Excavator

Abstract

A shovel (100) according to an embodiment of the present invention includes a lower traveling body (1), an upper rotating body (3) rotatably mounted on the lower traveling body (1), an excavation attachment attached to the upper rotating body (3), and a controller (30). The controller (30) has a setting unit (34) that sets a target trajectory, which is a trajectory to be followed by the toe of the bucket (6), based on information about the topography before excavation starts and a target excavation volume.

Description

[Technical field]

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

[0002] 2. Description of the Related Art A conventional shovel is known that is configured to be able to calculate the weight of earth and sand in a bucket (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-10378 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned excavator calculates the weight of the soil in the bucket based on the pressure of the hydraulic oil in the bottom oil chamber of the boom cylinder. In other words, the weight of the soil can be calculated only when the bucket is lifted from the ground. This means that the weight of the soil in the bucket cannot be calculated as long as the bucket is in contact with the ground. Therefore, there is a risk that more soil than necessary will be taken into the bucket.

[0005] It is therefore desirable to provide a shovel that can prevent more of the material to be excavated, such as soil and sand, from being drawn into the bucket than necessary. [Means for solving the problem]

[0006] A shovel according to an embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an excavation attachment attached to the upper rotating body, and a control device, wherein the control device: A calculation unit that calculates a target excavation volume before each excavation operation is performed; Information on the topography before drilling begins and The calculation unit calculates Based on the target excavation volume Drilling attachmentA setting unit sets a target trajectory, which is a trajectory that a predetermined portion of the target excavation volume follows, The volume of the material to be excavated into the bucket in one excavation operation, It is less than the maximum volume of material that can be excavated in one digging motion. Effect of the Invention

[0007] By using the above-mentioned means, a shovel can be provided that can prevent more excavated material, such as soil and sand, from being drawn into the bucket than necessary. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a shovel according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing a configuration example of a drive system of the excavator shown in FIG. 1. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 13 is a diagram showing an example of the configuration of a setting screen displayed when setting an excavation target range. [Figure 6] FIG. [Figure 7] FIG. 2 is a block diagram showing a configuration example of an autonomous control function. [Figure 8] FIG. 13 is a diagram showing a display example of an image relating to a target trajectory. [Figure 9] FIG. 2 is a block diagram showing a configuration example of an autonomous control function. [Figure 10] FIG. 13 is a block diagram showing another example of the configuration of the autonomous control function. [Figure 11] FIG. 1 is a diagram illustrating a configuration example of an electric operation system. [Figure 12] FIG. 1 is a schematic diagram showing a configuration example of an excavator management system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 1 is a side view of a shovel 100 as an excavator according to an embodiment of the present invention. An upper rotating body 3 is rotatably mounted on a lower traveling body 1 of the shovel 100 via a rotating mechanism 2. A boom 4 is attached to the upper rotating body 3, an arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0010] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0011] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest and increases as the boom 4 is raised.

[0012] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). For example, the arm angle is at its minimum when the arm 5 is fully closed, and increases as the arm 5 is opened.

[0013] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 is opened.

[0014] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor, etc.

[0015] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, and the bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors."

[0016] The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0017] The upper rotating body 3 is provided with a cabin 10 which is a driver's cab, and is equipped with a power source such as an engine 11. The upper rotating body 3 is also equipped with a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, a direction detection device D1, a positioning device P1, a machine body inclination sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication device T1. The upper rotating body 3 may be equipped with a power storage unit which supplies electric power, and a motor generator which generates electric power using the rotational driving force of the engine 11. The power storage unit is, for example, a capacitor or a lithium ion battery. The motor generator may function as a generator to supply electric power to an electric load, or may function as an electric motor to assist the rotation of the engine 11.

[0018] The controller 30 functions as a main control unit that performs drive control of the shovel 100. In this embodiment, the controller 30 is configured with a computer including a CPU, RAM, ROM, etc. The various functions of the controller 30 are realized, for example, by the CPU executing a program stored in the ROM. The various functions may include, for example, a machine guidance function that guides (guides) the operator in manual operation of the shovel 100, and a machine control function that autonomously supports the operator in manual operation of the shovel 100, etc.

[0019] The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line.

[0020] The input device 42 is configured to allow an operator to input various information to the controller 30. The input device 42 may include, for example, at least one of a touch panel, a microphone, a knob switch, a membrane switch, and the like installed in the cabin 10.

[0021] The sound output device 43 is configured to output a sound. The sound output device 43 may be, for example, a speaker connected to the controller 30, or an alarm such as a buzzer. In this embodiment, the sound output device 43 is configured to output a sound or voice related to various information in response to a voice output command from the controller 30.

[0022] The storage device 47 is configured to store various information. The storage device 47 may be, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during 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 acquired via the communication device T1 or the like.

[0023] The orientation detection device D1 is configured to detect information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1. The orientation detection device D1 may be configured, for example, by a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3. Alternatively, the orientation detection device D1 may be configured by a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper rotating body 3. The orientation detection device D1 may be a rotary encoder or a rotary position sensor, etc. In a configuration in which the upper rotating body 3 is driven to rotate by a rotating motor generator, the orientation detection device D1 may be configured by a resolver. The orientation detection device D1 may be attached, for example, to a center joint provided in association with a rotation mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper rotating body 3.

[0024] The direction detection device D1 may be configured with a camera attached to the upper rotating body 3. In this case, the direction detection device D1 performs known image processing on an image (input image) captured by a camera attached to the upper rotating body 3, for example. This is to recognize the image of the lower traveling body 1 included in the input image. Then, the direction detection device D1 identifies the longitudinal direction of the lower traveling body 1 by recognizing the image of the lower traveling body 1 using a known image recognition technology. Then, the direction detection device D1 derives an angle formed between the direction of the front-rear axis of the upper rotating body 3 and the longitudinal direction of the lower traveling body 1. The direction of the front-rear axis of the upper rotating body 3 is derived from the mounting position of the camera. In particular, since the crawler constituting the lower traveling body 1 protrudes from the upper rotating body 3, the direction detection device D1 can identify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler. In this way, the direction detection device D1 detects information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1. In this case, the direction detection device D1 may be integrated into the controller 30.

[0025] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may be configured to additionally measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device that detects the orientation of the upper rotating body 3.

[0026] The machine body inclination sensor S4 is configured to detect, for example, the inclination of the upper rotating body 3 relative to a predetermined plane. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the inclination angle about the front-rear axis and the left-right axis of the upper rotating body 3 relative to a horizontal plane. The front-rear axis and the left-right axis of the upper rotating body 3 are perpendicular to each other at, for example, the shovel center point, which is a point on the rotation axis of the shovel 100.

[0027] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. The rotation angular velocity sensor S5 may be configured to detect the rotation angle of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

[0028] The imaging device S6 is configured to acquire images of the periphery of the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, a right camera S6R that images the space to the right of the shovel 100, and a rear camera S6B that images the space behind the shovel 100.

[0029] The imaging device S6 as a surroundings monitoring device is, for example, a monocular camera having an imaging element such as a CCD or a CMOS, and outputs a captured image to the display device 40. The imaging device S6 as a surroundings monitoring device may be a LIDAR, a stereo camera, a distance imaging camera, or the like. The imaging device S6 may also be configured to calculate the distance from the imaging device S6 or the shovel 100 to a recognized object. When a millimeter wave radar, an ultrasonic sensor, a laser radar, or the like is used as the surroundings monitoring device, the shovel 100 may not only use the captured image, but also transmit a number of signals (laser light, etc.) from the surroundings monitoring device toward the object and receive the reflected signals, thereby deriving the distance and direction of the object from the reflected signals.

[0030] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. However, it may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side of the boom 4. The left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0031] The communication device T1 is configured to control communication with an external device outside the excavator 100. In this embodiment, the communication device T1 controls communication with the external device via at least one of a satellite communication network, a mobile phone communication network, and the Internet network.

[0032] FIG. 2 is a block diagram showing an example of the configuration of the drive system of the shovel 100, in which a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0033] The drive system of the shovel mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a fuel tank 55, and an engine controller unit (ECU 74).

[0034] The engine 11 is a driving source of the excavator. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to input shafts of the main pump 14 and the pilot pump 15.

[0035] The main pump 14 is configured to supply hydraulic oil through a hydraulic oil line to the control valve 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0036] The regulator 13 is configured to control the discharge amount of the main pump 14. In this embodiment, the regulator 13 adjusts the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30 to increase or decrease the displacement volume per rotation, thereby controlling the discharge amount of the main pump 14. For example, the controller 30 receives outputs from the operating pressure sensor 29, etc., and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0037] The pilot pump 15 is configured to supply hydraulic oil to various hydraulic control devices including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to the operating device 26 and the like after reducing the pressure of the hydraulic oil by a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve 17.

[0038] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator. The control valve 17 includes control valves 171 to 176. The control valve 17 can selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 1L, a right traveling hydraulic motor 1R, and a swing hydraulic motor 2A. The swing hydraulic motor 2A may be a swing motor generator as an electric actuator. In this case, the swing motor generator may receive power from a power storage unit or a motor generator.

[0039] The operating device 26 is a device used by an operator to operate the actuators. The actuators include at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure according to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator.

[0040] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0041] The operation pressure sensor 29 is configured to detect the operation content of the operator using the operation device 26. In this embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator in the form of pressure, and outputs the detected value to the controller 30. The operation content of the operation device 26 may be detected using a sensor other than the operation pressure sensor.

[0042] The fuel tank 55 is a container that contains fuel. The remaining amount of fuel contained in the fuel tank 55 is detected by a remaining fuel amount sensor 55a. The remaining fuel amount sensor 55a outputs information related to the remaining amount of fuel to the controller 30.

[0043] The ECU 74 is a device that controls the engine 11. In this embodiment, the ECU 74 controls the fuel injection amount, fuel injection timing, boost pressure, and the like of the engine 11. In addition, the ECU 74 outputs information related to the engine 11 to the controller 30.

[0044] Next, a description will be given of the functional elements of the controller 30. In this embodiment, the controller 30 has a first information acquisition unit 31, a second information acquisition unit 32, a calculation unit 33, a setting unit 34, and an autonomous control unit 35 as functional elements.

[0045] The first information acquisition unit 31 is configured to acquire information regarding the maximum load capacity of the dump truck. The dump truck is an example of a machine that transports excavated materials such as soil and sand excavated by the shovel 100, and a maximum load capacity, which is the maximum limit weight of the excavated materials that can be loaded on the loading platform, is set individually. In this embodiment, the first information acquisition unit 31 performs known image processing on the image of the dump truck acquired by the imaging device S6 to identify the size of the dump truck and derive the maximum load capacity of the dump truck. The first information acquisition unit 31 may, for example, recognize at least one of a maximum load capacity display on the rear surface of the dump truck, a vehicle model name, and a license plate number, and derive the maximum load capacity of the dump truck.

[0046] The first information acquisition unit 31 may derive the maximum load capacity of the dump truck by receiving identification information from the dump truck through the communication device T1. The identification information is, for example, an identification number of a GNSS receiver mounted on the dump truck. In this case, the first information acquisition unit 31 may derive the maximum load capacity from the identification information by referring to a search table that stores a correspondence between the identification information and the maximum load capacity. The search table may be stored in a non-volatile storage medium of the excavator, or may be stored in a server or the like installed in an external facility such as a management center.

[0047] The first information acquisition unit 31 may receive position information from each of a plurality of dump trucks existing around the excavator 100 through the communication device T1, and may superimpose a figure representing each dump truck on the map image displayed on the display device 40. In this case, when one of the dump truck figures is selected by the operator through the input device 42, the first information acquisition unit 31 may acquire the maximum load capacity of that dump truck. One of the dump truck figures may be, for example, a figure relating to the nearest dump truck. In this case, the figure relating to the dump truck may be automatically selected.

[0048] The second information acquisition unit 32 is configured to acquire information about the excavation weight, which is the weight of the material to be excavated by the excavation operation of the excavation attachment. In this embodiment, the second information acquisition unit 32 is configured to acquire information about the excavation weight based on the output of the information acquisition device. The information acquisition device includes at least one of the orientation detection device D1, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the turning angular velocity sensor S5, the imaging device S6, the boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, the bucket bottom pressure sensor S9B, the discharge pressure sensor 28, and the operating pressure sensor 29.

[0049] For example, as shown in FIG. 3, the second information acquisition unit 32 calculates the weight of the material to be excavated, such as soil and sand, excavated by the excavation attachment as the excavation weight based on a distance image of the space in front of the shovel 100 captured by the three-dimensional distance image sensor S6A as the imaging device S6. The thick line GS in FIG. 3 represents a part of the imaging range of the three-dimensional distance image sensor S6A. The three-dimensional distance image sensor S6A is, for example, a three-dimensional laser scanner that measures the topography with a laser. However, the three-dimensional distance image sensor S6A may be, for example, a LIDAR or a stereo camera. Specifically, the second information acquisition unit 32 calculates the excavation volume, which is the volume of the material to be excavated in one excavation operation, based on a distance image captured before the excavation operation starts and a distance image captured after the excavation operation ends. Then, the second information acquisition unit 32 multiplies the excavation volume by the density to calculate the excavation weight. The density may be a preset value or may be a value dynamically set via the input device 42 or the like.

[0050] In this way, the second information acquisition unit 32 can compare the terrain before excavation with the terrain after excavation, and calculate the excavation weight by one excavation operation based on the change. One excavation operation is an operation of taking in an object to be excavated into the bucket 6, and is determined to have started, for example, when the bucket 6 without taking in the object to be excavated contacts the ground, and is determined to have ended, when the bucket 6 with the object to be excavated leaves the ground. However, the conditions for determining that the excavation operation has started and the conditions for determining that the excavation operation has ended can be set arbitrarily. The second information acquisition unit 32 may determine whether the excavation operation has started and whether the excavation operation has ended based on, for example, at least one output of the operating pressure sensor 29 and the cylinder pressure sensor.

[0051] The second information acquisition unit 32 may determine whether the excavation operation has started and whether the excavation operation has ended based on the output of a posture sensor that detects the posture of the excavation attachment. The posture sensor includes, for example, a boom angle sensor S1, an arm angle sensor S2, and a bucket angle sensor S3. The posture sensor may be a combination of a boom cylinder stroke sensor, an arm cylinder stroke sensor, and a bucket cylinder stroke sensor.

[0052] With this configuration, the controller 30 can calculate the integrated value of the weight of the excavated material for each of one or more excavation operations performed within a given time period as the cumulative excavation weight for the given time period.

[0053] The second information acquisition unit 32 may calculate the excavation weight by one excavation operation based on the outputs of the attitude sensor and the cylinder pressure sensor, etc. For example, the second information acquisition unit 32 may calculate the weight of the material excavated in one excavation operation as the excavation weight based on the attitude of the excavation attachment and the boom bottom pressure when the bucket 6 taking in the material is lifted in the air.

[0054] 4, the second information acquisition unit 32 may calculate the excavation weight based on a temporal change in the position of a predetermined part of the bucket 6. The predetermined part of the bucket 6 is, for example, the tip of the bucket 6. The second information acquisition unit 32 calculates the position of the tip of the bucket 6 as a working part based on, for example, the rotation angles of the boom 4, the arm 5, and the bucket 6.

[0055] In this case, the second information acquisition unit 32 derives the topography before the excavation operation starts based on, for example, a distance image of the space in front of the shovel 100 generated by a three-dimensional distance image sensor mounted on the aircraft. The three-dimensional distance image sensor mounted on the aircraft may be any of a three-dimensional laser scanner, a stereo camera, and a LIDAR. The aircraft is, for example, a multicopter or an airship, and is equipped with a positioning device so as to identify the position and orientation of the distance image. The aircraft is also equipped with a communication device that enables communication with the shovel 100.

[0056] The second information acquisition unit 32 may be configured to receive, for example, a distance image generated by a stereo camera attached to the aircraft via communication device T1, and derive the terrain before the excavation operation starts based on the distance image. The second information acquisition unit 32 may be configured to receive an image captured by the stereo camera via communication device T1, generate a distance image from the image, and derive the terrain before the excavation operation starts based on the distance image.

[0057] Thereafter, the second information acquisition unit 32 may calculate the excavation volume based on, for example, the calculated trajectory of the position of the toe of the bucket 6 (see dotted line L1 in FIG. 4) and the terrain before the excavation operation started (see dash-dotted line L2 in FIG. 4). The second information acquisition unit 32 may calculate, for example, as the excavation volume, the volume of a space surrounded by a plane including the left end face of the bucket 6, a plane including the right end face of the bucket 6, an upper surface including the dash-dotted line L2, and a lower surface including the dotted line L1.

[0058] The second information acquisition unit 32 may calculate the excavation weight per excavation operation based on an image of the space in front of the shovel 100 captured by the front camera S6F. In this case, the front camera S6F may be a monocular camera, a stereo camera, or a three-dimensional distance image sensor.

[0059] The second information acquisition unit 32 may calculate the excavation volume from an image of the bucket 6 captured by the front camera S6F as a monocular camera, for example. Specifically, the second information acquisition unit 32 recognizes an image of the object to be excavated in the bucket 6 by performing various image processing on the image of the bucket 6 captured by the front camera S6F when the bucket 6 containing the object to be excavated is lifted in the air. Then, the second information acquisition unit 32 derives the excavation volume based on the size of the image of the object to be excavated, etc. The second information acquisition unit 32 may additionally use the output of another information acquisition device such as an attitude sensor to derive the excavation volume.

[0060] Alternatively, the second information acquisition unit 32 may use the front camera S6F as a stereo camera and calculate the excavation weight for one excavation operation based on information regarding the terrain acquired before the excavation operation is started and information regarding the terrain acquired after the excavation operation is completed.

[0061] The second information acquisition unit 32 may be configured to acquire information regarding the density of the material to be excavated by the excavation operation of the excavation attachment. In this case, the second information acquisition unit 32 may calculate the density based on the excavation volume and the excavation weight. The excavation volume may be calculated based on, for example, the topography before the excavation operation starts and the topography after the excavation operation ends. The excavation weight may be calculated based on, for example, the output of a cylinder pressure sensor, or based on the output of a posture sensor and the output of a cylinder pressure sensor.

[0062] The calculation unit 33 is configured to calculate the remaining loading weight based on the information on the maximum load capacity and the information on the excavation weight. The remaining loading weight means the weight of the excavated material that can be loaded onto the dump truck. For example, when 5 tons of the excavated material is already loaded onto the bed of a dump truck with a maximum load capacity of 10 tons, the remaining loading weight as the target excavation weight, which is the weight of the excavated material to be taken into the bucket 6 in the excavation operation, is 5 tons. In this embodiment, the calculation unit 33 calculates the remaining loading weight based on the information on the maximum load capacity of the dump truck acquired by the first information acquisition unit 31 and the information on the excavation weight acquired by the second information acquisition unit 32. Then, the calculation unit 33 calculates the target excavation volume based on the remaining loading weight and the soil information. The soil information is, for example, information on the density, type, hardness, etc. of the excavated material. The soil information may be information previously stored in the storage device 47. After that, the calculation unit 33 derives the excavation trajectory based on the information on the topography before the excavation is started and the target excavation volume.

[0063] The setting unit 34 is configured to set a target trajectory, which is a trajectory that a predetermined portion of the bucket 6 follows. The predetermined portion of the bucket 6 is, for example, the tip of the bucket 6. In this embodiment, the setting unit 34 is configured to set the target trajectory when the remaining loading weight becomes less than a predetermined weight. The target trajectory may be, for example, composed of a plurality of three-dimensional coordinate points arranged at equal distance intervals. The predetermined weight is, for example, the maximum weight of the object to be excavated that can be excavated in one excavation operation (hereinafter, referred to as the "maximum excavation weight"), and may be stored in advance in a non-volatile storage medium or the like, or may be dynamically set. The setting unit 34 sets the target trajectory, for example, so that the excavation weight by one excavation operation and the remaining loading weight are equal. One excavation operation is typically the last excavation operation when multiple excavation operations are performed to load the object to be excavated onto the bed of one dump truck until the maximum loading amount is reached. This is to ensure that when the object to be excavated by the last excavation operation is loaded onto the dump truck, the total weight of the object to be excavated loaded onto the dump truck is approximately equal to the maximum loading amount. The trajectory indicated by the dotted line L1 in Fig. 4 is an example of a target trajectory. The excavation weight, which is the weight of the excavated material EX taken into the bucket 6 by the excavation operation performed so as to follow this target trajectory, is approximately equal to the remaining loading weight. Therefore, when the excavated material EX is loaded onto the dump truck DT, the total weight of the excavated material EX loaded onto the dump truck DT becomes approximately equal to the maximum loading amount. In this way, when the remaining loading weight falls below the maximum excavation weight, the setting unit 34 sets the target trajectory so that the excavation weight is limited.

[0064] Specifically, the setting unit 34 generates a plurality of excavation trajectories based on the terrain before the final excavation operation. Then, the setting unit 34 calculates the excavation weight by the final excavation operation for each of the plurality of excavation trajectories based on the terrain before the final excavation operation and the plurality of excavation trajectories. The setting unit 34 selects an excavation trajectory from the plurality of excavation trajectories such that the calculated excavation weight is equal to the remaining weight required for the final excavation operation. In this manner, the setting unit 34 can set the selected excavation trajectory as the target trajectory.

[0065] The setting unit 34 may be configured to set the target trajectory regardless of whether the remaining loading weight is less than a predetermined weight. In this case, the setting unit 34 may reset the target trajectory before each excavation operation is performed, as necessary, so that the excavation weight by each excavation operation is less than a predetermined weight. This is for example to perform an appropriate excavation operation according to a change in the shape of an excavation target such as an embankment. Specifically, if each excavation operation is performed unlimitedly so that the excavation weight by each excavation operation is as large as possible, the variation in the excavation weight by each excavation operation may increase, so that this is to prevent such unlimited excavation operations from being performed. Alternatively, in some cases, it may be necessary to accumulate the excavated material by multiple excavation operations before one soil discharge operation is performed on the bed of the dump truck DT, so that this is to prevent such unlimited excavation operations from being performed. Therefore, the setting unit 34 may reset the target trajectory before each excavation operation is performed so that the variation in the excavation weight by each excavation operation is as small as possible, or the average excavation weight is as large as possible.

[0066] The setting unit 34 may calculate the remaining loading volume based on the information on the density of the excavation target object EX acquired by the second information acquisition unit 32 and the remaining loading weight, and set the target trajectory so that the excavation target object EX having an excavation volume equal to the remaining loading volume is excavated in one last excavation operation. In this way, the setting unit 34 may set the target trajectory so that the excavation volume is limited when the remaining loading volume falls below the maximum excavation volume. The maximum excavation volume is the maximum volume of the excavation target object that can be excavated in one excavation operation.

[0067] The autonomous control unit 35 is configured to autonomously assist the operator in manually operating the excavator 100 by autonomously operating the actuator. For example, when the operator manually performs an arm closing operation, the autonomous control unit 35 may autonomously extend and retract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the trajectory of the tip of the bucket 6 coincides with the target trajectory. In this case, the operator can close the arm 5 while aligning the trajectory of the tip of the bucket 6 with the target trajectory, for example, by simply operating the arm operation lever in the closing direction. This autonomous control may be configured to be executed when a predetermined switch, which is one of the input devices 42, is pressed. The predetermined switch is, for example, a machine control switch (hereinafter referred to as an "MC switch"), and may be arranged at the tip of the operation device 26 as a knob switch.

[0068] In this embodiment, the autonomous control unit 35 can autonomously operate each actuator by individually and autonomously adjusting the pilot pressure acting on the control valve corresponding to each actuator.

[0069] Next, a process in which the controller 30 controls the excavation weight by one excavation operation will be described with reference to Fig. 5 and Fig. 6. Fig. 5 shows an example of the configuration of a setting screen GM displayed on the display device 40 when setting an excavation target range R1. Fig. 6 is a top view of the excavator 100 excavating an excavation target BK in the excavation target range R1 set on the setting screen GM. In Fig. 6, the excavator 100 excavates the excavation target BK and loads the excavated material taken into the bucket 6 onto the bed of the dump truck DT. The excavated material EX1 loaded onto the bed of the dump truck DT corresponds to the excavated material excavated in the first excavation operation, and the excavated material EX2 corresponds to the excavated material excavated in the second excavation operation.

[0070] The excavation target range R1 is a range set around the excavator 100. The excavation target range R1 is, for example, a three-dimensional range with a depth limit. The excavation target BK, which is the target of excavation by the excavation attachment, is, for example, a feature such as natural ground, embankment, topsoil, or sediment. The excavation target BK may be a pile of earth and sand formed by the excavation target EX gathered together for loading into the dump truck DT. Conversely, features outside the excavation target range R1 are not targets for excavation by the excavation attachment. Therefore, when the excavation attachment is moved by the autonomous control unit 35, features outside the excavation target range R1 are not excavated.

[0071] In an embodiment in which the excavation target range R1 is set, the setting unit 34 is configured to set a target trajectory within the excavation target range R1. Therefore, the controller 30 detects the topography within the excavation target range R1 based on the output of the information acquisition device. In the example shown in Fig. 5 and Fig. 6, the topography within the excavation target range R1 is detected based on the output of at least one of a camera, a radar, and a LIDAR.

[0072] For example, when the MC switch is pressed, the controller 30 causes the display device 40 to display the setting screen GM shown in FIG. 5. The setting screen GM includes a shovel figure G1 and a dump truck figure G2. The shovel figure G1 is a figure representing the position and orientation of the upper rotating body 3. The dump truck figure G2 is a figure representing the position and orientation of the dump truck DT. The controller 30 grasps the positional relationship between the shovel 100 and the dump truck DT based on the outputs of, for example, the orientation detection device D1, the positioning device P1, the imaging device S6, etc., and displays the shovel figure G1 and the dump truck figure G2 so as to correspond to the positional relationship.

[0073] A surrounding image may be displayed around the shovel figure G1. In the example of Fig. 5, the surrounding image is an overhead image as a composite image generated by performing viewpoint conversion processing on the images captured by the rear camera S6B, the front camera S6F, the left camera S6L, and the right camera S6R. However, the surrounding image may be computer graphics.

[0074] The operator of the shovel 100 may set the excavation target range R1 using the input device 42 while viewing the setting screen GM. In the example of FIG. 5, the operator uses a touch panel as the input device 42 to set a range figure G3 to the left of the shovel figure G1. The range figure G3 is a figure representing the excavation target range R1. Specifically, the operator sets the range figure G3 of a desired size by a pinch-out operation. The operator may also set the range figure G3 by a tap operation. In this case, the range figure G3 is set as a range of a predetermined size centered on the tapped point, for example.

[0075] 5, the range graphic G3 is a rectangle, but may be another shape such as a circle or an ellipse. The range graphic G3 may also be a graphic with a complex outline. In this case, the operator may set the range graphic G3 corresponding to a desired range by tracing the outline of the range on the touch panel, for example.

[0076] The operator may select one range figure from a plurality of range figures displayed in advance on the setting screen GM. The operator may also select a plurality of range figures corresponding to a plurality of excavation target ranges that are independent of each other. In this case, the excavation objects within the excavation target range may be excavated in the order of selection. For example, the excavation objects within the excavation target range corresponding to the first selected range figure may be excavated first.

[0077] For example, each time the MC switch is pressed, the controller 30 sets a target trajectory within the excavation target range R1 set as described above and moves the tip of the bucket 6 above the excavation start point. Then, when the arm operation lever is manually operated, the controller 30 extends and retracts at least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 so that the trajectory drawn by the tip of the bucket 6 follows the target trajectory.

[0078] 6, the controller 30 sets the target trajectory so that the ground in the excavation target range R1 is flush with a virtual plane including the plane on which the shovel 100 is located. However, the controller 30 may set the target trajectory so that the depth of the ground in the excavation target range R1 is a predetermined depth with respect to the virtual plane including the plane on which the shovel 100 is located. The controller 30 may also set the target trajectory so that the inclination angle of the ground in the excavation target range R1 with respect to the virtual plane including the plane on which the shovel 100 is located is a predetermined angle.

[0079] Thus, the excavator 100 according to the embodiment of the present invention includes the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, the excavation attachment attached to the upper rotating body 3, and the controller 30 as a control device. The controller 30 has a setting unit 34 that sets a target trajectory, which is a trajectory to be followed by a predetermined portion of the excavation attachment, based on information about the topography before excavation is started and a target excavation volume. With this configuration, the excavator 100 can prevent, for example, soil or other materials to be excavated from being taken into the bucket more than necessary. The controller 30 may calculate the target excavation volume based on the target excavation weight and soil information.

[0080] The controller 30 may also have a first information acquisition unit 31 that acquires information about the maximum load capacity of the dump truck DT, a second information acquisition unit 32 that acquires information about an excavation weight, which is the weight of an object to be excavated, such as soil and sand, excavated by an excavation operation of the excavation attachment, and a calculation unit 33 that calculates a remaining load weight based on the information about the maximum load capacity and the information about the excavation weight. With this configuration, the shovel 100 can appropriately adjust the excavation weight by one excavation operation, for example, so that the total of the excavation weights by multiple excavation operations becomes the maximum load capacity of the dump truck DT. Therefore, the shovel 100 can improve the efficiency of excavation work related to loading into the dump truck DT. The shovel 100 can also prevent overloading and underloading. The shovel 100 can also reduce the workload of the operator of the shovel 100.

[0081] In addition, the shovel 100 can prevent the material to be excavated from being taken into the bucket 6 more than necessary by setting a target trajectory so that the excavation weight in one excavation operation does not exceed the remaining loading weight. In other words, the operator of the shovel 100 can adjust the excavation weight before the bucket 6 with the material to be excavated taken in is lifted into the air, and therefore does not need to adjust the excavation weight by dropping part of the material to be excavated on the ground after the bucket 6 is lifted and before it is discharged onto the bed of the dump truck DT. Therefore, the operator of the shovel 100 does not need to perform an extra operation such as dumping part of the material to be excavated taken into the bucket 6 onto the ground so that the total weight of the material to be excavated to be loaded onto the bed of the dump truck DT does not exceed the maximum load capacity.

[0082] The first information acquisition unit 31 may be configured to acquire identification information of the dump truck DT and acquire information on the maximum load capacity of the dump truck DT based on the identification information. The first information acquisition unit 31 may be configured to acquire information on the maximum load capacity of the dump truck based on at least one output of a camera, a radar, a LIDAR, etc., for example. With this configuration, the excavator 100 can more reliably prevent overloading of the material to be excavated on the dump truck DT.

[0083] The setting unit 34 may be configured to set a target trajectory within a predetermined excavation target range R1. The excavation target range R1 is typically an area around the upper rotating body 3. The excavation target range R1 may be set using the input device 42. With this configuration, the operator of the excavator 100 can specify a desired excavation target range, and the controller 30 can control the excavation attachment so that the desired excavation target is excavated.

[0084] The controller 30 may be configured to notify the target trajectory when it is determined that the target trajectory cannot be set appropriately. For example, the controller 30 may determine that the target trajectory cannot be set appropriately when it is determined that the total weight of the materials to be excavated loaded onto the dump truck DT does not reach the maximum load even if the excavation operation is performed within the excavation target range R1 until the ground within the excavation target range R1 becomes flat. In this case, the controller 30 may display information informing the user that the total weight of the materials to be excavated loaded onto the dump truck DT does not reach the maximum load on the display device 40, or may output a sound or voice informing the user from the sound output device 43.

[0085] The second information acquisition unit 32 may be configured to acquire information about the density of the material to be excavated by the excavation operation of the excavation attachment. In this case, the setting unit 34 may calculate the remaining loading volume based on the information about the density and the remaining loading weight, and set the target trajectory so that the material to be excavated has a volume equivalent to the remaining loading volume in one excavation operation. With this configuration, the shovel 100 can more accurately adjust the excavation weight and excavation volume in one excavation operation.

[0086] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0087] For example, the shovel 100 may execute an autonomous control function as described below to autonomously execute a composite operation such as an excavation operation. FIG. 7 is a block diagram showing a configuration example of the autonomous control function. In the example of FIG. 7, the controller 30 has functional elements FA to FL and F1 to F6 related to the execution of autonomous control. The functional elements may be configured with software, may be configured with hardware, or may be configured with a combination of software and hardware.

[0088] The functional element FA is configured to measure the topography. In the example of Fig. 7, the functional element FA measures the latest state of the topography around the shovel 100 based on an image captured by an imaging device S6 serving as a surroundings monitoring device.

[0089] The surroundings monitoring device is configured to detect objects present around the shovel 100. The objects are, for example, people, animals, vehicles, construction machines, buildings, walls, fences, holes, helmets, safety vests, work clothes, or predetermined marks on the helmets, etc. The surroundings monitoring device may be a millimeter wave radar, an ultrasonic sensor, a laser radar, or the like.

[0090] The perimeter monitoring device may be configured to detect a predetermined object within a predetermined area set around the shovel 100. That is, the perimeter monitoring device may be configured to identify at least one of the type, position, and shape of the object. For example, the perimeter monitoring device may be configured to distinguish between a human and a non-human object. In addition, the perimeter monitoring device may be configured to calculate the distance from the perimeter monitoring device or the shovel 100 to the recognized object.

[0091] The functional element FB is configured to calculate an excavation volume. In the example of Fig. 7, the functional element FB calculates the volume of the object actually excavated in one excavation operation as the excavation volume based on the image captured by the imaging device S6.

[0092] The functional element FC is configured to determine the presence or absence of various abnormalities. In the example of Fig. 7, the functional element FC is configured to determine the presence or absence of an abnormality in the imaging device S6 based on an image captured by the imaging device S6. When the functional element FC determines that the state of the imaging device S6 is abnormal, it outputs a command to a functional element F4 described later to slow down or stop the movement of the shovel 100.

[0093] The functional element FD is configured to detect the dump truck DT. In the example of Fig. 7, the functional element FD detects the dump truck DT based on an image captured by the imaging device S6.

[0094] The functional element FE is configured to derive the maximum load capacity of the dump truck DT detected by the functional element FD. In the example of Fig. 7, the functional element FE derives the maximum load capacity of the dump truck DT based on an image captured by the imaging device S6. For example, the functional element FE derives the maximum load capacity of the dump truck DT by identifying whether the dump truck DT is a 10-ton truck or not.

[0095] The functional element FF is configured to determine the state of the boom 4. In the example of Fig. 7, the functional element FF determines whether the boom 4 has risen to a height at which the bucket 6, which has taken in the object to be excavated, is separated from the ground. This is to detect that the excavation operation has ended.

[0096] Specifically, the functional element FF determines whether the boom 4 has risen to a height at which the bucket 6, which has taken in the object to be excavated, is clear of the ground, based on the current toe position of the bucket 6 calculated by a functional element F2 described below. The functional element FF may determine whether the boom 4 has risen to a height at which the bucket 6, which has taken in the object to be excavated, is clear of the ground, based on an image captured by the imaging device S6.

[0097] Functional element FG is configured to calculate the weight of the object to be excavated taken into the bucket 6. In the example of Fig. 7, when functional element FF determines that boom 4 has risen to a height at which the bucket 6, which has taken in the object to be excavated, is separated from the ground, functional element FG calculates the weight of the object to be excavated taken into the bucket 6 based on the output of the cylinder pressure sensor. Functional element FG may calculate the weight of the object to be excavated taken into the bucket 6 based on the attitude of the excavation attachment calculated by functional element F2 described below and the output of the cylinder pressure sensor.

[0098] The functional element FH is configured to calculate the total weight of the excavated materials loaded on the dump truck DT. In the example of Fig. 7, the functional element FH calculates the total weight of the excavated materials already loaded on the bed of the dump truck DT by accumulating the weights of the excavated materials excavated by each excavation operation calculated by the functional element FG.

[0099] The functional element FI is configured to calculate the remaining loading weight. In the example of Fig. 7, the functional element FI calculates the remaining loading weight by subtracting the total weight of the excavated materials calculated by the functional element FH from the maximum loading capacity derived by the functional element FE. For example, when the maximum loading capacity is 10 tons and the total weight of the excavated materials already loaded on the bed of the dump truck DT is 6 tons, the functional element FH calculates the remaining loading weight to be 4 tons.

[0100] The functional element FJ is configured to obtain a target excavation weight, which is the weight of the material to be taken into the bucket 6 in the next excavation operation, and limit the obtained value as necessary. In the example of FIG. 7, the functional element FJ reads out and obtains a maximum excavation weight, which is the maximum value of the material that can be excavated in one excavation operation, from the storage device 47. Then, when the remaining loading weight calculated by the functional element FI is greater than the maximum excavation weight, the functional element FJ limits the target excavation weight to the maximum excavation weight. For example, when the remaining loading weight is 4 tons but the maximum excavation weight is 3 tons, the functional element FJ outputs 3 tons as the target excavation weight. The maximum excavation weight may be a value that is dynamically input or calculated.

[0101] The functional element FK is configured to calculate a target excavation volume. In the example of FIG. 7, the functional element FK calculates the target excavation volume based on the target excavation weight output by the functional element FJ and the soil information input via the input device 42. The functional element FK calculates the target excavation volume based on, for example, the target excavation weight and the density of the material to be excavated. The functional element FK calculates the target excavation volume corresponding to, for example, 3 tons, which is the target excavation weight. Basically, even if the target excavation weight is 3 tons, the smaller the density of the material to be excavated, the larger the target excavation volume.

[0102] The function element FL is configured to limit the target excavation volume. In the example of FIG. 7, when the target excavation volume calculated by the function element FK is larger than the maximum excavation volume, the function element FL limits the target excavation volume to the maximum excavation volume. For example, when the target excavation volume is 3 cubic meters, but the maximum excavation volume is 2 cubic meters, the function element FL outputs 2 cubic meters as the target excavation volume. In this way, the controller 30 limits the target excavation volume as necessary to prevent the material to be excavated taken into the bucket 6 from spilling out during the subsequent swing operation or the like. The maximum excavation volume may be a value that is dynamically input or calculated.

[0103] The functional element F1 is configured to generate a target trajectory. In the example of Fig. 7, the functional element F1 generates a trajectory to be followed by the toe of the bucket 6 as a target trajectory based on the information on excavation inputted via the input device 42, the current topography measured by the functional element FA, the actual excavation volume by the past excavation operation calculated by the functional element FB, and the target excavation volume outputted by the functional element FL. The information on excavation is, for example, information on excavation conditions that are set in advance. The excavation conditions are, for example, deep or shallow.

[0104] The functional element F1 is typically configured to calculate a target trajectory before each excavation operation is started. That is, the target trajectory is typically updated before each excavation operation is started. Specifically, the coordinates of the excavation start position, which is the start point of the target trajectory, and the coordinates of the excavation end position, which is the end point of the target trajectory, are updated before each excavation operation is started.

[0105] The functional element F1 may be configured to display an image related to the generated target trajectory on the display device 40. FIG. 8 shows an example of the display of an image Gx related to the target trajectory displayed on the display device 40 by the functional element F1. The image Gx is an image displayed during an excavation operation, and includes figures G11 to G23. The figure G11 represents the current state of the excavation attachment before the excavation operation is started. The figure G12 represents the future state of the excavation attachment after the excavation operation is ended. The figure G13 is a line segment representing the target trajectory, and includes figures G13A and G13B. The figure G13A represents the excavation start position, which is the start point of the target trajectory. The figure G13B represents the excavation end position, which is the end point of the target trajectory. In the example of FIG. 8, the excavation end position is the position of the toe after the bucket 6 leaves the ground. The figure G14 represents the bucket 6 moving along the target trajectory. In the example of FIG. 8, the figure G14 includes two figures G14A and G14B. The number of figures representing the bucket 6 as figure G14 may be one or may be three or more. Figure G15 is a double-headed arrow representing the length of the hole to be excavated by the current excavation operation. Figure G16 is a double-headed arrow representing the depth of the hole to be excavated by the current excavation operation. In the example of FIG. 8, image Gx represents that a hole having a length of XX meters and a depth of YY meters will be formed. By looking at image Gx, the operator of the excavator 100 can easily understand how the excavation operation is performed.

[0106] Graphic G17 represents the current weight (current weight) of the material to be excavated that has been taken into the bucket 6 in the excavation operation currently being performed. In the example of FIG. 8, graphic G17 represents that the current weight is "***kg". Graphic G18 represents the accumulated weight of the material to be excavated that has been loaded onto the bed of the dump truck DT. In the example of FIG. 8, graphic G18 represents that the accumulated weight is "○○○○kg". Graphic G19 represents the remaining loading weight. In the example of FIG. 8, graphic G19 represents that the remaining loading weight (remaining weight) is "XXXkg". Graphic G20 represents the target excavation weight, which is the weight of the material to be excavated that should be taken into the bucket 6 in the current excavation operation. In the example of FIG. 8, graphic G20 represents that the target excavation weight (target weight) is "□□□kg". Graphic G21 represents the target excavation volume, which is the volume of the material to be excavated that should be taken into the bucket 6 in the current excavation operation. In the example of FIG. 8, graphic G21 represents that the target excavation volume (target volume) is "△△△m 3 ". The graphic G22 represents soil information, which is information about the properties of the material to be excavated. In the example of FIG. 8, the graphic G22 represents the density of the material to be excavated as "XX kg / m 3 " and the type of material to be excavated is "**". Figure G23 represents an Accumulation Reset button as a software button. The Accumulation Reset button is configured to reset the accumulated weight when operated. The accumulated weight is normally automatically reset when it is detected that the dump truck DT into which the material to be excavated is to be loaded has been replaced with another dump truck. However, the operator can reset the accumulated weight at any time by operating the Accumulation Reset button.

[0107] The functional element F1 may cause the display device 40 to display an image related to the target trajectory together with at least one of the rear monitoring image and the surrounding monitoring image. The rear monitoring image is an image for enabling the operator to monitor the rear of the shovel 100, and is generated, for example, based on an image captured by the rear camera S6B. The surrounding monitoring image is an image for enabling the operator to monitor the surroundings of the shovel 100, and is, for example, an overhead image as a viewpoint conversion image generated by synthesizing images captured by the rear camera S6B, the left camera S6L, and the right camera S6R. The overhead image is typically an image showing the surroundings of the shovel 100 as viewed from a virtual viewpoint directly above. The functional element F1 may cause the display device 40 to display an image related to the target trajectory adjacent to at least one of the rear monitoring image and the surrounding monitoring image, for example.

[0108] Alternatively, the functional element F1 may cause the display device 40 to display an image related to the target trajectory together with information related to the setting state of the shovel 100, which is information related to at least one of the engine speed mode, the traveling mode, the type of attachment, the engine control state, etc. Alternatively, the functional element F1 may cause the display device 40 to display an image related to the target trajectory together with information related to the operating state of the shovel, which is information related to at least one of the remaining amount of urea water, the remaining amount of fuel, the cooling water temperature, the engine operating time, the accumulated operating time, etc.

[0109] The functional element F2 is configured to calculate a current tip position. In the example of Fig. 7, the functional element F2 calculates the coordinate point of the tip of the bucket 6 as the current tip position based on the boom angle β1 detected by the boom angle sensor S1, the arm angle β2 detected by the arm angle sensor S2, the bucket angle β3 detected by the bucket angle sensor S3, and the rotation angle α1 detected by the rotation angular velocity sensor S5. The functional element F2 may use the output of the machine body tilt sensor S4 when calculating the current tip position.

[0110] The functional element F3 is configured to calculate the next toe position. In the example of Fig. 7, the functional element F3 calculates the toe position after a predetermined time as a target toe position based on the operation data output by the operation pressure sensor 29, the target trajectory generated by the functional element F1, and the current toe position calculated by the functional element F2.

[0111] The functional element F3 may determine whether the deviation between the current toe position and the target trajectory is within an allowable range. In the example of FIG. 7, the functional element F3 determines whether the distance between the current toe position and the target trajectory is equal to or less than a predetermined value. If the distance is equal to or less than the predetermined value, the functional element F3 determines that the deviation is within the allowable range and calculates the target toe position. On the other hand, if the distance is greater than the predetermined value, the functional element F3 determines that the deviation is not within the allowable range and slows down or stops the movement of the actuator regardless of the lever operation amount.

[0112] The functional element F4 is configured to generate a command value related to the toe speed. In the example of Fig. 7, the functional element F4 calculates the toe speed required to move the current toe position to the next toe position in a predetermined time based on the current toe position calculated by the functional element F2 and the next toe position calculated by the functional element F3 as the command value related to the toe speed.

[0113] The functional element F5 is configured to limit the command value for the toe speed. In the example of FIG. 7, when the functional element F5 determines that the distance between the toe and a predetermined object such as a dump truck DT is less than a predetermined value based on the current toe position calculated by the functional element F2 and the image captured by the imaging device S6 as the surroundings monitoring device, the functional element F5 limits the command value for the toe speed to a predetermined upper limit value. In this way, the controller 30 decelerates the toe speed when the toe approaches the predetermined object. The functional element F5 may be configured to change the upper limit value based on the weight of the excavation target taken into the bucket 6. Alternatively, the functional element F5 may be configured to change the upper limit value based on the turning radius of the excavation attachment. The turning radius of the excavation attachment may be calculated by the functional element F2, or may be calculated by the functional element F5 based on the output of the functional element F2.

[0114] The functional element F6 is configured to calculate a command value for operating the actuator. In the example of Fig. 7, the functional element F6 calculates a command value β for a boom angle β1 based on the target tip position calculated by the functional element F3 in order to move the current tip position to the target tip position. 1r , command value β for arm angle β 2r , command value β for bucket angle β 3r , and the command value α 1r The functional element F6 calculates the command value β as necessary even when the boom 4 is not being operated. 1r This is to automatically operate the boom 4. The same is true for the arm 5, the bucket 6, and the rotation mechanism 2.

[0115] Next, the functional element F6 will be described in detail with reference to Fig. 9. Fig. 9 is a block diagram showing an example of the configuration of the functional element F6 that calculates various command values.

[0116] 9, the controller 30 further includes functional elements F11 to F13, F21 to F23, F31 to F33, and F50 related to generation of command values. The functional elements may be configured with software, may be configured with hardware, or may be configured with a combination of software and hardware.

[0117] The functional elements F11 to F13 are functional elements related to the command value β1r, the functional elements F21 to F23 are functional elements related to the command value β2r, the functional elements F31 to F33 are functional elements related to the command value β3r, and the functional elements F41 to F43 are functional elements related to the command value α1r.

[0118] The functional elements F11, F21, F31, and F41 are configured to generate current commands to be output to the actuator control mechanisms. In this embodiment, the functional element F11 outputs a boom current command to the boom control mechanism 31C, the functional element F21 outputs an arm current command to the arm control mechanism 31A, the functional element F31 outputs a bucket current command to the bucket control mechanism 31D, and the functional element F41 outputs a swing current command to the swing control mechanism 31B.

[0119] The boom control mechanism 31C is configured to be able to apply a pilot pressure according to a control current corresponding to a boom cylinder pilot pressure command to a control valve 175 serving as a boom control valve.

[0120] The arm control mechanism 31A is configured to be able to apply a pilot pressure according to a control current corresponding to an arm cylinder pilot pressure command to a control valve 176 serving as an arm control valve.

[0121] Bucket control mechanism 31D is configured to be able to apply a pilot pressure according to a control current corresponding to a bucket cylinder pilot pressure command to control valve 174 serving as a bucket control valve.

[0122] The swing control mechanism 31B is configured so as to be able to apply a pilot pressure according to a control current corresponding to a swing hydraulic motor pilot pressure command to a control valve 173 serving as a swing control valve.

[0123] The functional elements F12, F22, F32, and F42 are configured to calculate the displacement amount of the spool constituting the spool valve. In this embodiment, the functional element F12 calculates the displacement amount of the boom spool constituting the control valve 175 for the boom cylinder 7 based on the output of the boom spool displacement sensor S7. The functional element F22 calculates the displacement amount of the arm spool constituting the control valve 176 for the arm cylinder 8 based on the output of the arm spool displacement sensor S8. The functional element F32 calculates the displacement amount of the bucket spool constituting the control valve 174 for the bucket cylinder 9 based on the output of the bucket spool displacement sensor S9. The functional element F42 calculates the displacement amount of the swing spool constituting the control valve 173 for the swing hydraulic motor 2A based on the output of the swing spool displacement sensor S2A. The boom spool displacement sensor S7 is a sensor that detects the displacement amount of the spool constituting the control valve 175. The arm spool displacement sensor S8 is a sensor that detects the displacement amount of the spool constituting the control valve 176. The bucket spool displacement sensor S9 is a sensor that detects the amount of displacement of a spool that constitutes the control valve 174. And the swing spool displacement sensor S2A is a sensor that detects the amount of displacement of a spool that constitutes the control valve 173.

[0124] The functional elements F13, F23, F33, and F43 are configured to calculate the rotation angle of the work body. In this embodiment, the functional element F13 calculates the boom angle β1 based on the output of the boom angle sensor S1. The functional element F23 calculates the arm angle β2 based on the output of the arm angle sensor S2. The functional element F33 calculates the bucket angle β3 based on the output of the bucket angle sensor S3. The functional element F43 calculates the swing angle α1 based on the output of the swing angular velocity sensor S5.

[0125] Specifically, the functional element F11 basically generates a boom current command for the boom control mechanism 31C so that the difference between the command value β1r generated by the functional element F6 and the boom angle β1 calculated by the functional element F13 becomes zero. At that time, the functional element F11 adjusts the boom current command so that the difference between the target boom spool displacement amount derived from the boom current command and the boom spool displacement amount calculated by the functional element F12 becomes zero. Then, the functional element F11 outputs the adjusted boom current command to the boom control mechanism 31C.

[0126] The boom control mechanism 31C changes the opening area in response to a boom current command, and applies a pilot pressure corresponding to the size of the opening area to the pilot port of the control valve 175. The control valve 175 moves the boom spool in response to the pilot pressure, and causes hydraulic oil to flow into the boom cylinder 7. The boom spool displacement sensor S7 detects the displacement of the boom spool, and feeds back the detection result to the functional element F12 of the controller 30. The boom cylinder 7 expands and contracts in response to the inflow of hydraulic oil, and moves the boom 4 up and down. The boom angle sensor S1 detects the rotation angle of the boom 4 that moves up and down, and feeds back the detection result to the functional element F13 of the controller 30. The functional element F13 feeds back the calculated boom angle β1 to the functional element F4.

[0127] The functional element F21 basically generates an arm current command for the arm control mechanism 31A so that the difference between the command value β2r generated by the functional element F6 and the arm angle β2 calculated by the functional element F23 becomes zero. At that time, the functional element F21 adjusts the arm current command so that the difference between the target arm spool displacement amount derived from the arm current command and the arm spool displacement amount calculated by the functional element F22 becomes zero. Then, the functional element F21 outputs the adjusted arm current command to the arm control mechanism 31A.

[0128] The arm control mechanism 31A changes the opening area in response to an arm current command, and applies a pilot pressure corresponding to the size of the opening area to the pilot port of the control valve 176. The control valve 176 moves the arm spool in response to the pilot pressure, and causes hydraulic oil to flow into the arm cylinder 8. The arm spool displacement sensor S8 detects the displacement of the arm spool, and feeds back the detection result to the functional element F22 of the controller 30. The arm cylinder 8 expands and contracts in response to the inflow of hydraulic oil, and opens and closes the arm 5. The arm angle sensor S2 detects the rotation angle of the opening and closing arm 5, and feeds back the detection result to the functional element F23 of the controller 30. The functional element F23 feeds back the calculated arm angle β2 to the functional element F4.

[0129] The functional element F31 basically generates a bucket current command for the bucket control mechanism 31D so that the difference between the command value β3r generated by the functional element F6 and the bucket angle β3 calculated by the functional element F33 becomes zero. At that time, the functional element F31 adjusts the bucket current command so that the difference between the target bucket spool displacement amount derived from the bucket current command and the bucket spool displacement amount calculated by the functional element F32 becomes zero. Then, the functional element F31 outputs the adjusted bucket current command to the bucket control mechanism 31D.

[0130] The bucket control mechanism 31D changes the opening area in response to a bucket current command, and applies a pilot pressure corresponding to the size of the opening area to the pilot port of the control valve 174. The control valve 174 moves the bucket spool in response to the pilot pressure, and causes hydraulic oil to flow into the bucket cylinder 9. The bucket spool displacement sensor S9 detects the displacement of the bucket spool, and feeds back the detection result to a functional element F32 of the controller 30. The bucket cylinder 9 expands and contracts in response to the inflow of hydraulic oil, and opens and closes the bucket 6. The bucket angle sensor S3 detects the rotation angle of the opening and closing bucket 6, and feeds back the detection result to a functional element F33 of the controller 30. The functional element F33 feeds back the calculated bucket angle β3 to a functional element F4.

[0131] The functional element F41 basically generates a swing current command for the swing control mechanism 31B so that the difference between the command value α1r generated by the functional element F6 and the swing angle α1 calculated by the functional element F43 becomes zero. At that time, the functional element F41 adjusts the swing current command so that the difference between the target swing spool displacement amount derived from the swing current command and the swing spool displacement amount calculated by the functional element F42 becomes zero. Then, the functional element F41 outputs the swing current command after the adjustment to the swing control mechanism 31B. Note that the difference between the command value α1r generated by the functional element F6 and the swing angle α1 calculated by the functional element F43 may be limited by the limiting unit F50 before being input to the functional element F41.

[0132] The limiting unit F50 is configured to determine whether or not the boom 4 has risen to a predetermined height (angle) based on the boom angle β1 calculated by the functional element F13. When the limiting unit F50 determines that the boom 4 has not risen to the predetermined height (angle), the limiting unit F50 is configured to limit the difference between the command value α1r, which is the difference output to the functional element F41, and the rotation angle α1 to a predetermined value or less. This is to prevent the upper rotating body 3 from being suddenly rotated at a stage when the boom 4 has not risen sufficiently.

[0133] The swing control mechanism 31B changes the opening area in response to the swing current command, and applies a pilot pressure corresponding to the size of the opening area to the pilot port of the control valve 173. The control valve 173 moves the swing spool in response to the pilot pressure, and causes hydraulic oil to flow into the swing hydraulic motor 2A. The swing spool displacement sensor S2A detects the displacement of the swing spool, and feeds back the detection result to the functional element F42 of the controller 30. The swing hydraulic motor 2A rotates in response to the inflow of hydraulic oil, and swings the upper swing body 3. The swing angular velocity sensor S5 detects the swing angle of the upper swing body 3, and feeds back the detection result to the functional element F43 of the controller 30. The functional element F43 feeds back the calculated swing angle α1 to the functional element F4.

[0134] As described above, the controller 30 configures three stages of feedback loops for each working body. That is, the controller 30 configures a feedback loop related to the spool displacement amount, a feedback loop related to the rotation angle of the working body, and a feedback loop related to the tip position. Therefore, the controller 30 can control the movement of the tip of the bucket 6 with high accuracy during autonomous control.

[0135] Next, with reference to FIG. 10, another configuration example of the autonomous control function will be described. FIG. 10 is a block diagram showing another configuration example of the autonomous control function. The configuration shown in FIG. 10 differs from the configuration shown in FIG. 7 including functional elements for operating a manually operated manned shovel in that it includes functional elements for operating an autonomous unmanned shovel. Specifically, the configuration shown in FIG. 10 differs from the configuration shown in FIG. 7 in that it calculates the next toe position based on the output of the communication device T1, not the output of the operating pressure sensor 29, and in that it includes functional elements FM to FP. Therefore, in the following, a description of the parts common to the configuration shown in FIG. 7 will be omitted, and the different parts will be described in detail.

[0136] The communication device T1 is configured to control communication between the shovel 100 and an external device outside the shovel 100. In the example of Fig. 10, the communication device T1 is configured to output a start command to the functional element FM based on a signal received from the external device. The communication device T1 may be configured to output operation data to the functional element FM based on a signal received from the external device. However, the communication device T1 may be the input device 42 mounted on the shovel 100.

[0137] The functional element FM is configured to determine the start of work. In the example of FIG. 10, when the functional element FM receives a start command from the communication device T1, the functional element FM is configured to determine that the start of work has been instructed, and to output a start command to the functional element FN. When the functional element FM receives a start command from the communication device T1, the functional element FM may be configured to output a start command to the functional element FN when it is determined that no object exists around the excavator 100 based on the output of the imaging device S6 as a surroundings monitoring device. When outputting the start command to the functional element FN, the functional element FM may output a command to an electromagnetic opening / closing valve arranged in a pilot line connecting the pilot pump 15 and the control valve 17, and open the pilot line.

[0138] The functional element FN is configured to determine the content of the operation. In the example of Fig. 10, when the functional element FN receives a start command from the functional element FM, the functional element FN is configured to determine whether an operation such as an excavation operation, a boom raising and swinging operation, an earth removal operation, or a boom lowering and swinging operation is currently being performed, or whether none of the operations is being performed, based on the current toe position calculated by the functional element F2. Then, when the functional element FN determines that the boom lowering and swinging operation has ended based on the current toe position calculated by the functional element F2, the functional element FN is configured to output a start command to the functional element FO.

[0139] The functional element FO is configured to set the operating conditions of the shovel 100. In the example of Fig. 10, the functional element FO is configured to set operating conditions such as the excavation depth (deep or shallow) and the excavation length when an excavation operation by autonomous control is performed when a start command is received from the functional element FN. Then, the functional element FO is configured to output a start command to the functional element FP after setting the operating conditions.

[0140] The functional element FP is configured to determine the start of a predetermined operation. In the example of FIG. 10, when the functional element FP receives a start command from the functional element FO, the functional element FP determines whether or not the excavation operation can be started based on the current tip position of the bucket 6 calculated by the functional element F2. Specifically, the functional element FP determines whether or not the boom lowering rotation operation has ended and whether or not the tip of the bucket 6 has reached the excavation start position based on the current tip position. Then, when the functional element FP determines that the boom lowering rotation operation has ended and that the tip of the bucket 6 has reached the excavation start position, it determines that the excavation operation can be started. Then, when the functional element FP determines that the excavation operation can be started, it causes the operation data automatically generated in the autonomous unmanned excavator to be input to the functional element F3.

[0141] With this configuration, the controller 30 can execute excavation operations by autonomous control even in an automatically operated unmanned excavator, in the same way as in a manually operated manned excavator.

[0142] In the above-mentioned embodiment, a hydraulic operation system equipped with a hydraulic pilot circuit is disclosed. Specifically, in the hydraulic pilot circuit for the arm operating lever, hydraulic oil supplied from the pilot pump 15 to the remote control valve of the arm operating lever is transmitted to the pilot port of the control valve 176 serving as an arm control valve at a flow rate according to the opening degree of the remote control valve that is opened or closed by tilting the arm operating lever.

[0143] However, instead of such a hydraulic operation system having a hydraulic pilot circuit, an electric operation system including an electric operation lever having an electric pilot circuit may be adopted. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. In addition, a solenoid valve is arranged between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electric signal from the controller 30. With this configuration, when manual operation is performed using the electric operation lever, the controller 30 can move each control valve within the control valve 17 by controlling the solenoid valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure. Note that each control valve may be configured as an electromagnetic spool valve. In this case, the solenoid spool valve operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

[0144] When an electric operation system including an electric operation lever is employed, the controller 30 can easily execute the autonomous control function compared to when a hydraulic operation system including a hydraulic operation lever is employed. FIG. 11 shows an example of the configuration of an electric operation system. Specifically, the electric operation system of FIG. 11 is an example of a boom operation system, and is mainly composed of a pilot pressure operated control valve 17, a boom operation lever 26A as an electric operation lever, a controller 30, a solenoid valve 65 for boom raising operation, and a solenoid valve 66 for boom lowering operation. The electric operation system of FIG. 11 can be similarly applied to an arm operation system, a bucket operation system, and the like.

[0145] The pilot pressure operated control valve 17 includes a control valve 175 (see FIG. 2) for the boom cylinder 7, a control valve 176 (see FIG. 2) for the arm cylinder 8, and a control valve 174 (see FIG. 2) for the bucket cylinder 9. The solenoid valve 65 is configured to be able to adjust the flow path area of ​​the pipe connecting the pilot pump 15 and the up-side pilot port of the control valve 175. The solenoid valve 66 is configured to be able to adjust the flow path area of ​​the pipe connecting the pilot pump 15 and the down-side pilot port of the control valve 175.

[0146] When manual operation is performed, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to an operation signal (electrical signal) output by an operation signal generating section of the boom operation lever 26A. The operation signal output by the operation signal generating section of the boom operation lever 26A is an electric signal that changes in response to the amount and direction of operation of the boom operation lever 26A.

[0147] Specifically, when boom operation lever 26A is operated in the boom-raising direction, controller 30 outputs a boom-raising operation signal (electrical signal) corresponding to the lever operation amount to solenoid valve 65. Solenoid valve 65 adjusts the flow path area according to the boom-raising operation signal (electrical signal) and controls the pilot pressure acting on the raising-side pilot port of control valve 175 as a boom-raising operation signal (pressure signal). Similarly, when boom operation lever 26A is operated in the boom-lowering direction, controller 30 outputs a boom-lowering operation signal (electrical signal) corresponding to the lever operation amount to solenoid valve 66. Solenoid valve 66 adjusts the flow path area according to the boom-lowering operation signal (electrical signal) and controls the pilot pressure acting on the lowering-side pilot port of control valve 175 as a boom-lowering operation signal (pressure signal).

[0148] When executing the autonomous control, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to a corrective operation signal (electrical signal) instead of in response to an operation signal (electrical signal) output by an operation signal generating unit of the boom operation lever 26A. The corrective operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by an external control device other than the controller 30.

[0149] In the embodiment shown in FIG. 7 and FIG. 10, the controller 30 is configured to calculate a target excavation weight based on the maximum load on the dump truck DT, convert the target excavation weight into a target excavation volume, and then generate a target trajectory. However, the work to which this configuration is applied is not necessarily limited to loading work on the dump truck DT. For example, in a backfilling work, the controller 30 may calculate a target excavation volume based on the volume of an opening such as a hole to be backfilled. In this case, the controller 30 may calculate a trajectory when scooping up the temporarily stored soil as the target trajectory. Then, the controller 30 may calculate a target excavation volume based on the difference between the volume of the opening and the accumulated volume of the backfilled soil.

[0150] The information acquired by the shovel 100 may be shared with an administrator, operators of other shovels, etc., through a shovel management system SYS as shown in FIG. 12. FIG. 12 is a schematic diagram showing a configuration example of the shovel management system SYS. The management system SYS is a system that manages one or more shovels 100. In this embodiment, the management system SYS is mainly composed of the shovel 100, a support device 200, and a management device 300. Each of the shovel 100, the support device 200, and the management device 300 constituting the management system SYS may be one or more. In the example of FIG. 12, the management system SYS includes one shovel 100, one support device 200, and one management device 300.

[0151] The support device 200 is typically a mobile terminal device, such as a notebook PC, a tablet PC, or a smartphone carried by a worker or the like at a construction site. The support device 200 may be a computer carried by an operator of the shovel 100. The support device 200 may be a fixed terminal device.

[0152] The management device 300 is typically a fixed terminal device, for example, a server computer installed in a management center outside the construction site. The management device 300 may be a portable computer (for example, a notebook PC, a tablet PC, or a mobile terminal device such as a smartphone).

[0153] At least one of the support device 200 and the management device 300 may include a monitor and an operation device for remote operation. In this case, the operator may operate the shovel 100 while using the operation device for remote operation. The operation device for remote operation is connected to the controller 30 through a communication network such as a wireless communication network. In the following, the exchange of information between the shovel 100 and the management device 300 will be described, but the following description also applies to the exchange of information between the shovel 100 and the support device 200.

[0154] In the management system SYS of the shovel 100 as described above, the controller 30 of the shovel 100 may transmit to the management device 300 information on at least one of the time and place when the autonomous control was started or stopped, the target trajectory used during the autonomous control, and the trajectory actually followed by a predetermined part during the autonomous control. In this case, the controller 30 may transmit to the management device 300, for example, an image captured by the imaging device S6 as a surroundings monitoring device. The image may be a plurality of images captured during a predetermined period including the period during which the autonomous control was executed. Furthermore, the controller 30 may transmit to the management device 300 information on at least one of data on the work content of the shovel 100 during the predetermined period including the period during which the autonomous control was executed, data on the attitude of the shovel 100, and data on the attitude of the excavation attachment, for example. This is to enable the manager who uses the management device 300 to obtain information on the work site. The data on the work content of the shovel 100 is, for example, at least one of the following: the number of loadings, which is the number of times the earth-discharging operation has been performed; information on the excavated material, such as soil and sand, loaded onto the bed of the dump truck DT; the type of dump truck DT related to the loading operation; information on the position of the shovel 100 when the loading operation has been performed; information on the work environment; and information on the operation of the shovel 100 when the loading operation is performed. The information on the excavated material is, for example, at least one of the weight and type of the excavated material excavated in each excavation operation, the weight and type of the excavated material loaded onto the dump truck DT, and the weight and type of the excavated material loaded in one day's loading operation. The information on the work environment is, for example, information on the slope of the ground around the shovel 100, or information on the weather around the work site. The information on the operation of the shovel 100 is, for example, at least one of the output of the operating pressure sensor 29 and the output of the cylinder pressure sensor.

[0155] In the above embodiment, the autonomous control unit 35 is configured to autonomously assist the operator in manually operating the excavator 100. For example, when the operator is manually performing an arm closing operation, the autonomous control unit 35 extends and retracts at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the trajectory of the toe of the bucket 6 coincides with the target trajectory. However, the present invention is not limited to this configuration. For example, when the operator is not operating the operating device 26, the autonomous control unit 35 may extend and retract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the trajectory of the toe of the bucket 6 coincides with the target trajectory. That is, the autonomous control unit 35 may autonomously move the excavation attachment without being operated by the operator.

[0156] In addition, in the above-described embodiment, the boom raising and swinging operation and the soil discharging operation after the excavation operation are executed in response to manual operation by the operator of the shovel 100, but they may also be executed by the autonomous control unit 35. The same applies to the boom lowering and swinging operation after the soil discharging operation.

[0157] This application claims priority based on Japanese Patent Application No. 2018-059273, filed on March 27, 2018, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0158] 1···Lower traveling body 1L···Left-side traveling hydraulic motor 1R···Right-side traveling hydraulic motor 2···Slewing mechanism 2A···Slewing hydraulic motor 3···Upper rotating body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Cabin 11··Engine 13···Regulator 14···Main pump 15··Pilot pump 17···Control valve 26···Operation device 28···Discharge pressure sensor 29···Operation pressure sensor 30··Controller 40···Display device 42···Input device 43···Sound output device 47···Storage device 50···Machine guidance section 55···Fuel tank 55a···Fuel remaining amount sensor 74···Engine controller unit 100···Shovel 171~176···Control valve S1···Boom angle sensor S2···Arm angle sensor S3···Bucket angle sensor S4···Machine tilt sensor S5···Turning angular velocity sensor S6···Imaging device S6A···3D distance image sensor S6B···Rear camera S6D···Stereo camera S6F···Front camera S6L···Left camera S6R···Right camera S7B···Boom bottom pressure sensor S7R···Boom rod pressure sensor S8B···Arm bottom pressure sensor S8R···Arm rod pressure sensor S9B···Bucket bottom pressure sensor S9R···Bucket rod pressure sensor P1···Positioning device T1···Communication device

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An excavation attachment attached to the upper rotating body; A control device, The control device has a calculation unit that calculates a target excavation volume before each excavation operation is performed, and a setting unit that sets a target trajectory, which is a trajectory to be followed by a predetermined portion of the excavation attachment, based on information about the topography before each excavation operation is started and the target excavation volume calculated by the calculation unit, The target excavation volume is a volume of the object to be taken into the bucket in one excavation operation, and is less than the maximum volume of the object that can be excavated in one excavation operation. Shovel.

2. The control device calculates the target excavation volume based on the target excavation weight and soil information. The shovel according to claim 1.

3. The control device includes: A first information acquisition unit that acquires information regarding a maximum load capacity of the dump truck; A second information acquisition unit that acquires information regarding an excavation weight, which is a weight of an object to be excavated by the excavation operation of the excavation attachment, calculating a remaining loading weight based on the information on the maximum loading amount and the information on the excavation weight; The shovel according to claim 1.

4. The first information acquisition unit is configured to acquire identification information of the dump truck and acquire information regarding the maximum load capacity based on the identification information. The shovel according to claim 3.

5. The first information acquisition unit acquires information regarding the maximum payload based on an output of at least one of a camera, a radar, and a LIDAR. The shovel according to claim 3.

6. The setting unit is configured to set the target trajectory within a predetermined excavation target range. The shovel according to claim 1.

7. An input device is provided, The excavation target range is an area around the upper rotating body and is set using the input device. The shovel according to claim 6.

8. The control device is configured to notify a user when it is determined that the target trajectory cannot be appropriately set. The shovel according to claim 1.

9. The second information acquisition unit acquires information regarding a density of a material to be excavated by the excavation operation of the excavation attachment, The setting unit is configured to calculate a remaining loading volume based on the remaining loading weight and the density, and to set the target trajectory so that the object to be excavated having a volume equivalent to the remaining loading volume is excavated in one excavation operation. The shovel according to claim 3.

10. The target trajectory is a trajectory including a curved portion due to the rotation of the excavation attachment. The shovel according to claim 1.

11. The target trajectory also includes a trajectory of the lifting process. The shovel according to claim 1.

12. The target excavation volume is calculated based on the volume of the hole to be backfilled; The shovel according to claim 1.

13. The target excavation volume is calculated based on the difference between the volume of the hole to be backfilled and the cumulative volume of the soil backfilled in the hole. The shovel according to claim 1.

Images