set the target construction surface through the input device 42 based on the relative positional relationship with the reference point. The working part of the bucket 6 is, for example, the tip of the bucket 6, the back of the bucket 6, etc. Also, when, for example, a breaker is adopted as the end attachment instead of the bucket 6, the tip of the breaker corresponds to the working part. The machine guidance unit 50 notifies the operator of work information via the display device 40, sound output device 43, etc., and guides the operator in operating the shovel 100 via the operating device 26.

[0065] The machine guidance unit 50 also executes control of the excavator 100 with respect to, for example, a machine control function. The machine guidance unit 50 automatically operates at least one of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 so that the working part of the bucket 6 moves along a predetermined target trajectory in response to, for example, an operation of the operating device 26 by an operator. Specifically, the machine guidance unit 50 may automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface and the tip position of the bucket 6 (i.e., the position serving as the control reference for the working part) coincide with each other when the operator is manually performing an excavation operation. The machine guidance unit 50 may also automatically move the upper rotating body 3 so that the upper rotating body 3 faces a predetermined work target (for example, a dump truck to which soil and sand are to be loaded, or a slope to which cutting or compaction is to be performed, etc.). The machine guidance unit 50 may also automatically operate the lower traveling body 1 so that the excavator 100 moves along a predetermined route.

[0066] The machine guidance unit 50 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the imaging device S6, the positioning device P1, the communication device T1, the input device 42, and the like. Then, the machine guidance unit 50, for example, calculates the distance between the bucket 6 and the target construction surface based on the acquired information, notifies the operator of the degree of the distance between the bucket 6 and the work object (for example, the target construction surface) by the sound from the sound output device 43 and the image displayed on the display device 40, and automatically controls the operation of the attachment so that the tip of the attachment (specifically, the work part such as the tip or back of the bucket 6) coincides with the target construction surface. The machine guidance unit 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, an automatic control unit 54, a rotation angle calculation unit 55, and a relative angle calculation unit 56 as detailed functional configurations related to the machine guidance function and the machine control function.

[0067] The position calculation unit 51 calculates the position of a predetermined positioning target. For example, the position calculation unit 51 calculates the coordinate point in a reference coordinate system of a working part such as the tip of an attachment, specifically, the tip or back of the bucket 6. Specifically, the position calculation unit 51 calculates the coordinate point of the working part of the bucket 6 from the respective elevation and depression angles of the boom 4, arm 5, and bucket 6 (boom angle, arm angle, and bucket angle).

[0068] The distance calculation unit 52 calculates the distance between two positioning targets. For example, the distance calculation unit 52 calculates the distance between a working part such as the tip of the attachment, specifically, the tip or back of the bucket 6, and a target construction surface. The distance calculation unit 52 may also calculate the angle (relative angle) between the back of the bucket 6 as a working part and the target construction surface.

[0069] The information transmission unit 53 transmits (notifies) various pieces of information to the operator of the shovel 100 through a predetermined notification means such as the display device 40 or the sound output device 43. The information transmission unit 53 notifies the operator of the shovel 100 of the magnitude (degree) of various distances, etc. calculated by the distance calculation unit 52. For example, the information transmission unit 53 notifies the operator of the distance (the magnitude) between the tip of the bucket 6 and the target construction surface using at least one of the visual information from the display device 40 and the auditory information from the sound output device 43. The information transmission unit 53 may also notify the operator of the relative angle (the magnitude) between the back surface of the bucket 6 as the working part and the target construction surface using at least one of the visual information from the display device 40 and the auditory information from the sound output device 43.

[0070] Specifically, the information transmission unit 53 uses an intermittent sound from the sound output device 43 to inform the operator of the distance (e.g., vertical distance) between the working portion of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 may shorten the interval of the intermittent sound as the vertical distance decreases, and may lengthen the interval of the intermittent sound as the vertical distance increases. The information transmission unit 53 may use a continuous sound, or may express the difference in the vertical distance by changing the pitch, intensity, etc. of the sound. The information transmission unit 53 may issue an alarm through the sound output device 43 when the tip of the bucket 6 is lower than the target construction surface, that is, when the tip of the bucket 6 has exceeded the target construction surface. The alarm is, for example, a continuous sound that is significantly louder than the intermittent sound.

[0071] Furthermore, the information transmission unit 53 may cause the display device 40 to display, as work information, the distance between the tip of the attachment, specifically the working portion of the bucket 6, and the target construction surface, the relative angle between the back surface of the bucket 6 and the target construction surface, etc. The display device 40 displays, under the control of the controller 30, the work information received from the information transmission unit 53 together with, for example, image data received from the imaging device S6. The information transmission unit 53 may convey the vertical distance to the operator using, for example, an image of an analog meter or an image of a bar graph indicator.

[0072] The automatic control unit 54 automatically assists the operator in manually operating the shovel 100 through the operation device 26 by automatically operating the actuators that drive the driven parts of the shovel 100. Specifically, the automatic control unit 54 controls the proportional valve 31, and can individually and automatically adjust the pilot pressure acting on the control valves in the control valves 17 corresponding to the multiple hydraulic actuators. This allows the automatic control unit 54 to automatically operate each hydraulic actuator. The control related to the machine control function by the automatic control unit 54 may be executed, for example, when a predetermined switch included in the input device 42 is pressed. The predetermined switch may be, for example, a machine control switch (hereinafter, "MC (Machine Control) switch"), and may be disposed as a knob switch at the tip of a part of the operation device 26 (for example, a lever device corresponding to the operation of the arm 5) that is held by the operator. The following description will be given on the assumption that the machine control function is enabled when the MC switch is pressed.

[0073] For example, when an MC switch or the like is pressed, the automatic control unit 54 automatically extends and retracts at least one of the boom cylinder 7 and the bucket cylinder 9 in accordance with the operation of the arm cylinder 8 in order to support excavation work and shaping work. Specifically, when an operator manually performs a closing operation of the arm 5 (hereinafter, "arm closing operation"), the automatic control unit 54 automatically extends and retracts at least one of the boom cylinder 7 and the bucket cylinder 9 so that the target construction surface coincides with the position serving as the control reference for the work part, such as the tip or back surface of the bucket 6. In this case, the operator can close the arm 5 while aligning the tip or the like of the bucket 6 with the target construction surface, simply by performing an arm closing operation on a lever device corresponding to the operation of the arm 5, for example.

[0074] In addition, when the MC switch or the like is pressed, the automatic control unit 54 may automatically rotate the swing hydraulic motor 2A to make the upper rotating body 3 face a predetermined work target (for example, a dump truck to be loaded with soil and sand, a target construction surface of a construction target, etc.). Hereinafter, the control by the controller 30 (automatic control unit 54) to make the upper rotating body 3 face a target construction surface may be referred to as "facing control". As a result, an operator or the like can face the upper rotating body 3 to the work target simply by pressing a predetermined switch, or by operating a lever device 26C, which will be described later, corresponding to a swing operation while the switch is pressed. In addition, an operator can face the upper rotating body 3 to the work target and start a machine control function related to the soil dumping work to a dump truck, the excavation work of a target construction surface, etc., simply by pressing the MC switch.

[0075] For example, when the upper rotating body 3 of the excavator 100 is facing directly toward a dump truck as the work target, the bucket 6 at the tip of the attachment can be moved in the longitudinal direction of the dump truck bed, that is, along the fore-and-aft axis of the dump truck bed.

[0076] For example, a state in which the upper rotating body 3 of the shovel 100 faces a target construction surface as a work target is a state in which the tip of the attachment (e.g., the tip or back as a working part of the bucket 6, etc.) can be moved along the inclination direction of the target construction surface (e.g., the upslope BS in FIG. 1) in accordance with the operation of the attachment. Specifically, a state in which the upper rotating body 3 of the shovel 100 faces a target construction surface is a state in which the working surface of the attachment (attachment working surface) AF perpendicular to the rotation plane SF of the shovel 100 includes the normal line of the target construction surface corresponding to the cylinder CB (in other words, a state along the normal line) (see FIG. 8B described later).

[0077] When the attachment operating surface AF of the shovel 100 does not include the normal to the target construction surface corresponding to the cylinder CB, the tip of the attachment cannot move the target construction surface in the inclined direction. As a result, the shovel 100 cannot properly construct the target construction surface (see FIG. 8A described later). In response to this, the automatic control unit 54 can orient the upper rotating body 3 by automatically rotating the swing hydraulic motor 2A. This allows the shovel 100 to properly construct the target construction surface (see FIG. 8B).

[0078] In controlling the facing of the target construction surface (upward slope), the automatic control unit 54 determines that the shovel faces the target construction surface when, for example, the left end vertical distance between the coordinate point of the left end of the tip of the bucket 6 and the target construction surface (hereinafter simply referred to as the "left end vertical distance") and the right end vertical distance between the coordinate point of the right end of the tip of the bucket 6 and the target construction surface (hereinafter simply referred to as the "right end vertical distance") become equal. Also, the automatic control unit 54 may determine that the shovel 100 faces the target construction surface not when the left end vertical distance and the right end vertical distance become equal (i.e., when the difference between the left end vertical distance and the right end vertical distance becomes zero), but when the difference becomes equal to or less than a predetermined value.

[0079] In addition, the automatic control unit 54 may operate the swing hydraulic motor 2A based on, for example, the difference between the left end vertical distance and the right end vertical distance in the facing control for the target construction surface (upward slope). Specifically, when the lever device 26C corresponding to the swing operation is operated with a predetermined switch such as an MC switch being pressed, the automatic control unit 54 judges whether the lever device 26C is operated in a direction to face the upper swing body 3 to the target construction surface. For example, when the lever device 26C is operated in a direction to increase the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope), the automatic control unit 54 does not execute the facing control. On the other hand, when the swing operation lever is operated in a direction to decrease the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope), the automatic control unit 54 executes the facing control. As a result, the automatic control unit 54 can operate the swing hydraulic motor 2A so that the difference between the left end vertical distance and the right end vertical distance becomes smaller. Thereafter, when the difference becomes equal to or less than a predetermined value or becomes zero, the automatic control unit 54 stops the swing hydraulic motor 2A. The automatic control unit 54 may also set a swing angle at which the difference becomes equal to or less than a predetermined value or becomes zero as a target angle, and control the operation of the swing hydraulic motor 2A so that the angle difference between the target angle and the current swing angle (specifically, a detection value based on a detection signal from the swing state sensor S5) becomes zero. In this case, the swing angle is, for example, the angle of the front-rear axis of the upper swing body 3 with respect to a reference direction.

[0080] As described above, when a swing electric motor is mounted on the excavator 100 instead of the swing hydraulic motor 2A, the automatic control unit 54 performs facing control with the swing electric motor as the control target.

[0081] The slewing angle calculation unit 55 calculates the slewing angle of the upper slewing body 3. This enables the controller 30 to identify the current orientation of the upper slewing body 3. The slewing angle calculation unit 55 calculates (estimates) the slewing angle of the upper slewing body 3 based on, for example, a change in the position (in other words, the visible direction) of a stationary or fixed object that is included (shown) in an image captured by the imaging device S6, as described later. Details will be described later (see FIGS. 5 to 8).

[0082] The rotation angle represents the direction in which the attachment working surface extends relative to the reference direction as seen from the upper rotating body 3 (i.e., the extension direction of the attachment when viewed from above the upper rotating body 3). The attachment working surface is, for example, a virtual plane that cuts the attachment longitudinally and is arranged so as to be perpendicular to the rotation plane. The rotation plane is, for example, a virtual plane that includes the bottom surface of the rotating frame that is perpendicular to the rotation axis. The controller 30 (machine guidance unit 50) may determine that the upper rotating body 3 is directly facing the target construction surface when it determines, for example, that the attachment working surface includes the normal to the target construction surface.

[0083] The relative angle calculation unit 56 calculates a rotation angle (hereinafter, "relative angle") required to make the upper rotating body 3 face the work target. The relative angle is, for example, a relative angle formed between the direction of the front-rear axis of the upper rotating body 3 when the upper rotating body 3 faces the work target and the current direction of the front-rear axis of the upper rotating body 3. For example, when making the upper rotating body 3 face a dump truck to be loaded with soil or sand, the relative angle calculation unit 56 calculates the relative angle based on an image captured by the imaging device S6 showing the bed of the dump truck and the rotation angle calculated by the rotation angle calculation unit 55. For example, when making the upper rotating body 3 face a target construction surface, the relative angle calculation unit 56 calculates the relative angle based on data related to the target construction surface stored in the storage device 47 and the rotation angle calculated by the rotation angle calculation unit 55.

[0084] When the lever device 26C corresponding to the swing operation is operated with a predetermined switch such as an MC switch pressed, the automatic control unit 54 judges whether the upper swing body 3 has been operated to swing in a direction to face the work target. When the automatic control unit 54 judges that the upper swing body 3 has been operated to swing in a direction to face the work target, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as a target angle. When the change in the swing angle after the lever device 26C is operated reaches the target angle, the automatic control unit 54 may judge that the upper swing body 3 faces the work target and stop the movement of the swing hydraulic motor 2A. As a result, the automatic control unit 54 can assist the operator in operating the lever device 26C on the premise of the configuration shown in FIG. 2 to face the upper swing body 3 to the work target. Moreover, when a predetermined switch such as an MC switch is pressed, the automatic control unit 54 may automatically face the upper swing body 3 to the work target without depending on the operation of the lever device 26C.

[0085] [Excavator hydraulic system] Next, the hydraulic system of the shovel 100 according to this embodiment will be described with reference to FIG.

[0086] FIG. 3 is a diagram that shows an example of the configuration of a hydraulic system of the shovel 100 according to this embodiment.

[0087] In FIG. 3, the mechanical power system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively, as in FIG.

[0088] The hydraulic system realized by the hydraulic circuit circulates hydraulic oil from each of the main pumps 14L, 14R driven by the engine 11 through center bypass oil passages C1L, C1R and parallel oil passages C2L, C2R to a hydraulic oil tank.

[0089] The center bypass oil passage C1L starts from the main pump 14L, passes through the control valves 171, 173, 175L, and 176L arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0090] The center bypass oil passage C1R starts at the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0091] The control valve 171 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the traveling hydraulic motor 1L, and discharges the hydraulic oil discharged from the traveling hydraulic motor 1L to a hydraulic oil tank.

[0092] The control valve 172 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the traveling hydraulic motor 1R, and discharges the hydraulic oil discharged from the traveling hydraulic motor 1R to a hydraulic oil tank.

[0093] The control valve 173 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged from the swing hydraulic motor 2A to a hydraulic oil tank.

[0094] The control valve 174 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and also discharges the hydraulic oil in the bucket cylinder 9 to a hydraulic oil tank.

[0095] The control valves 175L and 175R are spool valves that supply the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to a hydraulic oil tank.

[0096] The control valves 176L, 176R supply the hydraulic oil discharged by the main pumps 14L, 14R to the arm cylinder 8, and discharge the hydraulic oil in the arm cylinder 8 to a hydraulic oil tank.

[0097] The control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of hydraulic oil supplied to or discharged from the hydraulic actuator and switch the flow direction according to the pilot pressure acting on the pilot port.

[0098] The parallel oil passage C2L supplies hydraulic oil of the main pump 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage C1L. Specifically, the parallel oil passage C2L branches off from the center bypass oil passage C1L on the upstream side of the control valve 171, and is configured to be able to supply hydraulic oil of the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176R. This allows the parallel oil passage C2L to supply hydraulic oil to a more downstream control valve when the flow of hydraulic oil through the center bypass oil passage C1L is restricted or blocked by any of the control valves 171, 173, and 175L.

[0099] The parallel oil passage C2R supplies hydraulic oil of the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage C1R. Specifically, the parallel oil passage C2R branches off from the center bypass oil passage C1R on the upstream side of the control valve 172, and is configured to be able to supply hydraulic oil of the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. When the flow of hydraulic oil through the center bypass oil passage C1R is restricted or blocked by any of the control valves 172, 174, and 175R, the parallel oil passage C2R can supply hydraulic oil to a more downstream control valve.

[0100] Under the control of the controller 30, the regulators 13L and 13R adjust the tilt angles of the swash plates of the main pumps 14L and 14R, thereby adjusting the discharge amounts of the main pumps 14L and 14R.

[0101] The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and a detection signal corresponding to the detected discharge pressure is input to the controller 30. The same is true for the discharge pressure sensor 28R. This allows the controller 30 to control the regulators 13L, 13R in accordance with the discharge pressures of the main pumps 14L, 14R.

[0102] Negative control throttles (hereinafter, "negative control throttles") 18L, 18R are provided in the center bypass oil passages C1L, C1R between the hydraulic oil tank and the most downstream control valves 176L, 176R, respectively. As a result, the flow of hydraulic oil discharged by the main pumps 14L, 14R is restricted by the negative control throttles 18L, 18R. The negative control throttles 18L, 18R generate a control pressure (hereinafter, "negative control pressure") for controlling the regulators 13L, 13R.

[0103] The negative control pressure sensors 19L, 19R detect the negative control pressure, and a detection signal corresponding to the detected negative control pressure is input to the controller 30.

[0104] The controller 30 may control the regulators 13L, 13R in response to the discharge pressure of the main pumps 14L, 14R detected by the discharge pressure sensors 28L, 28R to adjust the discharge volume of the main pumps 14L, 14R. For example, the controller 30 may control the regulator 13L in response to an increase in the discharge pressure of the main pump 14L to adjust the swash plate tilt angle of the main pump 14L to reduce the discharge volume. The same applies to the regulator 13R. This allows the controller 30 to perform total horsepower control of the main pumps 14L, 14R so that the absorption horsepower of the main pumps 14L, 14R, which is expressed by the product of the discharge pressure and the discharge volume, does not exceed the output horsepower of the engine 11.

[0105] Furthermore, the controller 30 may adjust the discharge rate of the main pumps 14L, 14R by controlling the regulators 13L, 13R in accordance with the negative control pressure detected by the negative control pressure sensors 19L, 19R. For example, the controller 30 decreases the discharge rate of the main pumps 14L, 14R as the negative control pressure increases, and increases the discharge rate of the main pumps 14L, 14R as the negative control pressure decreases.

[0106] Specifically, in the case of a standby state (state shown in FIG. 3) in which none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged from the main pumps 14L, 14R passes through the center bypass oil passages C1L, C1R to reach the negative control throttles 18L, 18R. Then, the flow of the hydraulic oil discharged from the main pumps 14L, 14R increases the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 reduces the discharge amount of the main pumps 14L, 14R to the allowable minimum discharge amount, suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass oil passages C1L, C1R.

[0107] On the other hand, when any of the hydraulic actuators is operated through the operating device 26, the hydraulic oil discharged from the main pumps 14L, 14R flows into the hydraulic actuator to be operated through the control valve corresponding to the hydraulic actuator to be operated. The flow of hydraulic oil discharged from the main pumps 14L, 14R reduces or eliminates the amount of hydraulic oil reaching the negative control throttles 18L, 18R, and reduces the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 increases the discharge amount of the main pumps 14L, 14R, circulates sufficient hydraulic oil to the hydraulic actuator to be operated, and can reliably drive the hydraulic actuator to be operated.

[0108] [Configuration details for excavator machine control functions] Next, with reference to FIG. 4 (FIGS. 4A to 4C), a detailed configuration regarding the machine control function of the shovel 100 will be described.

[0109] 4A to 4C are diagrams that show an example of components related to an operation system of the hydraulic system of the excavator 100 according to this embodiment. Specifically, FIG. 4A shows an example of a pilot circuit that applies pilot pressure to control valves 175L, 175R that hydraulically control the boom cylinder 7. FIG. 4B shows an example of a pilot circuit that applies pilot pressure to a control valve 174 that hydraulically controls the bucket cylinder 9. FIG. 4C shows an example of a pilot circuit that applies pilot pressure to a control valve 173 that hydraulically controls the swing hydraulic motor 2A.

[0110] 4A, the lever device 26A is used by an operator or the like to operate the boom cylinder 7 corresponding to the boom 4. The lever device 26A outputs an electric signal (hereinafter, "operation content signal") corresponding to the operation content (for example, the operation direction and operation amount) to the controller 30.

[0111] A correspondence relationship between the control current to the proportional valve 31 and the operation amount of the operating device 26 (for example, the tilt angle of the lever devices 26A to 26C) is preset in the controller 30. The proportional valves 31 corresponding to the individual lever devices (lever devices 26A to 26C, etc.) included in the operating device 26 are controlled based on the set correspondence relationship.

[0112] The proportional valve 31AL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31AL uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. This allows the proportional valve 31AL to adjust the pilot pressure acting on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. For example, by inputting a control current corresponding to an operation of the lever device 26A in the lifting direction of the boom 4 (hereinafter, "boom lifting operation") from the controller 30, the proportional valve 31AL can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26A to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. In addition, by inputting a predetermined control current from the controller 30 regardless of the operation of the lever device 26A, the proportional valve 31AL can apply pilot pressure to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R regardless of the operation of the lever device 26A.

[0113] The proportional valve 31AR operates in response to a control current input from the controller 30. Specifically, the proportional valve 31AR uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the right pilot port of the control valve 175R. This allows the proportional valve 31AR to adjust the pilot pressure acting on the right pilot port of the control valve 175R. For example, by inputting a control current from the controller 30 corresponding to an operation of the lever device 26A in the lowering direction of the boom 4 (hereinafter referred to as the "boom lowering operation"), the proportional valve 31 AR In this case, a pilot pressure according to the operation content (operation amount) of the lever device 26A can be applied to the right pilot port of the control valve 175R. In addition, regardless of the operation content of the lever device 26A, a predetermined control current is input from the controller 30, and the proportional valve 31 ARcan be made to act on the right pilot port of the control valve 175R regardless of the operation of the lever device 26A.

[0114] In other words, when a boom-up operation is performed, the lever device 26A outputs an operation content signal corresponding to the operation direction and amount to the controller 30, and applies pilot pressure corresponding to the operation content to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the controller 30 and proportional valve 31AL. Also, when a boom-down operation is performed, the lever device 26A outputs an operation content signal corresponding to the operation direction and amount to the controller 30, and applies pilot pressure corresponding to the operation content to the right pilot port of the control valve 175R via the controller 30 and proportional valve 31AR.

[0115] In this way, the proportional valves 31AL, 31AR can adjust the pilot pressure output to the secondary side so that the control valves 175L, 175R can be stopped at any valve position depending on the operation state of the lever device 26A under the control of the controller 30. Also, the proportional valves 31AL, 31AR can adjust the pilot pressure output to the secondary side so that the control valves 175L, 175R can be stopped at any valve position regardless of the operation state of the lever device 26A under the control of the controller 30.

[0116] The pressure reducing proportional valve 33AL is disposed in a pilot line between the proportional valve 31AL and the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator (boom cylinder 7) is necessary based on a signal from an object detection device (e.g., the imaging device S6, etc.), it reduces the pilot pressure by discharging the hydraulic oil in the pilot line to the tank. This allows the spools of the control valves 175L and 175R to move in the neutral direction regardless of the state of the proportional valve 31AL. Therefore, the pressure reducing proportional valve 33AL is effective when it is desired to improve the braking characteristics.

[0117] In this embodiment, the pressure reducing proportional valve 33AL is not necessarily provided and may be omitted. The same applies to the other pressure reducing proportional valves 33 (pressure reducing proportional valves 33AR, 33BL, 33BR, 33CL, 33CR, etc.).

[0118] The pressure reducing proportional valve 33AR is disposed in a pilot line between the proportional valve 31AR and the right pilot port of the control valve 175R. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator (boom cylinder 7) is required based on a signal from an object detection device (e.g., the image capture device S6, etc.), the controller 30 controls the hydraulic pressure in the pilot line by discharging the hydraulic oil in the pilot line to a tank. Pilot pressure This allows the spools of the control valves 175L, 175R to move in the neutral direction regardless of the state of the proportional valve 31AR. Therefore, the pressure reducing proportional valve 33AR is effective when it is desired to improve the braking characteristics.

[0119] The controller 30 controls the proportional valve 31AL in response to an operation content signal corresponding to the boom-raising operation of the lever device 26A by the operator, and can supply a pilot pressure corresponding to the operation content (amount of operation) of the lever device 26A to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The controller 30 also controls the proportional valve 31AR in response to an operation content signal corresponding to the boom-lowering operation of the lever device 26A by the operator, and can supply a pilot pressure corresponding to the operation content (amount of operation) of the lever device 26A to the right pilot port of the control valve 175R. That is, the controller 30 controls the proportional valves 31AL and 31AR in response to the operation content signal input from the lever device 26A, and can realize the operation of raising and lowering the boom 4 in response to the operation content of the lever device 26A.

[0120] Moreover, the controller 30 can control the proportional valve 31AL and supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R, regardless of the operator's boom-up operation of the lever device 26A. Moreover, the controller 30 can control the proportional valve 31AR and supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R, regardless of the operator's boom-down operation of the lever device 26A. That is, the controller 30 can automatically control the raising and lowering operation of the boom 4.

[0121] 4B, the lever device 26B is used by an operator or the like to operate the bucket cylinder 9 corresponding to the bucket 6. The lever device 26B outputs an operation content signal corresponding to the operation content (e.g., the operation direction and the operation amount) to the controller 30.

[0122] The proportional valve 31BL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31BL uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the left pilot port of the control valve 174. This allows the proportional valve 31BL to adjust the pilot pressure acting on the left pilot port of the control valve 174. For example, by inputting a control current corresponding to an operation of the lever device 26B in the closing direction of the bucket 6 (hereinafter, "bucket closing operation") from the controller 30, the proportional valve 31BL can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26B to the left pilot port of the control valve 174. Also, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26B, the proportional valve 31BL can apply a pilot pressure to the left pilot port of the control valve 174 regardless of the operation content of the lever device 26B.

[0123] The proportional valve 31BR operates in response to a control current output by the controller 30. Specifically, the proportional valve 31BR uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the right pilot port of the control valve 174. This allows the proportional valve 31BR to adjust the pilot pressure acting on the right pilot port of the control valve 174 via the shuttle valve 32BR. For example, by inputting a control current corresponding to an operation of the lever device 26B in the opening direction of the bucket 6 (hereinafter, "bucket opening operation") from the controller 30, the proportional valve 31BR can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26B to the right pilot port of the control valve 174. Also, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26B, the proportional valve 31BR can apply a pilot pressure to the right pilot port of the control valve 174 regardless of the operation content of the lever device 26B.

[0124] In other words, when a bucket closing operation is performed, lever device 26B outputs an operation content signal corresponding to the operation direction and amount to controller 30, and applies pilot pressure corresponding to the operation content to the left pilot port of control valve 174 via controller 30 and proportional valve 31BL. Also, when a bucket opening operation is performed, lever device 26B outputs an operation content signal corresponding to the operation direction and amount to controller 30, and applies pilot pressure corresponding to the operation content to the right pilot port of control valve 174 via controller 30 and proportional valve 31BR.

[0125] In this way, the proportional valves 31BL, 31BR can adjust the pilot pressure output to the secondary side so that the control valve 174 can be stopped at any valve position depending on the operation state of the lever device 26B under the control of the controller 30. Also, the proportional valves 31BL, 31BR can adjust the pilot pressure output to the secondary side so that the control valve 174 can be stopped at any valve position regardless of the operation state of the lever device 26B.

[0126] The pressure reducing proportional valve 33BL is disposed in a pilot line between the proportional valve 31BL and the left pilot port of the control valve 174. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator (bucket cylinder 9) is necessary based on a signal from an object detection device (e.g., the imaging device S6, etc.), it reduces the pilot pressure by discharging the hydraulic oil in the pilot line to the tank. This makes it possible to move the spool of the control valve 174 in the neutral direction regardless of the state of the proportional valve 31BL. Therefore, the pressure reducing proportional valve 33BL is effective when it is desired to improve braking characteristics.

[0127] The pressure reducing proportional valve 33BR is disposed in a pilot line between the proportional valve 31BR and the right pilot port of the control valve 174. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator (bucket cylinder 9) is required based on a signal from an object detection device (e.g., the image capture device S6, etc.), the controller 30 controls the hydraulic pressure in the pilot line by discharging the hydraulic oil in the pilot line to a tank. Pilot pressure This makes it possible to move the spool of the control valve 174 in the neutral direction regardless of the state of the proportional valve 31BR. Therefore, the pressure reducing proportional valve 33BR is effective when it is desired to improve the braking characteristics.

[0128] Controller 30 controls proportional valve 31BL in response to an operation content signal corresponding to the operator's bucket closing operation on lever device 26B, and can supply a pilot pressure corresponding to the operation content (operation amount) of lever device 26B to the left pilot port of control valve 174. Controller 30 also controls proportional valve 31BR in response to an operation content signal corresponding to the operator's bucket opening operation on lever device 26B, and can supply a pilot pressure corresponding to the operation content (operation amount) of lever device 26B to the right pilot port of control valve 174. That is, controller 30 controls proportional valves 31BL, 31BR in response to an operation content signal input from lever device 26B, and can realize the opening and closing operation of bucket 6 corresponding to the operation content of lever device 26B.

[0129] Moreover, controller 30 can control proportional valve 31BL, regardless of the operator's operation of lever device 26B to close the bucket, to supply hydraulic oil discharged from pilot pump 15 to the left pilot port of control valve 174. Moreover, controller 30 can control proportional valve 31BR, regardless of the operator's operation of lever device 26B to open the bucket, to supply hydraulic oil discharged from pilot pump 15 to the right pilot port of control valve 174. In other words, controller 30 can automatically control the opening and closing operation of bucket 6.

[0130] 4C, the lever device 26C is used by an operator or the like to operate the swing hydraulic motor 2A corresponding to the upper swing body 3 (the swing mechanism 2). The lever device 26C outputs an operation content signal corresponding to the operation content (for example, the operation direction and the operation amount) to the controller 30.

[0131] The proportional valve 31CL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31CL uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the left pilot port of the control valve 173. This allows the proportional valve 31CL to adjust the pilot pressure acting on the left pilot port of the control valve 173. For example, by inputting a control current corresponding to a leftward rotation operation of the upper rotating body 3 on the lever device 26C (hereinafter, "left rotation operation") from the controller 30, the proportional valve 31CL can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26C to the left pilot port of the control valve 173. Also, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26C, the proportional valve 31CL can apply a pilot pressure to the left pilot port of the control valve 173 regardless of the operation content of the lever device 26C.

[0132] The proportional valve 31CR operates in response to a control current output by the controller 30. Specifically, the proportional valve 31CR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the right pilot port of the control valve 173. This allows the proportional valve 31CR to adjust the pilot pressure acting on the right pilot port of the control valve 173. For example, by inputting a control current corresponding to a rightward rotation operation of the upper rotating body 3 on the lever device 26C (hereinafter, "right rotation operation") from the controller 30, the proportional valve 31CR can apply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26C to the right pilot port of the control valve 173. Also, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26C, the proportional valve 31CR can apply a pilot pressure to the right pilot port of the control valve 173 regardless of the operation content of the lever device 26C.

[0133] In other words, when a left turning operation is performed, the lever device 26C outputs an operation content signal corresponding to the operation direction and amount to the controller 30, and applies a pilot pressure corresponding to the operation content to the left pilot port of the control valve 173 via the controller 30 and the proportional valve 31CL. Also, when a right turning operation is performed, the lever device 26C outputs an operation content signal corresponding to the operation direction and amount to the controller 30, and applies a pilot pressure corresponding to the operation content to the right pilot port of the control valve 173 via the controller 30 and the proportional valve 31CR.

[0134] In this way, the proportional valves 31CL, 31CR can adjust the pilot pressure output to the secondary side so that the control valve 173 can be stopped at any valve position depending on the operation state of the lever device 26C under the control of the controller 30. Also, the proportional valves 31CL, 31CR can adjust the pilot pressure output to the secondary side so that the control valve 173 can be stopped at any valve position regardless of the operation state of the lever device 26C.

[0135] The pressure reducing proportional valve 33CL is disposed in a pilot line between the proportional valve 31CL and the left pilot port of the control valve 173. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator (swing hydraulic motor 2A) is necessary based on a signal from an object detection device (e.g., the imaging device S6, etc.), it reduces the pilot pressure by discharging the hydraulic oil in the pilot line to the tank. This makes it possible to move the spool of the control valve 173 in the neutral direction regardless of the state of the proportional valve 31CL. Therefore, the pressure reducing proportional valve 33CL is effective when it is desired to improve braking characteristics.

[0136] The pressure reducing proportional valve 33CR is disposed in a pilot line between the proportional valve 31CR and the right pilot port of the control valve 173. When the controller 30 determines that a braking operation to decelerate or stop the hydraulic actuator (the swing hydraulic motor 2A) is required based on a signal from an object detection device (e.g., the imaging device S6, etc.), the controller 30 controls the hydraulic oil in the pilot line to be discharged to a tank. Pilot pressure This makes it possible to move the spool of the control valve 173 in the neutral direction regardless of the state of the proportional valve 31CR. Therefore, the pressure reducing proportional valve 33CR is effective when it is desired to improve the braking characteristics.

[0137] The controller 30 controls the proportional valve 31CL in response to an operation content signal corresponding to a left turning operation of the lever device 26C by the operator, and can supply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26C to the left pilot port of the control valve 173. The controller 30 also controls the proportional valve 31CR in response to an operation content signal corresponding to a right turning operation of the lever device 26C by the operator, and can supply a pilot pressure corresponding to the operation content (operation amount) of the lever device 26C to the right pilot port of the control valve 173. That is, the controller 30 controls the proportional valves 31CL, 31CR in response to an operation content signal input from the lever device 26C, and can realize the opening and closing operation of the bucket 6 in response to the operation content of the lever device 26C.

[0138] The controller 30 controls the proportional valve 31CL regardless of the left rotation operation of the lever device 26C by the operator, and can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173. Moreover, the controller 30 controls the proportional valve 31CR regardless of the right rotation operation of the lever device 26C by the operator, and can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173. That is, the controller 30 can automatically control the left-right rotation operation of the upper rotating body 3.

[0139] The excavator 100 may further include a configuration for automatically opening and closing the arm 5, and a configuration for automatically moving the lower traveling structure 1 (specifically, each of the left and right crawlers) forward and backward. In this case, in the hydraulic system, components related to the operation system of the arm cylinder 8, components related to the operation system of the traveling hydraulic motor 1L, and components related to the operation of the traveling hydraulic motor 1R may be configured similarly to the components related to the operation system of the boom cylinder 7, etc. (FIGS. 4A to 4C).

[0140] [How to estimate turning angle (first example)] Next, a first example of a method for estimating a turning angle by the controller 30 (turning angle calculation unit 55) will be described with reference to FIG. 5 and FIG. 6 (FIGS. 6A and 6B).

[0141] <Function configuration for estimating turning angle> FIG. 5 is a functional block diagram showing a first example of a functional configuration related to estimation of the swing angle of the shovel 100 according to this embodiment.

[0142] As shown in FIG. 5, in this example, the shovel 100 is communicatively connected to the management device 200 using a communication device T1.

[0143] The functions of the management device 200 may be realized by any hardware or a combination of hardware and software. For example, the management device 200 is mainly configured with a server computer including a processor such as a CPU, a memory device such as a RAM, an auxiliary storage device such as a ROM, and an interface device for communication with the outside. The management device 200 includes, for example, a model learning unit 201 and a distribution unit 203 as functional units realized by executing a program installed in the auxiliary storage device on the CPU. The management device 200 also uses a learning result storage unit 202 and the like. The learning result storage unit 202 and the like can be realized, for example, by the auxiliary storage device of the management device 200 or an external storage device capable of communication.

[0144] The model learning unit 201 performs machine learning on a learning model using a predetermined teacher data set, and outputs a learned model (object detection model LM) as a result of so-called supervised learning. The generated object detection model LM is then subjected to accuracy verification using a verification data set prepared in advance, and is then stored in the learning result storage unit 202. The model learning unit 201 may also generate an additionally trained model by performing additional learning of the object detection model LM using a teacher data set for additional learning. The additionally trained model may then be subjected to accuracy verification using a verification data set prepared in advance, and the object detection model LM in the learning result storage unit 202 may be updated with the additionally trained model whose accuracy has been verified.

[0145] The object detection model LM uses an image of the work site captured by an object detection device, point cloud data, and the like as input information, and determines the presence or absence of a predetermined object (e.g., a person, a vehicle, another work machine, a building, a pylon, a utility pole, a tree, and the like) (hereinafter, "object") included in the captured image of the work site, the type of the object, the position of the object, the size of the object, and the like. Then, the object detection model LM outputs information on the determination result (e.g., label information indicating the type (kind) of the object and position information indicating the position of the object). In other words, when the object detection model LM is applied to the shovel 100, it can determine the presence or absence of an object around the shovel 100, the type (kind) of the object, the position of the object, and the like, based on the image captured by the imaging device S6. The learning model based on the learning model and the object detection model LM as the learning result thereof may be configured, for example, mainly with a known deep neural network (DNN: Deep Neural Network).

[0146] The teacher data set and the data set for accuracy verification may be created based on, for example, images of various work sites captured by the imaging device S6 and appropriately uploaded from the excavator 100. The teacher data set and the data set for accuracy verification may also be created based on images of the work site that are artificially created using technology related to computer graphics or the like.

[0147] The learning result storage unit 202 stores the object detection model LM generated by the model learning unit 201. In addition, the object detection model LM in the learning result storage unit 202 may be updated by an additionally trained model generated by the model learning unit 201.

[0148] The distribution unit 203 distributes the latest object detection model LM stored in the learning result storage unit 202 to the shovel 100.

[0149] In this example, the shovel 100 also includes an imaging device S6 (cameras S6F, S6B, S6L, S6R), a controller 30, proportional valves 31CL, 31CR, and an input device 42 as components related to estimating the swing angle.

[0150] The controller 30 includes a surrounding situation recognition unit 60 and the above-mentioned machine guidance unit 50 as components related to estimating the turning angle.

[0151] The surrounding situation recognition unit 60 includes, for example, a model storage unit 61, a detection unit 62, an object position map generation unit 63, and a map storage unit 64.

[0152] The model storage unit 61 stores the latest object detection model LM received from the management device 200 via the communication device T1.

[0153] The detection unit 62 detects objects around the upper rotating body 3 based on the captured images input from the imaging device S6 (cameras S6F, S6B, S6L, S6R). Specifically, the detection unit 62 reads out the object detection model LM from the model storage unit 61, and uses the object detection model LM to make a judgment regarding objects around the upper rotating body 3 (for example, judgment regarding the presence or absence of an object, the type of the object, the position of the object, and the size of the object, etc.). The detection unit 62 outputs, for example, label information indicating the type of the detected object, object position information, and information regarding the size of the object. Furthermore, when an object is not detected, the detection unit 62 may output label information indicating that the object has not been detected. In this example, since the captured images of multiple cameras (cameras S6F, S6B, S6L, S6R) can be used, the detection unit 62 can detect objects over the entire circumference of the upper rotating body 3, that is, objects in a wider target range. Also, although an example in which the imaging device S6 is used has been shown, the detection unit 62 may receive a reflected signal of an output signal (e.g., laser, infrared, electromagnetic wave, ultrasonic wave, etc.) outputted around the shovel 100, and calculate the distance to an object around the shovel 100 based on point cloud data, etc. Furthermore, the detection unit 62 can obtain label information indicating the type (kind) of the object, position information indicating the position of the object, etc., based on the shape of the point cloud based on the received reflected signal and the distance to the point cloud, etc.

[0154] The object position map generating unit 63 generates map information (object position map MP) indicating the positions of the objects detected by the detecting unit 62, and the generated object position map MP is stored in the map storage unit 64. The object position map MP includes the position information of the shovel 100, the position information of each detected object, and information on the type of object and the size of the object that are linked to the position information of each object. For example, the object position map generating unit 63 may generate the object position map MP in accordance with the detection cycle of the detecting unit 62 between the start and stop of the shovel 100, and sequentially update the object position map MP in the map storage unit 64 with the latest object position map MP.

[0155] In addition, since the distance range in which the detection unit 62 can detect an object is limited with respect to the shovel 100 (upper rotating body 3), for example, when the shovel 100 travels on the lower traveling body 1, the position of a certain object included in the object position map MP may be outside the detection range. In other words, when the shovel 100 travels on the lower traveling body 1, the controller 30 may not be able to grasp whether an object located relatively far from the shovel 100 remains in that position or has moved from that position. Therefore, the object position map generation unit 63 may delete information about an object located at a position somewhat far from the shovel 100 (own machine) included in the object position map MP when updating, or may leave the information in the map information after attaching a flag indicating that the information is low accuracy, for example.

[0156] The map storage unit 64 stores the latest object position map MP generated by the object position map generating unit 63.

[0157] The machine guidance unit 50 includes an automatic control unit 54, a turning angle calculation unit 55, a relative angle calculation unit 56, a storage unit 57, and a target position information generation unit 58 as functional components related to estimating the turning angle.

[0158] As described above, the automatic control unit 54 controls the proportional valves 31CL, 31CR based on the relative angle calculated (estimated) by the relative angle calculation unit 56, and makes the upper rotating body 3 face the work target around the excavator 100 (own machine). In other words, the automatic control unit 54 controls the rotation operation of the upper rotating body 3 so as to face the work target based on the relative angle calculated by the relative angle calculation unit 56. In this example, the automatic control unit 54 makes the upper rotating body 3 face the object corresponding to the work target selected by the operator from one or more objects recognized from the object position map MP, as will be described later.

[0159] The slewing angle calculation unit 55 recognizes a stationary object (hereinafter, a "stationary object") or a fixed object (hereinafter, a "fixed object") around the shovel 100 based on the captured image of the imaging device S6. A stationary object means an object that is stationary and does not move among movable objects (e.g., a dump truck that is stopped waiting for loading of earth and sand, etc.). A fixed object means an object that is fixed at a certain position and does not move (e.g., a tree, a utility pole, etc.). Specifically, the slewing angle calculation unit 55 recognizes (extracts) stationary objects or fixed objects around the shovel 100 based on the object position map MP stored in the map storage unit 64, and determines a reference object (hereinafter, a "reference object") from among them. For example, the slewing angle calculation unit 55 may determine a stationary object or a fixed object corresponding to a work target selected from a plurality of objects included in the object position map MP as a reference object based on an operation input through the input device 42, as described later. Then, the rotation angle calculation unit 55 estimates (calculates) the rotation angle based on the change in the position of the reference object seen from the upper rotating body 3 due to the update of the object position map MP (in other words, the change in the position of the reference object on the image captured by the imaging device S6). This is because when the upper rotating body 3 rotates, the direction in which the reference object is seen from the upper rotating body 3 changes.

[0160] As described above, the relative angle calculation unit 56 calculates the relative angle as the revolving angle required to face the work target. Specifically, the relative angle calculation unit 56 calculates (estimates) the relative angle based on the revolving angle of the upper revolving body 3 calculated by the revolving angle calculation unit 55 and information on the position of the work target as a target during work (hereinafter, "target position information") generated by the target position information generation unit 58. Furthermore, when the work target is set as the above-mentioned reference object, the relative angle calculation unit 56 may use the revolving angle calculated by the revolving angle calculation unit 55 as the relative angle as it is. This is because, as described above, the revolving angle (the orientation of the upper revolving body 3) based on the work target is calculated by the revolving angle calculation unit 55.

[0161] The storage unit 57 stores target setting information 57A.

[0162] The target setting information 57A is setting information related to a work target (for example, a dump truck in loading work of earth and sand) as a target during work, which is set by an operation input from a user such as an operator via the input device .

[0163] For example, an operator or the like can use the input device 42 to operate a predetermined operation screen (hereinafter, "target selection screen") displayed on the display device 40 to select an object corresponding to a work target from one or more objects identified in the object position map MP and set the object as a target during work. Specifically, an image (hereinafter, "surrounding image") showing the surroundings of the shovel 100 is displayed on the target selection screen of the display device 40 based on an image captured by the imaging device S6. Then, on the target selection screen of the display device 40, a marker or information indicating the type of the object is superimposed on a position on the surrounding image corresponding to an object around the shovel 100 identified in the object position map MP. An operator or the like can identify and select (set) a work target by checking the position and type of the object on the target selection screen.

[0164] The target position information generating unit 58 generates target position information based on the object position map MP and the target setting information 57A.

[0165] <Specific example of how to estimate turning angle> Figures 6A and 6B are diagrams showing a first example of an operation relating to estimation of a swing angle of the shovel 100 according to this embodiment. Specifically, Figures 6A and 6B are diagrams showing a situation in which, in an operation of loading earth and sand into a dump truck DT as a work target, the shovel 100 performs a swing operation so as to directly face the dump truck DT as a work target while estimating a swing angle under the control of the controller 30. More specifically, Figure 6A is a top view of the shovel 100 during work, and Figure 6B is a view of the shovel 100 (specifically, the bucket 6) during work as viewed from the direction indicated by the arrow AR1 in Figure 6A.

[0166] 6A and 6B, the shovel 100 (bucket 6) in solid lines indicates a state when the bucket 6 has finished scooping up the soil and sand, and the bucket 6A indicates the bucket 6 in this state (position P1). Also, in Figs. 6A and 6B, the shovel 100 (bucket 6) in dashed lines indicates a state in which the bucket 6 is holding soil and sand and the upper rotating body 3 is rotating in a direction facing the dump truck DT while raising the boom 4, and the bucket 6B indicates the bucket 6 in this state (position P2). Also, in Figs. 6A and 6B, the shovel 100 (bucket 6) in dashed lines indicates a state before the upper rotating body 3 faces the dump truck DT as the work target and starts the soil discharge operation of the bucket 6, and the bucket 6C indicates the bucket 6 in this state (position P3).

[0167] In this example, the controller 30 (slewing angle calculation unit 55) estimates (calculates) a swing angle θa with respect to the dump truck DT as a work target as a reference object. That is, as shown in Fig. 6A, the controller 30 estimates (calculates) a swing angle θa of the upper swing body 3 with respect to the longitudinal axis of the bed of the dump truck DT, that is, the front-rear axis of the dump truck DT.

[0168] For example, when the bucket 6 is in position P1, the controller 30 (swing angle calculation unit 55) estimates (calculates) the swing angle θa with the dump truck DT as the reference object as an angle value θa0. In addition, since the dump truck DT as the work target is the reference object, the controller 30 (relative angle calculation unit 56) can use the swing angle θa (angle value θa0) as the relative angle. Then, when the operator performs a right swing operation on the lever device 26C, that is, a swing operation in a direction facing the dump truck DT while pressing a predetermined switch such as an MC switch, the controller 30 (automatic control unit 54) controls the proportional valve 31CR so that the upper swing body 3 faces the dump truck DT, that is, so that the swing angle θa corresponding to the relative angle changes from the angle value θa0 to zero.

[0169] While the bucket 6 moves from position P1 to position P3, which corresponds to the state where the upper rotating body 3 faces the dump truck DT, via position P2, the controller 30 (swing angle calculation unit 55) controls the swing operation of the upper rotating body 3 through the proportional valve 31CR while estimating the swing angle θa. For example, when the bucket 6 is in position P2, the controller 30 (swing angle calculation unit 55) estimates (calculates) the swing angle θa with the dump truck DT as the reference object to be an angle value θa1. Then, when the relative angle based on the estimated swing angle θa, that is, the swing angle θa, becomes zero, the controller 30 (automatic control unit 54) stops the operation of the swing hydraulic motor 2A. In this way, the controller 30 assists the operator in operating the lever device 26C, and allows the upper rotating body 3 to face the dump truck DT. Furthermore, when an operator presses a predetermined switch such as an MC switch, the controller 30 may automatically make the upper rotating body 3 face the dump truck DT as a work target while estimating a rotation angle θa with the dump truck DT as a reference object. In this case, the controller 30 may automatically control the lifting operation of the boom 4 in addition to the automatic control of the upper rotating body 3, so as to automatically perform the entire combined operation of the excavator 100.

[0170] Furthermore, the controller 30 (swing angle calculation unit 55) may calculate a swing angle θb with a tree TR1 as a fixed object around the excavator 100 as a reference object, in addition to the swing angle θa with the dump truck DT as a reference object. For example, the controller 30 (swing angle calculation unit 55) estimates that the swing angle θb with the tree TR1 as a reference object is an angle value θb0 when the bucket 6 is in position P1. Furthermore, the controller 30 (swing angle calculation unit 55) estimates that the swing angle θb with the tree TR1 as a reference object is an angle value θb1 when the bucket 6 is in position P3. This allows the controller 30 (relative angle calculation unit 56) to estimate (calculate) the relative angle using both the swing angle θa with the dump truck DT as a reference object and the swing angle θb with the tree TR1 as a reference object. Therefore, the controller 30 can further improve the accuracy of estimating the relative angle, and as a result, can further improve the accuracy of the control for making the upper rotating body 3 face the dump truck DT directly.

[0171] [How to estimate turning angle (second example)] Next, a second example of a method for estimating a turning angle by the controller 30 (turning angle calculation unit 55) will be described with reference to FIG. 7 and FIG. 8 (FIG. 8A, FIG. 8B).

[0172] <Function configuration for estimating turning angle> Fig. 7 is a functional block diagram showing a second example of a functional configuration related to estimation of the swing angle of the shovel 100 according to this embodiment. In the following, this example will be described focusing on the parts that differ from the above-mentioned Fig. 5.

[0173] As shown in FIG. 7, in this example, similarly to the first example of FIG. 5, a communication device T1 is used to establish a communicative connection with the management device 200.

[0174] The management device 200 includes, for example, a model learning unit 201 and a distribution unit 203 as functional units realized by executing a program installed in an auxiliary storage device on a CPU. The management device 200 also uses a learning result storage unit 202 and a construction information storage unit 204. The learning result storage unit 202 and the construction information storage unit 204 can be realized, for example, by an auxiliary storage device of the management device 200 or an external storage device capable of communication.

[0175] In the construction information storage unit 204, a construction information database is constructed that includes construction information of a plurality of work sites including the work site of the shovel 100. The construction information includes information on the construction target (for example, target construction surface data, etc.).

[0176] The distribution unit 203 extracts construction information of the work site of the shovel 100 from the construction information database and distributes it to the shovel 100.

[0177] In this example, the shovel 100 includes, as a configuration related to estimating the swing angle, an imaging device S6 (cameras S6F, S6B, S6L, S6R), a controller 30, and proportional valves 31CL, 31CR, similar to the first example in FIG.

[0178] The controller 30 includes a machine guidance unit 50 and a surrounding situation recognition unit 60 as components related to estimating a turning angle, similarly to the first example of FIG.

[0179] The machine guidance unit 50 includes, as functional configurations related to estimating the turning angle, an automatic control unit 54, a turning angle calculation unit 55, a relative angle calculation unit 56, a memory unit 57, and a target position information generation unit 58, similar to the first example of Figure 5.

[0180] In the storage unit 57, construction information 57B distributed from the management device 200 is stored.

[0181] The target position information generating unit 58 generates target position information regarding the target construction surface as the work target, based on the target construction surface data included in the construction information.

[0182] The relative angle calculation unit 56 calculates (estimates) a relative angle based on the rotation angle of the upper rotating body 3 calculated by the rotation angle calculation unit 55 and target position information corresponding to the target construction surface of the work target.

[0183] The automatic control unit 54 controls the proportional valves 31CL, 31CR based on the relative angle calculated (estimated) by the relative angle calculation unit 56, and makes the upper rotating body 3 face the target construction surface corresponding to the construction information 57B. Furthermore, when an object is detected within a predetermined range, the automatic control unit 54 controls the pressure reducing proportional valve 33 based on the positional relationship with the detected object, thereby performing a braking operation (deceleration, stop).

[0184] <Specific example of how to estimate turning angle> 8A and 8B are diagrams showing a second example of the operation of estimating the swing angle of the excavator 100 according to this embodiment. Specifically, Fig. 8 shows a state in which the excavator 100 starts construction of an unconstructed slope NS from near the boundary between a constructed slope CS and a slope NS as an example of a target construction surface corresponding to an unconstructed inclined surface. Fig. 8A shows a state in which the upper rotating body 3 does not face the slope NS as the work target, and Fig. 8B shows a state in which the excavator 100 has rotated the upper rotating body 3 from the state of Fig. 8A, so that the upper rotating body 3 faces the slope NS as the work target.

[0185] As shown in FIGS. 8A and 8B, in this example, the controller 30 (swing angle calculation unit 55) calculates a swing angle with a tree TR2 as a fixed object around the shovel 100 (own machine) as a reference object.

[0186] For example, in the state of FIG. 8A, the controller 30 (swing angle calculation unit 55) estimates (calculates) a swing angle with the tree TR2 as a reference object. The controller 30 (relative angle calculation unit 56) also estimates (calculates) a relative angle based on the estimated swing angle and target position information corresponding to the slope NS as a target construction surface. When the operator performs a left swing operation on the lever device 26C while pressing a predetermined switch such as an MC switch, the controller 30 (automatic control unit 54) controls the proportional valve 31CL so that the upper swing body 3 faces the slope NS while estimating a swing angle with the tree TR2 as a reference object. As a result, as shown in FIG. 8B, the controller 30 can assist the operator in operating the lever device 26C to face the slope NS as a work target. When the operator presses a predetermined switch such as an MC switch, the controller 30 may automatically face the upper swing body 3 to the slope NS while estimating a swing angle with the tree TR2 as a reference object.

[0187] [How to estimate turning angle (third example)] Next, a third example of a method for estimating a turning angle by the controller 30 (turning angle calculation unit 55) will be described with reference to FIGS.

[0188] Incidentally, a functional block diagram showing the functional configuration related to estimating the swing angle of the shovel 100 in this example is omitted because the functional block diagram of the first or second example described above (Figure 5 or Figure 7) can be used.

[0189] <Fixed object detection method> Fig. 9 is a diagram for explaining a third example of a method for estimating a swing angle of the shovel 100. Specifically, Fig. 9 is a diagram for explaining an example of a method for detecting objects (e.g., fixed objects) around the shovel 100 according to this example, and is a diagram for explaining a series of processes related to the detection of objects around the shovel 100 by the detection unit 62.

[0190] <<Object detection processing>> The detection unit 62 performs a process (object detection process 901) of detecting objects around the excavator 100 (upper rotating body 3) using the trained object detection model LM based on the output (captured image) of the imaging device S6.

[0191] In this example, the object detection model LM is mainly constructed using a neural network (DNN).

[0192] In this example, the neural network DNN is a so-called deep neural network having one or more intermediate layers (hidden layers) between the input layer and the output layer. In the neural network DNN, a weighting parameter representing the connection strength with the lower layer is defined for each of the multiple neurons constituting each intermediate layer. The neural network DNN is configured in such a manner that the neurons in each layer output the sum of values ​​obtained by multiplying each of the input values ​​from the multiple neurons in the upper layer by the weighting parameter defined for each neuron in the upper layer through a threshold function to the neurons in the lower layer.

[0193] The neural network DNN is subjected to machine learning, specifically, deep learning, by the management device 200 (model learning unit 201) as described later, and the weighting parameters are optimized. As a result, the neural network DNN can receive the captured image of the imaging device S6 as input signals x (x1 to xm) and output the probability (predicted probability) of the existence of each object type corresponding to a predefined object list (in this example, "tree", "dump truck", ...) as output signals y (y1 to yn). m is an integer of 2 or more, and corresponds to, for example, the number of sections of the captured image divided into a plurality of image regions. n is an integer of 2 or more, and corresponds to the number of types of objects included in the object list.

[0194] The neural network DNN is, for example, a convolutional neural network (CNN). The CNN is a neural network to which existing image processing techniques (convolution processing and pooling processing) are applied. Specifically, the CNN extracts feature amount data (feature map) smaller in size than the captured image by repeating a combination of convolution processing and pooling processing on the captured image of the imaging device S6. Then, the pixel value of each pixel of the extracted feature map is input to a neural network composed of multiple fully connected layers, and the output layer of the neural network can output, for example, a predicted probability that an object exists for each type of object.

[0195] The neural network DNN may be configured to receive an image captured by the imaging device S6 as an input signal x, and output the position and size of an object in the captured image (i.e., the area occupied by the object on the captured image) and the type of the object as an output signal y. That is, the neural network DNN may be configured to detect an object on the captured image (determine the area occupied by the object on the captured image) and determine the classification of the object. In this case, the output signal y may be configured in an image data format in which information on the area occupied by the object and its classification is superimposed on the captured image as the input signal x. This allows the detection unit 62 to specify the relative position (distance and direction) of the object from the excavator 100 based on the position and size of the area occupied by the object in the captured image captured by the imaging device S6, which are output from the object detection model LM (neural network DNN). This is because the imaging device S6 (camera S6F, camera S6B, camera S6L, and camera S6R) are fixed to the upper revolving body 3, and the imaging range (angle of view) is specified (fixed) in advance. Then, when the position of an object detected by the object detection model LM is within the monitored area and is classified as an object in the monitored object list, the detection unit 62 can determine that a monitored object has been detected within the monitored area.

[0196] For example, the neural network DNN may have a configuration having a neural network corresponding to each of a process of extracting an occupied area (window) in which an object exists in a captured image and a process of identifying the type of object in the extracted area. In other words, the neural network DNN may have a configuration that performs object detection and object classification in stages. Also, for example, the neural network DNN may have a configuration having a neural network corresponding to each of a process of defining object classification and object occupation area (bounding box) for each grid cell in which the entire area of ​​the captured image is divided into a predetermined number of partial areas, and a process of combining object occupation areas for each type based on object classification for each grid cell to determine the final object occupation area. In other words, the neural network DNN may have a configuration that performs object detection and object classification in parallel.

[0197] The detection unit 62 calculates the predicted probability for each type of object on the captured image, for example, at each predetermined control period, using the neural network DNN. When calculating the predicted probability, if the current judgment result matches the previous judgment result, the detection unit 62 may further increase the current predicted probability. For example, in the previous judgment, if the object reflected in a predetermined area on the captured image is judged to be a "dump" (y2), and is judged to be a "dump" (y2) again this time, the prediction probability of the current judgment as a "dump" (y2) may be further increased. Thereby, for example, when judgment results regarding the classification of objects related to the same image area are continuously consistent, the predicted probability is calculated to be relatively high. Therefore, the detection unit 62 can suppress erroneous judgment.

[0198] The detection unit 62 may also make a determination regarding an object in a captured image, taking into consideration the movement of the shovel 100, such as traveling or turning. This is because even if an object around the shovel 100 is stationary, the position of the object in the captured image may move due to the traveling or turning of the shovel 100, and the object may not be recognized as the same object. For example, due to the traveling or turning of the shovel 100, an image area determined as a "tree" (y1) in the current process may differ from an image area determined as a "tree" (y1) in the previous process. In this case, if an image area determined as a "tree" (y1) in the current process is within a predetermined range from an image area determined as a "tree" (y1) in the previous process, the detection unit 62 may consider them to be the same object and perform a continuous matching determination (i.e., a determination of a state in which the same object is continuously detected). When performing a continuous matching determination, the detection unit 62 may include an image area within a predetermined range from the image area used in the previous determination in addition to the image area used in the previous determination. This allows the detection unit 62 to continuously perform coincidence determination for the same object around the shovel 100 even if the shovel 100 travels or turns.

[0199] In the above-described first and second examples, similarly to this example, the object detection model LM may be configured mainly with a neural network DNN.

[0200] In addition, the detection unit 62 may detect objects around the shovel 100 using any object detection method based on machine learning other than the method using the neural network DNN.

[0201] For example, for a multivariate local feature acquired from an image captured by the imaging device S6, an object detection model LM may be generated by supervised learning, which represents a boundary that divides a range of an object of a given type and a range of an object that is not of that type for each type of object in the space of the multivariate. A machine learning (supervised learning) method applied to generate information about the boundary may be, for example, a support vector machine (SVM), a k-nearest neighbor method, a Gaussian mixture model, or the like. This allows the detection unit 62 to detect an object based on the object detection model LM, on whether the local feature acquired from the image captured by the imaging device S6 is in a range of an object of a given type or in a range of an object that is not of that type.

[0202] <<Distance calculation process>> Separate from the object detection process 901, the detection unit 62 performs a process (distance calculation process 902) of calculating the distance from the shovel 100 to a surrounding object based on the output of the distance measurement device S7 mounted on the shovel 100. In this example, the detection unit 62 calculates distances L1 to Lm to the object in each direction as seen from the shovel 100 (imaging device S6) corresponding to image areas x1 to xm obtained by dividing the image captured by the imaging device S6 into a plurality of image areas.

[0203] The distance measurement device S7 is mounted on the upper rotating body 3 and acquires information regarding the distance between the shovel 100 and objects around the shovel 100. The distance measurement device S7 includes, for example, an ultrasonic sensor, a millimeter wave radar, a LIDAR, an infrared sensor, etc. The distance measurement device S7 may also be, for example, an imaging device such as a monocular camera, a stereo camera, a distance image camera, or a depth camera. In the case of a monocular camera, the detection unit 62 can calculate the distance based on an image captured when the shovel 100 is traveling or rotating.

[0204] <<Object information generation process>> The detection unit 62 performs a process (object information generation process 903) of generating object information including a predicted probability and a position for each of a plurality of objects by combining the output of the object detection process 901 and the output of the distance calculation process 902. Specifically, the detection unit 62 may generate object information including a predicted probability and a position for each of a plurality of objects based on the predicted probability and the occupied area on the captured image for each of a plurality of types of objects included in the object list, and the distance information (distances L1 to Lm) for each image area x1 to xm of the captured image. In this example, the object information indicates that a "tree" corresponding to the output signal y1 has a predicted probability of "xx%" and is located at coordinates "(e1, n1, h1)". In addition, in this example, the object information indicates that a "dump truck" corresponding to the output signal y2 has a predicted probability of "xx%" and is located at coordinates "(e2, n2, h2)". In addition, in this example, the object information indicates that a "xxxxxx" corresponding to the output signal yn has a predicted probability of "xx%" and is located at coordinates "(e n ,n n ,h n ) is located. This enables detection unit 62 to detect an object within the imaging range of imaging device S6 and identify the position of the detected object based on the object information and the predicted probability for each of the multiple types of objects in the object list.

[0205] As described above, the detection unit 62 may specify the position of each object using only the position and size of the occupied area of ​​each object. In this case, the distance calculation process 902 may be omitted, and the distance measurement device S7 may be omitted.

[0206] <Specific example of how to estimate turning angle> 10 and 11 are explanatory diagrams showing a third example of a method for estimating the swing angle of the shovel 100. In FIG.

[0207] In this example, the controller 30 determines a reference object around the shovel 100 based on the object information generated by the above-mentioned object information generation process 903, and calculates the orientation of the reference object as seen from the shovel 100. Then, the controller 30 estimates the swing angle of the shovel 100 based on a time-series change in the orientation of the object as seen from the shovel 100.

[0208] 12, at time t1, the object information indicates that the predicted probability of "trees" and "dump trucks" is 90%. Therefore, the controller 30 determines a plurality of reference objects including at least trees and dump trucks, and calculates the orientation (angular direction) θk(t1) of the reference object as viewed from the excavator 100 for each reference object (k: an integer from 1 to n).

[0209] Furthermore, at time t2, the object information continues to indicate that the prediction probability of "trees" and "dump trucks" is very high at 90%. Therefore, the controller 30 determines a plurality of reference objects including at least trees and dump trucks, and calculates the orientation θk(t2) of the reference object as seen from the excavator 100 for each reference object.

[0210] For each reference object, the controller 30 can calculate the rotation angle Δθ between time t1 and time t2 based on the orientations θk(t1), θk(t2) of the reference object as seen by the shovel 100 at times t1 and t2 using the following equation (1).

[0211] Δθ=θk(t2)-θk(t1) ···(1)

[0212] The controller 30 determines the swing angle of the shovel 100 from time t1 to time t2 based on the swing angle Δθ calculated for each of the multiple reference objects. The controller 30 may determine the swing angle of the shovel 100 from time t1 to time t2 by performing statistical processing such as averaging the swing angle Δθ for each of the multiple reference objects.

[0213] Incidentally, when the object information indicates that only one object (reference object) exists around the shovel 100, the controller 30 may determine the swing angle Δθ corresponding to the single reference object as the swing angle of the shovel 100.

[0214] Thus, in this example, the controller 30 can determine a reference object around the shovel 100 based on the object information, and estimate the swing angle of the shovel 100 based on the time-series change in the orientation of the reference object as seen from the shovel 100. Also, in this example, the controller 30 estimates the swing angle of the shovel 100 for each of a plurality of reference objects based on the time-series change in the orientation of the reference object as seen from the shovel 100, and determines the swing angle of the shovel 100 based on a plurality of estimated values ​​of the swing angle. This can improve the estimation accuracy of the swing angle.

[0215] 12, at time t3, the dump truck, which was the reference object until time t2, moves, and the predicted probability of the object information "dump truck" changes to 0%. Therefore, at time t3, the controller 30 cannot use the dump truck as the reference object.

[0216] On the other hand, at time t3, the object information still indicates that the predicted probability of "tree" is very high at 90%. Therefore, the controller 30 determines one or more reference objects including at least a tree, and calculates the orientation θk(t3) of the reference object as seen from the shovel 100 for each reference object.

[0217] For each reference object, the controller 30 can calculate the rotation angle Δθ between time t2 and time t3 based on the orientations θk(t2), θk(t3) of the reference object as seen by the shovel 100 at times t2 and t3 using the following equation (2).

[0218] Δθ=θk(t3)-θk(t2) ···(2)

[0219] Thus, in this example, even if some of the reference objects become undetectable, if there are other reference objects in a detected state, the controller 30 can estimate the swing angle of the shovel 100 based on the change in orientation of the other reference objects as seen from the shovel 100. That is, by using a plurality of reference objects, the controller 30 can stably continue the estimation process of the swing angle of the shovel 100 even in a situation where some of the reference objects become undetectable.

[0220] [Other examples of excavator configurations] Next, another example of the specific configuration of the shovel 100 according to this embodiment, specifically, a specific example of a configuration relating to a method for estimating the position of the shovel 100 (own machine) described below, will be described with reference to Fig. 12 in addition to Fig. 1. The following description will focus on parts that differ from the above example (Fig. 2), and descriptions of the same or corresponding content may be omitted.

[0221] FIG. 12 is a diagram illustrating roughly another example of the configuration of the shovel 100 according to the present embodiment.

[0222] The control system of the excavator 100 in this embodiment includes a controller 30, a discharge pressure sensor 28, an operating pressure sensor 29, a proportional valve 31, a display device 40, an input device 42, a sound output device 43, a memory device 47, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a rotation state sensor S5, an imaging device S6, and a communication device T1.

[0223] The turning state sensor S5 outputs detection information related to the turning state of the upper rotating body 3. The turning state sensor S5 detects, for example, the turning angular velocity and turning angle of the upper rotating body 3. The turning state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. A detection signal corresponding to the turning angle and turning angular velocity of the upper rotating body 3 detected by the turning state sensor S5 is input to the controller 30.

[0224] The controller 30 includes a machine guidance section 50 .

[0225] The machine guidance unit 50 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the turning state sensor S5, the imaging device S6, the communication device T1, the input device 42, and the like. Then, the machine guidance unit 50, for example, calculates the distance between the bucket 6 and the target construction surface based on the acquired information, notifies the operator of the degree of the distance between the bucket 6 and the work object (for example, the target construction surface) by the sound from the sound output device 43 and the image displayed on the display device 40, and automatically controls the operation of the attachment so that the tip of the attachment (specifically, the work part such as the tip or back of the bucket 6) coincides with the target construction surface. The machine guidance unit 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, an automatic control unit 54, a turning angle calculation unit 55, a relative angle calculation unit 56, and a position estimation unit 59 as detailed functional configurations related to the machine guidance function and the machine control function.

[0226] The slewing angle calculation unit 55 calculates the slewing angle of the upper slewing body 3. This allows the controller 30 to identify the current orientation of the upper slewing body 3. The slewing angle calculation unit 55 calculates the slewing angle based on the detection signal of the slewing state sensor S5. In addition, when a reference point is set at the construction site, the slewing angle calculation unit 55 may use the direction of the reference point as seen from the slewing axis as the reference direction. In addition, the slewing angle calculation unit 55 may calculate (estimate) the slewing angle of the upper slewing body 3 based on the change in the position (visible direction) of a stationary or fixed object included (shown) in the captured image of the imaging device S6, for example, using the above-mentioned estimation method (see Figs. 5 to 11). In this case, the slewing state sensor S5 may be omitted.

[0227] The position estimation unit 59 estimates the position of the shovel 100. The position estimation unit 59 recognizes objects around the shovel 100 (own machine) based on, for example, an image captured by the imaging device S6, and calculates (estimates) the relative position of the shovel 100 with respect to the recognized objects. Details will be described later (see Figs. 13 to 18).

[0228] [Method of estimating excavator position (first example)] Next, a first example of a method for estimating the position of the shovel 100 (own machine) by the controller 30 will be described with reference to Figs.

[0229] <Function configuration for estimating the excavator position> FIG. 13 is a functional block diagram showing a first example of a functional configuration related to estimation of the position of the shovel 100 according to this embodiment.

[0230] As shown in FIG. 13, in this example, the shovel 100 is communicatively connected to the management device 200 using a communication device T1.

[0231] The functions of the management device 200 may be realized by any hardware or a combination of hardware and software. For example, the management device 200 is mainly configured with a server computer including a processor such as a CPU, a memory device such as a RAM, an auxiliary storage device such as a ROM, and an interface device for communication with the outside. The management device 200 includes, for example, a model learning unit 201 and a distribution unit 203 as functional units realized by executing a program installed in the auxiliary storage device on the CPU. The management device 200 also uses a learning result storage unit 202 and the like. The learning result storage unit 202 and the like can be realized, for example, by the auxiliary storage device of the management device 200 or an external storage device capable of communication.

[0232] The model learning unit 201 performs machine learning on a learning model using a predetermined teacher data set, and outputs a learned model (object detection model LM) as a result of so-called supervised learning. The generated object detection model LM is then subjected to accuracy verification using a verification data set prepared in advance, and is then stored in the learning result storage unit 202. The model learning unit 201 may also generate an additionally trained model by performing additional learning of the object detection model LM using a teacher data set for additional learning. The additionally trained model may then be subjected to accuracy verification using a verification data set prepared in advance, and the object detection model LM in the learning result storage unit 202 may be updated with the additionally trained model whose accuracy has been verified.

[0233] The object detection model LM uses an image of the work site captured by an object detection device, point cloud data, and the like as input information, and determines the presence or absence of a predetermined object (e.g., a person, a vehicle, another work machine, a building, a pylon, a utility pole, a tree, and the like) (hereinafter, "object") included in the captured image of the work site, the type of the object, the position of the object, the size of the object, and the like. Then, the object detection model LM outputs information on the determination result (e.g., label information indicating the type (kind) of the object and position information indicating the position of the object). In other words, when the object detection model LM is applied to the shovel 100, it can determine the presence or absence of an object around the shovel 100, the type (kind) of the object, the position of the object, and the like, based on the image captured by the imaging device S6. The learning model based on the learning model and the object detection model LM as the learning result thereof may be configured, for example, mainly with a known deep neural network (DNN: Deep Neural Network).

[0234] The teacher data set and the data set for accuracy verification may be created based on, for example, images of various work sites captured by the imaging device S6 and appropriately uploaded from the excavator 100. The teacher data set and the data set for accuracy verification may also be created based on images of the work site that are artificially created using technology related to computer graphics or the like.

[0235] The learning result storage unit 202 stores the object detection model LM generated by the model learning unit 201. In addition, the object detection model LM in the learning result storage unit 202 may be updated by an additionally trained model generated by the model learning unit 201.

[0236] The distribution unit 203 distributes the latest object detection model LM stored in the learning result storage unit 202 to the shovel 100.

[0237] In this example, the shovel 100 also includes an imaging device S6 (cameras S6F, S6B, S6L, S6R) and a controller 30 as components related to estimating the position of the shovel 100 itself.

[0238] The controller 30 includes a surrounding situation recognition unit 60 and the above-mentioned machine guidance unit 50 as components related to estimation of the shovel 100 (own machine).

[0239] The surrounding situation recognition unit 60 includes, for example, a model storage unit 61, a detection unit 62, an object position map generation unit 63, and a map storage unit 64.

[0240] The model storage unit 61 stores the latest object detection model LM received from the management device 200 via the communication device T1.

[0241] The detection unit 62 detects objects around the upper rotating body 3 based on the captured images input from the imaging device S6 (cameras S6F, S6B, S6L, S6R). Specifically, the detection unit 62 reads out the object detection model LM from the model storage unit 61, and uses the object detection model LM to make a judgment regarding objects around the upper rotating body 3 (for example, judgment regarding the presence or absence of an object, the type of the object, the position of the object, and the size of the object, etc.). The detection unit 62 outputs, for example, label information indicating the type of the detected object, position information of the object, and information regarding the size of the object. In addition, when an object is not detected, the detection unit 62 may output label information indicating that the object has not been detected. In this example, since the captured images of multiple cameras (cameras S6F, S6B, S6L, S6R) can be used, the detection unit 62 can detect objects over the entire circumference of the upper rotating body 3, that is, objects in a wider target range. Also, although an example in which the imaging device S6 is used has been shown, the detection unit 62 may receive a reflected signal of an output signal (e.g., laser, infrared, electromagnetic wave, ultrasonic wave, etc.) outputted around the shovel 100, and calculate the distance to an object around the shovel 100 based on point cloud data, etc. Furthermore, the detection unit 62 can obtain label information indicating the type (kind) of the object, position information indicating the position of the object, etc., based on the shape of the point cloud based on the received reflected signal and the distance to the point cloud, etc.

[0242] The object position map generating unit 63 generates map information (hereinafter, "object position map") that indicates the position of the shovel 100 (own machine) relative to surrounding objects (target objects). The generated object position map MP is stored in the map storage unit 64. The object position map MP includes three-dimensional shape data (specifically, a collection of three-dimensional feature points) of objects around the shovel 100 based on the captured image of the imaging device S6, including the target objects detected by the detecting unit 62, and information that indicates the current position of the shovel 100 and the orientation of the upper rotating body 3 relative to the three-dimensional shape data. The object position map MP also includes the position of each target object detected by the detecting unit 62. The object position map MP also includes associated information such as information on the type of the target object (hereinafter, "type information") and information on the size of the target object (hereinafter, "size information") that are linked to the position of each target object. Specifically, the object position map generating unit 63 generates local map information (hereinafter, "local map") including the three-dimensional shape of an object (target object) around the shovel 100 at the current time based on the captured image of the imaging device S6 (detection result of the detection unit 62) for each predetermined processing cycle. The local map is map information based on the current position of the shovel 100 and the current orientation of the upper rotating body 3. The object position map generating unit 63 then identifies the three-dimensional shape of the object between the generated local map and the past object position map MP created in the immediately preceding processing cycle, and generates the latest object position map MP. At this time, in the process of identifying the three-dimensional shape of the local map based on the current position of the shovel 100 and the orientation of the upper rotating body 3 with the three-dimensional shape of the past object position map MP, the object position map generating unit 63 simultaneously specifies the position of the shovel 100 and the orientation of the upper rotating body 3 on the object position map MP. For example, the object position map generating unit 63 may be configured to create an object position map MP in accordance with the detection period of the detection unit 62 between the start and stop of the shovel 100, and to sequentially update the object position map MP in the map memory unit 64 with the latest object position map MP.

[0243] In addition to the imaging device S6, when a distance sensor (an example of a distance information acquisition device) capable of acquiring the distance to an object in the imaging range of the imaging device S6 is mounted on the upper rotating body 3, the object position map generating unit 63 may generate the object position map MP based on the captured image of the imaging device S6 and the detection information of the distance sensor. That is, the controller 30 may estimate the position of the shovel 100 (own machine) or estimate the orientation (rotation angle) of the upper rotating body 3 based on the captured image of the imaging device S6 and the detection information of the distance sensor (i.e., information on the distance to objects around the shovel 100). Specifically, the object position map generating unit 63 may generate data corresponding to a three-dimensional shape around the shovel 100 based on the detection information of the distance sensor, and generate the object position map MP in a form that reflects information on the target object detected by the detection unit 62 based on the captured image of the imaging device S6 on the data. As a result, the distance sensor can directly acquire detection information on the distance to objects around the shovel 100, so that the image of the imaging device S6 may be generated. image In addition, the accuracy of the distance corresponding to the detection information obtained by the distance sensor can be improved by the imaging device S6. image Since the accuracy of the distance calculated from the distance is generally higher than that of the distance calculated from the distance, the accuracy of the object position map MP can be improved. In addition, since the distance range in which the detection unit 62 can detect an object is limited with respect to the shovel 100 (upper rotating body 3) as a reference, for example, when the shovel 100 travels on the lower traveling body 1, the position of a certain object included in the object position map MP may be outside the detection range. In other words, when the shovel 100 travels on the lower traveling body 1, the controller 30 may not be able to grasp the movement of an object at a position relatively distant from the shovel 100 or the change due to construction work of the topographical shape at a position relatively distant from the shovel 100. Therefore, the object position map generation unit 63 may delete information on the three-dimensional shape including an object at a position somewhat distant from the shovel 100 (own machine) included in the object position map MP when updating, or may leave it in the map information after linking it to a flag indicating that the information is low accuracy.

[0244] The map storage unit 64 stores the latest object position map MP generated by the object position map generating unit 63.

[0245] The machine guidance unit 50 includes a swing angle calculation unit 55 and a position estimation unit 59 as functional components related to estimating the position of the shovel 100 (own machine).

[0246] The slewing angle calculation unit 55 recognizes stationary objects (hereinafter, "stationary objects") and fixed objects (hereinafter, "fixed objects") around the excavator 100 based on the captured image of the imaging device S6, and estimates (calculates) the slewing angle of the upper rotating body 3 (i.e., the orientation of the upper rotating body 3) based on the stationary objects and fixed objects. The stationary objects refer to movable objects that are stationary and do not move (e.g., a parked dump truck, etc.). The fixed objects refer to objects that are fixed to a certain position and do not move (e.g., trees, utility poles, various devices installed in a scrap yard, etc., which will be described later). Specifically, the slewing angle calculation unit 55 estimates (calculates) the orientation of the upper rotating body 3 on the latest object position map MP stored in the map storage unit 64, that is, the orientation (slewing angle) of the upper rotating body 3 as viewed from the stationary objects and fixed objects identified on the object position map MP. More specifically, the rotation angle calculation unit 55 may estimate (calculate) the rotation angle of the upper rotating body 3 based on the direction in which the rotation axis is viewed from a stationary object or a fixed object in the object position map MP.

[0247] The position estimation unit 59 recognizes objects (specifically, stationary objects and fixed objects) around the shovel 100 based on the captured image of the imaging device S6, and grasps (estimates) the position of the shovel 100 (its own machine) relative to the recognized objects. Specifically, the position estimation unit 59 grasps (estimates) the position of the shovel 100 on the object position map MP stored in the map storage unit 64, that is, the position of the shovel 100 relative to stationary objects and fixed objects identified on the object position map MP. This allows the shovel 100 to grasp its own position without using GNSS.

[0248] <Specific example of how to estimate the location of a shovel> FIG. 14 (FIG. 14A and FIG. 14B) are diagrams showing a first example of an operation relating to estimation of the position of the shovel 100 according to this embodiment.

[0249] 14, the position estimation unit 59 estimates (calculates) the position of the shovel 100 in an XY coordinate system with a tree TR21 as a fixed object around the shovel 100 (own machine) specified on the object position map MP as a reference (origin). In addition, the rotation angle calculation unit 55 estimates (calculates) the rotation angle of the upper rotating body 3 with the direction of the shovel 100 (rotation axis) as seen from the tree TR21 as a reference.

[0250] 14A, the position estimation unit 59 calculates the position of the shovel 100 in the XY coordinate system based on the tree TR21 as a predetermined value X1 (>0) for the X coordinate and a predetermined value Y1 (>0) for the Y coordinate. The position estimation unit 59 also calculates the rotation angle of the upper rotating body 3 based on the direction of the shovel 100 (rotation axis AX) as seen from the tree TR21 as a predetermined value θ1 (>0).

[0251] Then, the shovel 100 transitions from the working situation of Fig. 14A to the working situation of Fig. 14B, that is, the shovel 100 moves in a direction away from the tree TR21 by the lower traveling structure 1 and rotates the upper rotating structure 3 to the left. In this case, in the working situation of Fig. 14B, the position estimation unit 59 calculates the position of the shovel 100 in the XY coordinate system based on the tree TR21 as a predetermined value X2 (>X1>0) for the X coordinate and a predetermined value Y2 (>Y1>0) for the Y coordinate. In addition, the rotation angle calculation unit 55 calculates the rotation angle of the upper rotating structure 3 based on the direction of the shovel 100 (rotation axis AX) as seen from the tree TR21 as a predetermined value θ2 (>θ1>0).

[0252] Thus, in this example, the position estimation unit 59 estimates the position of the shovel 100 based on the tree TR21 around the shovel 100 (own machine). This allows the controller 30 to continue to grasp the position of the shovel 100 based on the tree TR21 in accordance with the movement of the shovel 100 in a situation where the shovel 100 moves around the tree TR21 while working. In addition, the swing angle calculation unit 55 estimates the swing angle of the upper rotating body 3 based on the direction in which the shovel 100 (the swing axis) is viewed from the tree TR21. This allows the controller 30 to continue to grasp the orientation of the upper rotating body 3 based on the tree TR21 (i.e., the orientation of the attachment) in a situation where the shovel 100 moves around the tree TR21 while working while rotating the upper rotating body 3.

[0253] [Method of estimating the position of a shovel (second example)] Next, a second example of a method for estimating the position of the shovel 100 (own machine) by the controller 30 will be described with reference to Fig. 15. Since the functional configuration related to the estimation of the position of the shovel 100 according to this example is shown in Fig. 13, illustration thereof will be omitted below.

[0254] <Function configuration for estimating the excavator position> In this example, the differences from the above-mentioned first example will be mainly described.

[0255] As shown in FIG. 13, in this example, the shovel 100 includes an imaging device S6 (cameras S6F, S6B, S6L, S6R) and a controller 30 as components related to the estimation of the shovel 100 itself.

[0256] The controller 30 includes a machine guidance unit 50 and a surrounding situation recognition unit 60 as components related to estimating the position of the shovel 100.

[0257] The object position map generating unit 63 generates an object position map MP that indicates the position of the shovel 100 (own machine) relative to surrounding objects (target objects) in the same manner as in the first example described above. In this example, the object position map MP includes associated information such as object type information, object size information, and information indicating the accuracy of the object's position (hereinafter, "accuracy information") that are linked to the position of each object. This allows the object position map generating unit 63 to refer to the accuracy information and grasp the accuracy of the object's position included in the object position map MP. For this reason, the object position map generating unit 63 may generate the latest object position map MP by, for example, comparing accuracy information of a certain object on a local map corresponding to the current position of the shovel 100 with accuracy information of the same object on a past object position map MP generated in the most recent processing cycle, and adopting the one with a higher position accuracy. In other words, the object position map generating unit 63 may update the object position map MP based on information on an object (target object) with a relatively high accuracy acquired by the imaging device S6. This allows the object position map generating unit 63 to improve the accuracy of the object position map MP.

[0258] As shown in FIG. 15, it can be seen that the distance range in which the imaging device S6 (cameras S6F, S6B) can capture images at a certain angle in the vertical direction is relatively shorter as the imaging device S6 approaches the shovel 100, and is relatively longer as the imaging device S6 moves away from the shovel 100. In other words, the imaging device S6 can acquire relatively dense pixel information for an area relatively close to the shovel 100, while it can only acquire relatively coarse pixel information for an area relatively far from the shovel 100. Therefore, the longer the distance between the shovel 100 and the object, the lower the accuracy of the position of the object is because the position of the object is estimated from relatively coarse pixel information. Therefore, the accuracy information may be generated based on the distance from the shovel 100 when the object is detected by the detection unit 62. In this case, the accuracy information is generated in such a manner that the accuracy of the position of the object becomes lower as the distance from the shovel 100 when the object is detected by the detection unit 62 becomes longer.

[0259] Furthermore, the accuracy information may be generated based on, for example, the time that has elapsed since the object was last detected. This is because when the distance between the shovel 100 and an object becomes relatively large and the object is no longer detected by the detection unit 62, it is impossible to determine whether the object remains in its original shape at that position. In this case, the accuracy information may be generated in such a manner that the accuracy of the object decreases as the elapsed time increases.

[0260] The accuracy information may also be generated based on the probability of recognizing an object by the detection unit 62 (object detection model LM). In this case, the accuracy information may be generated in such a manner that the accuracy of the position information of the object decreases as the recognition probability of the object output by the object detection model LM becomes relatively lower.

[0261] The machine guidance unit 50 includes a swing angle calculation unit 55 and a position estimation unit 59 as functional components related to estimating the position of the shovel 100.

[0262] The slewing angle calculation unit 55 estimates (calculates) the orientation (slewing angle) of the upper rotating body 3 based on an object having a relatively high positional accuracy among stopped objects or fixed objects around the shovel 100 identified from the object position map MP stored in the map storage unit 64. For example, the slewing angle calculation unit 55 may automatically select an object to be used as a reference for the orientation of the upper rotating body 3 from among stopped objects or fixed objects around the shovel 100 having a relatively high positional accuracy (specifically, above a predetermined standard) according to a predetermined condition (for example, "having the shortest distance from the shovel 100"). Also, for example, the slewing angle calculation unit 55 may use a stopped object or fixed object selected from among objects having a relatively high positional accuracy among a plurality of objects identified from the object position map MP as a reference for the orientation of the upper rotating body 3 based on an operation input through the input device 42. This allows the rotation angle calculation unit 55 to estimate the rotation angle of the upper rotating body 3 based on an object with a relatively high positional accuracy as a reference, thereby improving the estimation accuracy of the rotation angle.

[0263] The position estimation unit 59 estimates (calculates) the position of the shovel 100 (own machine) based on an object having a relatively high positional accuracy among objects around the shovel 100 identified from the object position map MP stored in the map storage unit 64. For example, the position estimation unit 59 may automatically select an object to be used as a reference for the position of the shovel 100 from among stopped objects or fixed objects around the shovel 100 having a relatively high positional accuracy (specifically, above a predetermined standard) according to a predetermined condition (for example, "having the shortest distance from the shovel 100"). Also, for example, the position estimation unit 59 may use a stopped object or fixed object selected from among objects having a relatively high positional accuracy among a plurality of objects identified from the object position map MP as a reference for the position of the shovel 100 based on an operation input through the input device 42. This allows the position estimation unit 59 to estimate the position of the shovel 100 (own machine) based on an object having a relatively high positional accuracy. Therefore, the accuracy of estimating the position of the shovel 100 can be improved.

[0264] [Method of estimating the position of a shovel (third example)] Next, with reference to FIG. 16 and with the aid of FIG. 8 (FIG. 8A, FIG. 8B), a third example of a method for estimating the position of the excavator 100 (own machine) by the controller 30 will be described. In this example, the excavator 100 is provided with a configuration for automatically moving forward and updating each of the left and right crawlers of the lower traveling body 1. Specifically, the components related to the operation system of the traveling hydraulic motor 1L and the components related to the operation system of the traveling hydraulic motor 1R are configured similarly to the components related to the operation system of the boom cylinder 7, etc. (FIG. 4A to FIG. 4C). Hereinafter, components corresponding to the proportional valves 31AL and 31AR in FIG. 4A in the components related to the operation system of the traveling hydraulic motor 1L and the components related to the operation of the traveling hydraulic motor 1R will be referred to as proportional valves 31DL and 31DR and proportional valves 31EL and 31ER.

[0265] <Function configuration for estimating the excavator position> Fig. 16 is a functional block diagram showing a third example of a functional configuration related to estimating the position of the shovel 100 according to this embodiment. In the following, this example will be described focusing on the parts that are different from the above-mentioned Fig. 13. In this example, the shovel 100 has a configuration that automatically moves the lower traveling structure 1 (specifically, the left and right crawlers) forward and backward.

[0266] As shown in FIG. 16, in this example, similarly to the case of FIG. 13, a communication device T1 is used to establish a communicative connection with the management device 200.

[0267] The management device 200 includes, for example, a model learning unit 201 and a distribution unit 203 as functional units realized by executing a program installed in an auxiliary storage device on a CPU. The management device 200 also uses a learning result storage unit 202 and a construction information storage unit 204. The learning result storage unit 202 and the construction information storage unit 204 can be realized, for example, by an auxiliary storage device of the management device 200 or an external storage device capable of communication.

[0268] In the construction information storage unit 204, a construction information database is constructed that includes construction information of a plurality of work sites including the work site of the shovel 100. The construction information includes information on the construction target (for example, target construction surface data, etc.).

[0269] The distribution unit 203 extracts construction information of the work site of the shovel 100 from the construction information database and distributes it to the shovel 100.

[0270] In this example, the shovel 100 also includes an imaging device S6 (cameras S6F, S6B, S6L, S6R), a controller 30, and proportional valves 31CL, 31CR, 31DL, 31DR, 31EL, 31ER as components related to estimating the position of the shovel 100 itself.

[0271] The controller 30 includes a machine guidance unit 50 and a surrounding situation recognition unit 60 as components related to estimating the position of the shovel 100, similar to the case of FIG.

[0272] The surrounding situation recognition unit 60 includes a model memory unit 61, a detection unit 62, an object position map generation unit 63, a map memory unit 64, a memory unit 65, and a target position information generation unit 66 as functional configurations related to estimating the position of the shovel 100.

[0273] The storage unit 65 stores construction information 65A delivered from the management device 200.

[0274] The target position information generating unit 66 generates information on the position of the work target as a target during work (hereinafter, "target position information") and registers it on the object position map MP. In this example, the target position information generating unit 66 generates target position information on the target construction surface as the work target, specifically, target position information that specifies the position of the target construction surface on the object position map MP and the three-dimensional shape of the target construction surface, based on the construction information 65A, and registers it on the object position map MP. In other words, the target position information generating unit 66 generates an object position map MP that associates the position of the shovel 100 (own machine) relative to the surrounding objects (objects) with the position of the construction target (target construction surface) corresponding to the construction information 65A, and stores it in the map storage unit 64. This allows the controller 30 (automatic control unit 54) to grasp the positional relationship between the position of the shovel 100 and the construction target (target construction surface) on the object position map MP.

[0275] The machine guidance unit 50 includes an automatic control unit 54, a swing angle calculation unit 55, a relative angle calculation unit 56, and a position estimation unit 59 as functional components related to estimating the position of the shovel 100.

[0276] The relative angle calculation unit 56 calculates (estimates) the relative angle based on the orientation (rotation angle) of the upper rotating body 3 on the object position map MP calculated by the rotation angle calculation unit 55 and the position and three-dimensional shape of the target construction surface as the work target identified from the object position map MP. Specifically, the relative angle calculation unit 56 may calculate (estimate) the relative angle based on the orientation (rotation angle) of the upper rotating body 3 seen from a certain object calculated by the rotation angle calculation unit 55 and the orientation of the target construction surface seen from the same object on the object position map MP.

[0277] The automatic control unit 54 controls the proportional valves 31DL, DR, 31EL, and 31ER based on the position of the shovel 100 (own machine) calculated (estimated) by the position estimation unit 59 with respect to the object around the shovel 100 as a reference, and moves the lower traveling body 1 to move the shovel 100 to the front of the target construction surface (specifically, the unconstructed portion of the target construction surface) corresponding to the construction information 65A. Specifically, the automatic control unit 54 may control the travel of the lower traveling body 1 based on the position of the shovel 100 on the object position map MP estimated by the position estimation unit 59 and the position of the target construction surface on the object position map MP. In addition, the automatic control unit 54 controls the proportional valves 31CL, 31CR, 31DL, DR, 31EL, and 31ER based on the relative angle calculated (estimated) by the relative angle calculation unit 56, and makes the upper rotating body 3 face the target construction surface corresponding to the construction information 65A. The automatic control unit 54 may rotate the upper rotating body 3 so that the upper rotating body 3 faces the target construction surface after moving the shovel 100 to the front of the unconstructed portion of the target construction surface. Furthermore, when the shovel 100 approaches the target construction surface to a certain extent, the automatic control unit 54 may control the travel path of the lower running body 1 so that the upper rotating body 3 faces the target construction surface. Furthermore, when an object is detected within a predetermined range, the automatic control unit 54 can perform a braking operation (slowing down, stopping) by controlling the pressure reducing proportional valve 33 based on the positional relationship with the detected object.

[0278] <Specific example of how to estimate the location of a shovel> As shown in FIG. 8A, in this example, the controller 30 (position estimation unit 59) estimates the position of the shovel 100 based on a tree TR2 as a fixed object around the shovel 100 (own machine) identified on the object position map MP.

[0279] For example, the controller 30 (position estimation unit 59) sequentially calculates (estimates) the position of the shovel 100 with respect to the tree TR2. Then, when the operator operates the lower traveling body 1 (specifically, the left and right crawlers) through the operation device 26 with a predetermined switch such as an MC switch pressed, the controller 30 (position estimation unit 59) performs travel control of the lower traveling body 1 through the proportional valves 31DL, 31DR, 31EL, and 31ER based on the difference between the position of the shovel 100 and the position of the slope NS with respect to the tree TR2. As a result, as shown in FIG. 8A, the controller 30 assists the operator in operating the operation device 26 for the lower traveling body 1, and can move the shovel 100 to the front of the slope NS. In addition, when a specified switch such as an MC switch is pressed, the controller 30 may automatically control the lower running body 1 via proportional valves 31DL, 31DR, 31EL, and 31ER, and automatically move the shovel 100 to the front of the slope NS regardless of operation of the operating device 26.

[0280] 8A and 8B, the controller 30 (swing angle calculation unit 55) calculates a swing angle with a tree TR2, which is a fixed object around the shovel 100 (own machine) and is identified on the object position map MP, as a reference object. Specifically, the controller 30 calculates a swing angle with a reference to a direction in which the shovel 100 (swing axis) is viewed from the tree TR2.

[0281] For example, in the state of FIG. 8A, the controller 30 (swing angle calculation unit 55) estimates (calculates) the swing angle with the tree TR2 as the reference object. The controller 30 (relative angle calculation unit 56) also estimates (calculates) the relative angle based on the estimated swing angle and target position information corresponding to the slope NS as the target construction surface. Then, when the operator performs a left swing operation on the lever device 26C with a specified switch such as the MC switch pressed, the controller 30 (automatic control unit 54) controls the proportional valve 31CL so that the upper swing body 3 faces the slope NS while estimating the swing angle with the tree TR2 as the reference object. As a result, in FIG. 8As shown in FIG. 1B, the controller 30 can assist the operator in operating the lever device 26C to orient the upper rotating body 3 directly to the slope NS as the work target. When the operator presses a predetermined switch such as an MC switch, the controller 30 can automatically orient the upper rotating body 3 directly to the slope NS while estimating a rotation angle with the tree TR2 as a reference target.

[0282] [Method of estimating the position of a shovel (Example 4)] Next, a fourth example of a method for estimating the position of the shovel 100 (own machine) by the controller 30 will be described with reference to Figs.

[0283] <Function configuration for estimating the excavator position> Fig. 17 is a functional block diagram showing a fourth example of a functional configuration related to estimation of the position of the shovel 100 according to this embodiment. In the following, this example will be described focusing on the parts that differ from the above-mentioned Fig. 13.

[0284] In this example, the shovel 100 also includes an imaging device S6 (cameras S6F, S6B, S6L, S6R), a controller 30, and proportional valves 31CL, 31CR, 31DL, 31DR, 31EL, 31ER as components related to estimating the position of the shovel 100 itself.

[0285] The controller 30 includes a machine guidance unit 50 and a surrounding situation recognition unit 60 as components related to estimating the position of the shovel 100, similar to the case of FIG.

[0286] The surrounding situation recognition unit 60 includes a model memory unit 61, a detection unit 62, an object position map generation unit 63, a map memory unit 64, a memory unit 65, and a target position information generation unit 66 as functional configurations related to estimating the position of the shovel 100.

[0287] The storage unit 65 stores target setting information 65B.

[0288] The target setting information 65B is setting information regarding the work target as the target during work (for example, dump trucks that come to unload at the scrap yard STP described below, various devices at the scrap yard STP, scrap storage areas, etc.) that is set by operational input from a user such as an operator via the input device 42.

[0289] For example, an operator or the like can use the input device 42 to operate a predetermined operation screen (hereinafter, "target selection screen") displayed on the display device 40 to select an object corresponding to a work target from one or more objects identified in the object position map MP and set the object as a target during work. Specifically, an image (hereinafter, "surrounding image") showing the surroundings of the shovel 100 is displayed on the target selection screen of the display device 40 based on an image captured by the imaging device S6. Then, on the target selection screen of the display device 40, a marker or information indicating the type of the object is superimposed on a position on the surrounding image corresponding to an object around the shovel 100 identified in the object position map MP. An operator or the like can identify and select (set) a work target by checking the position and type of the object on the target selection screen.

[0290] The target position information generating unit 66 generates target position information corresponding to the work target set (selected) by the operator or the like based on the target setting information 65B, and registers it on the object position map. In this example, the target position information generating unit 66 generates target position information for identifying an object corresponding to the work target set by the operator or the like among the objects on the object position map MP based on the target setting information 65B, and registers it on the object position map MP. Specifically, the target position information generating unit 66 registers it on the object position map MP in a form in which the position of the object of the work target corresponding to the target setting information 65B on the object position map MP is linked to associated information such as flag information indicating that it is a work target and identification information for distinguishing it from other work targets. In other words, the target position information generating unit 66 generates an object position map MP in which the position of the shovel 100 (own machine) relative to the surrounding objects (objects) is associated with the position of a specific work target corresponding to the target setting information 65B, and holds it in the map storage unit 64. This enables the controller 30 (automatic control unit 54) to grasp, on the object position map MP, the positional relationship between the position of the shovel 100 and the work target set by operation input from the operator or the like.

[0291] The machine guidance unit 50 includes an automatic control unit 54, a swing angle calculation unit 55, a relative angle calculation unit 56, and a position estimation unit 59 as functional components related to estimating the position of the shovel 100.

[0292] The relative angle calculation unit 56 calculates (estimates) the relative angle based on the orientation (rotation angle) of the upper rotating body 3 on the object position map MP calculated by the rotation angle calculation unit 55 and the position and three-dimensional shape of the target construction surface as the work target identified from the object position map MP. Specifically, the relative angle calculation unit 56 may calculate (estimate) the relative angle based on the orientation (rotation angle) of the upper rotating body 3 seen from a certain object calculated by the rotation angle calculation unit 55 and the orientation of the target construction surface seen from the same object on the object position map MP.

[0293] The automatic control unit 54 controls the proportional valves 31DL, DR, 31EL, and 31ER based on the position of the shovel 100 calculated (estimated) by the position estimation unit 59 with respect to an object corresponding to the work target around the shovel 100 (own machine) as a reference, and causes the lower traveling body 1 to travel. Specifically, the automatic control unit 54 may control the travel of the lower traveling body 1 based on the position of the shovel 100 on the object position map MP and the position of the object corresponding to the work target on the object position map MP, both of which are estimated by the position estimation unit 59. Thereby, the automatic control unit 54 can control the lower traveling body 1 by assisting the operation of the operation device 26 by the operator or independently of the operation of the operation device 26, and can move the shovel 100 to the front of the work target or between multiple work targets so as not to collide with the work target. Furthermore, the automatic control unit 54 controls the proportional valves 31CL, 31CR based on the relative angle calculated (estimated) by the relative angle calculation unit 56, and makes the upper rotating body 3 face the target object corresponding to the work target.

[0294] <Specific example of how to estimate the location of a shovel> Fig. 18 is a diagram showing a fourth example of the operation related to the estimation of the swing angle of the excavator 100 according to this embodiment. Specifically, Fig. 18 is a top view showing a situation in which work is performed while moving between a plurality of work objects in the scrap yard STP. The work objects in this example are the dump truck DT that has come to unload scrap, the designated scrap storage areas in the scrap yard STP (scrap carrying-in area, scrap disassembly area, accumulation areas before and after various devices), and the various devices in the scrap yard STP (crusher, line sorter, vibrating screen).

[0295] The shovel 100, under the control of the controller 30, identifies various devices to determine whether or not there is a possibility of contact. Then, under the control of the controller 30, the shovel 100 determines whether or not to perform a braking operation and generates target trajectories for the end attachment and the lower traveling structure 1, based on the result of the determination of the possibility of contact.

[0296] In this example, the shovel 100 performs an operation ST1 of removing scrap from the bed of the dump truck DT as a work target under the control of the controller 30. The operation ST1 may be performed in a manner that assists the operation of the operating device 26 by an operator or the like, or may be performed automatically without depending on the operation of the operating device 26 by an operator or the like. The same applies to the operation ST2 below. The controller 30 monitors the position of the shovel 100 and the orientation (rotation angle) of the upper rotating body 3 based on a work target (such as the dump truck DT or a scrap pile in the scrap carrying-in yard) that is set in advance, while successively updating the object position map MP. As a result, under the control of the controller 30, the shovel 100 can operate the attachment so as not to abut against the dump truck DT, scrap in the scrap carrying-in yard, etc., and can rotate the upper rotating body 3 to go back and forth between the bed of the dump truck DT and the scrap carrying-in yard.

[0297] Moreover, under the control of the controller 30, the shovel 100 continuously performs the operation ST2 of feeding the scrap after disassembly work in the accumulation yard into the crusher, then traveling to the line sorter, and feeding the scrap after being crushed by the crusher from the accumulation yard into the line sorter. The controller 30 monitors the position of the shovel 100 and the orientation (rotation angle) of the upper rotating body 3 based on the preset work object (scrap pile in the accumulation yard, crusher, line sorter, etc.) while successively updating the object position map MP. As a result, under the control of the controller 30, the shovel 100 can operate the attachment and rotate the upper rotating body 3 back and forth between the accumulation yard and the input port of the crusher so as not to abut the shovel 100 against the scrap pile in the accumulation yard or the crusher, etc. Moreover, under the control of the controller 30, the shovel 100 can travel on the lower traveling body 1 from in front of the crusher to in front of the line sorter so as to prevent the shovel 100 from coming into contact with the scrap piles, crusher, line sorter, etc. at the collection yard. Moreover, under the control of the controller 30, the shovel 100 can operate an attachment and rotate the upper rotating body 3 back and forth between the collection yard and the inlet of the line sorter so as to prevent the shovel 100 from coming into contact with the scrap piles, crusher, line sorter, etc. at the collection yard.

[0298] In this way, in this example, multiple work objects in the scrap yard STP are pre-set (registered) in the object position map MP, so that the shovel 100 can safely proceed with work under the control of the controller 30 without coming into contact with various devices, etc. in the scrap yard STP.

[0299] [Method of estimating the position of a shovel (Example 5)] Next, the method of estimating the position of the shovel 100 (own machine) by the controller 30 will be described. 5 An example will be described.

[0300] Incidentally, a functional block diagram showing the functional configuration related to estimating the position of the shovel 100 in this example is omitted because the functional block diagram of any one of the above-mentioned first to fourth examples (FIG. 13 or FIG. 17) can be used.

[0301] As in the case of the third example of the estimating method of the swing angle described above (FIGS. 10 and 11), the controller 30 may estimate (calculate) the moving distance and moving direction of the shovel 100 based on the time-series change in the position of the reference object as seen from the shovel 100. Furthermore, the controller 30 may estimate (calculate) the position of the shovel 100 by integrating the moving distance and moving direction in a time series based on the time-series change in the position of the reference object as seen from the shovel 100, with a certain time as a reference. In this way, the controller 30 can calculate (estimate) the moving distance, moving direction, position, etc. of the shovel 100 by grasping the history of the position of the reference object as seen from the shovel 100.

[0302] Furthermore, similarly to the third example of the estimating method of the swing angle described above (FIGS. 10 and 11), the controller 30 may estimate (calculate) the moving distance, moving direction, position, etc. of the shovel 100 by using a plurality of reference objects around the shovel 100. As a result, even if some of the reference objects are in an undetected state, if other reference objects in a detected state exist, the controller 30 can estimate the moving distance, moving direction, position, etc. of the shovel 100 based on the change in the position of the other reference objects as seen from the shovel 100. That is, by using a plurality of reference objects, the controller 30 can stably continue the estimation process of the moving distance, moving direction, position, etc. of the shovel 100 even in a situation in which some of the reference objects are in an undetected state.

[0303] [Transformation / Change] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims.

[0304] For example, in the above-described embodiment, the function of estimating the swing angle and position of the shovel 100 may be transferred to a predetermined external device (e.g., the management device 200) that is communicatively connected to the shovel 100. In this case, the output of the imaging device S6, the distance measurement device S7, and the like is transmitted from the shovel 100 to the management device 200. As a result, the management device 200 can grasp the positional relationship between the shovel 100 and objects around the shovel 100 while estimating the swing angle and position based on the information received from the shovel 100, and transmit the result to the shovel 100 for feedback. This makes it possible to reduce the processing load on the shovel 100 side (controller 30).

[0305] Furthermore, in the above-described embodiment, information on the monitoring target detected within or outside the monitoring area of ​​the shovel 100 may be transmitted from the shovel 100 to the management device 200. In this case, information on the type of the monitoring target, the position of the monitoring target, etc. within the monitoring area of ​​the shovel 100 and outside the monitoring area are stored in a predetermined storage unit in chronological order in the management device 200. The information on the monitoring target stored in the storage unit of the management device 200 may include information on the type of the monitoring target, the position of the monitoring target, etc. outside the monitoring area of ​​the shovel 100 in question and within the monitoring targets of other shovels 100 (at the same work site).

[0306] Finally, this application claims priority based on Japanese Patent Application No. 2019-61772 filed on March 27, 2019, and Japanese Patent Application No. 2019-61773 filed on March 27, 2019, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0307] 1 Undercarriage 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 26 Operating device 26A~26C Lever device 30 Controller (control device) 31, 31AL, 31AR, 31BL, 31BR, 31CL, 31CR Proportional valve 50 Machine Guidance Section 54 Automatic control unit 55 Turning angle calculation unit 56 Relative angle calculation unit 57 Memory section 57A Goal Setting Information 57B Construction information 58 Target position information generation section 59 Position estimation part 60 Surrounding Situation Recognition Unit 62 Detection unit 63 Object position map generator 64 Map memory section 65 Storage section 65A Construction information 65B Goal Setting Information 66 Target position information generation section 100 Shovel 200 Management device MP Object Location Map S6 imaging device S6B, S6F, S6L, S6R Camera (acquisition device) T1 Communications Equipment

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An acquisition device mounted on the upper rotating body and acquiring information representing a situation around the aircraft; a control device that detects objects around the vehicle based on information acquired by the acquisition device, acquires position information of the detected objects, generates map information indicating a positional relationship between the vehicle and the detected objects including the acquired position information of the detected objects, recognizes stationary or fixed objects around the vehicle based on the map information as a reference, and estimates by calculating a rotation angle of the upper rotating body based on a change in the position of the reference object as seen from the upper rotating body. Shovel.

2. the control device controls the rotation operation of the upper rotating body based on the estimated rotation angle so as to face a predetermined target around the aircraft. The shovel according to claim 1.

3. The information regarding the target is included in the construction information. The shovel according to claim 2.

4. an input device that receives an operation input for selecting an object corresponding to the target from among a plurality of objects around the aircraft that are recognized by the control device; The shovel according to claim 2.

5. the control device causes the upper rotating body to face the target object while estimating a rotation angle of the upper rotating body based on a change in position of the target object as the reference object seen from the upper rotating body. The shovel according to claim 4.

6. The acquisition device is a plurality of acquisition devices, The control device recognizes a change in the position of the one reference object based on output information from two or more acquisition devices capable of acquiring information about the one reference object. The shovel according to claim 1.

7. The control device estimates a rotation angle of the upper rotating body based on changes in positions of the plurality of reference objects as viewed from the upper rotating body. The shovel according to claim 1.

8. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An acquisition device that is provided on the upper rotating body and acquires information representing a situation around the aircraft; a control device that detects objects around the vehicle based on the information acquired by the acquisition device, acquires position information of the detected objects, generates map information representing a positional relationship between the vehicle and the objects around it, including the acquired position information of the detected objects, without using information regarding the absolute positions of the vehicle and the objects around it at the work site, recognizes the objects around the vehicle based on the map information, and grasps the position of the vehicle relative to the recognized objects. Shovel.

9. The control device stores and holds the position of the vehicle with respect to the recognized object in the map information. The shovel according to claim 8.

10. the control device updates the map information based on information on objects around the aircraft, the information being acquired by the acquisition device and having a position accuracy higher than that of the current map information; The shovel according to claim 9.

11. The control device generates and stores information associating a position of the construction target corresponding to the construction information with a position of the machine relative to the recognized object. The shovel according to claim 8.

12. The control device generates and stores information that associates the position of the machine relative to the recognized object with the position of a predetermined work target. The shovel according to claim 8.

13. the acquisition device includes an imaging device that acquires an image of the surroundings of the vehicle, and a distance information acquisition device that acquires distance information to an object within an imaging range of the imaging device; the control device recognizes objects around the vehicle based on the image and the distance information, and grasps the position of the vehicle relative to the recognized objects; The shovel according to claim 8.

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