Excavator and excavator management system

Abstract

The excavator (100) according to the 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 as an attachment attached to the upper rotating body (3), and a controller (30) as a control device capable of executing automatic control mounted on the upper rotating body (3). The controller (30) is configured to stop the automatic control when information related to the movement of the excavator (100) shows an abnormal trend.

Description

[Technical field]

[0001] The present disclosure relates to an excavator and a management system for an excavator. [Background technology]

[0002] Conventionally, there is known an excavator that can selectively use a manual control mode in which only the arm is operated when an arm operating lever is operated, and an automatic control mode in which not only the arm but also the boom and bucket are operated when the arm operating lever is operated (see Patent Document 1). In the automatic control mode, this excavator can automatically move the attachment so that the bucket moves along a slope having a preset inclination angle. Specifically, this excavator can generate linear motion of the tip of the bucket by automatically operating the boom and bucket in response to the operation of the arm operating lever. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special table number 7-509294 Summary of the Invention [Problem to be solved by the invention]

[0004] However, excavators are usually used in various operating environments. Therefore, even in the automatic control mode, the operating environment surrounding the excavator may change to an operating environment different from the operating environment previously assumed. In this case, the above-mentioned excavator continues to operate in the automatic control mode even if the operating environment changes. For example, in an emergency in the automatic control mode, if an operator operates the arm operation lever with the intention of opening the arm to press the bucket against an upward slope, the excavator may automatically raise the boom in response to the opening of the arm so that the bucket moves along the upward slope. In this case, the operator may not be able to press the bucket against the upward slope as intended.

[0005] Therefore, even during automatic control, if the operating environment of the shovel changes to an operating environment different from that previously assumed, it is desirable to have the shovel perform an operation different from that performed under automatic control. [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 attachment attached to the upper rotating body, and a control device mounted on the upper rotating body and capable of performing automatic control. A switch for the automatic control; The automatic control is performed when one of the operating devices is operated. The first hydraulic actuator is operated. , given Second The hydraulic actuator can be operated without any operation of other operating devices corresponding to the hydraulic actuator. Second This is a control in which a working part is moved along a target trajectory simply by operating the one operation device by automatically operating a hydraulic actuator, and the control device comprises: The automatic control is executed when the switch is operated. During execution of the automatic control, when an output from the one operation device indicates an operation tendency different from an operation tendency in the automatic control, Even if the switch is operated The automatic control is stopped. Effect of the Invention

[0007] By using the above-mentioned means, even during automatic control, if the operating environment of the shovel changes to an operating environment different from the previously assumed operating environment, the shovel can be made to perform an operation different from the operation performed by the automatic control. [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 diagram illustrating an example of the configuration of a basic system of the excavator in FIG. 1. [Diagram 3]FIG. 2 is a diagram showing a configuration example of a hydraulic system mounted on the excavator shown in FIG. [Figure 4] 2 is a block diagram showing an example of a relationship between functional elements related to the execution of automatic control in a controller. FIG. [Diagram 5] FIG. 2 is a block diagram showing a configuration example of functional elements that calculate various command values. [Figure 6] FIG. 13 is a diagram showing the state of the hydraulic system when an arm opening operation is performed during automatic excavation control in a shovel in which the emergency stop function is set to not operate. [Figure 7] 13A and 13B are diagrams showing the movement of the excavation attachment when an arm opening operation is performed during automatic excavation control in an excavator in which the emergency stop function is set to not operate. [Figure 8] FIG. 13 is a diagram showing the state of the hydraulic system when an arm opening operation is performed during automatic excavation control in a shovel in which an emergency stop function is set to operate. [Figure 9] 13A and 13B are diagrams showing the movement of the excavation attachment when an arm opening operation is performed during automatic excavation control in a shovel in which an emergency stop function is set to operate. [Figure 10] FIG. 13 is a diagram showing the state of the hydraulic system when a boom lowering operation is performed during automatic excavation control in a shovel in which an emergency stop function is set to operate. [Figure 11] 13A and 13B are diagrams showing the movement of the excavation attachment when a boom lowering operation is performed during automatic excavation control in an excavator in which an emergency stop function is set to operate. [Figure 12] FIG. 11 is a block diagram showing another example of the relationship between functional elements regarding the execution of automatic control in the controller. [Figure 13] FIG. 13 is a block diagram showing another example of the configuration of the functional elements that calculate various command values. [Figure 14] FIG. 1 is a top view of a work site illustrating the movement of the excavating attachment when a swing maneuver is performed during automatic compound swing control. [Figure 15]FIG. 13 is a diagram showing the movement of the excavation attachment when a left rotation operation is performed while the upper rotating body 3 is rotating to the right in an excavator in which an emergency stop function is set to operate. [Figure 16] FIG. 1 is a diagram illustrating a configuration example of an electric operation system. [Figure 17] FIG. 1 is a schematic diagram showing a configuration example of an excavator management system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Fig. 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, the arm 5, and the bucket 6 constitute an excavation attachment as 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.

[0011] Specifically, the boom cylinder 7 is driven in response to tilting of the boom operation lever, the arm cylinder 8 is driven in response to tilting of the arm operation lever, and the bucket cylinder 9 is driven in response to tilting of the bucket operation lever. Similarly, the right-side traveling hydraulic motor 1R (see FIG. 2) is driven in response to tilting of the right travel lever, the left-side traveling hydraulic motor 1L (see FIG. 2) is driven in response to tilting of the left travel lever, and the swing hydraulic motor 2A (see FIG. 2) is driven in response to tilting of the swing operation lever. In this way, the corresponding actuator is driven in response to operation of each lever, thereby executing control of the excavator 100 through manual operation by the operator (hereinafter referred to as "manual control").

[0012] In addition, 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.

[0013] The boom angle sensor S1 is configured to detect 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.

[0014] The arm angle sensor S2 is configured to detect 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.

[0015] The bucket angle sensor S3 is configured to detect 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.

[0016] 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, an inertial measurement unit, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like.

[0017] The upper rotating body 3 is provided with a cabin 10 serving as a driver's cab, and is equipped with a power source such as an engine 11. The upper rotating body 3 is equipped with a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, an emergency stop switch 48, an aircraft tilt sensor S4, a turning angular velocity sensor S5, an imaging device S6, a communication device T1, and a positioning device P1.

[0018] The controller 30 is configured to function as a control device that controls the drive of the shovel 100. In this embodiment, the controller 30 is configured as a computer including a CPU, RAM, ROM, etc. Each function provided by the controller 30 is realized, for example, by the CPU executing a program stored in the ROM. Each function includes, for example, a machine guidance function that guides (guides) the manual operation of the shovel 100 by the operator, and a machine control function that automatically assists the manual operation of the shovel 100 by the operator. The machine guidance device 50 included in the controller 30 is configured to be able to execute the machine guidance function and the machine control function.

[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 includes at least one of a touch panel, a knob switch, a membrane switch, and the like installed in the cabin 10, for example.

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

[0022] The storage device 47 is configured to store various information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the shovel 100, or may store information acquired via various devices before the operation of the shovel 100 is started. The storage device 47 may store, for example, data related to a target construction surface acquired via a communication device T1 or the like. The target construction surface may be set by the operator of the shovel 100, or may be set by a construction manager or the like.

[0023] The emergency stop switch 48 is configured to function as a switch for stopping the movement of the excavator 100. The emergency stop switch 48 is, for example, a switch installed at a position where it can be operated by an operator sitting in the driver's seat inside the cabin 10. In this embodiment, the emergency stop switch 48 is a foot switch installed under the feet of the operator inside the cabin 10. When operated by the operator, the emergency stop switch 48 outputs a command to the engine control unit to stop the engine 11. The emergency stop switch 48 may be a hand switch installed around the driver's seat.

[0024] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt of the upper rotating body 3 with respect to a virtual horizontal plane. The machine body tilt sensor S4 may be a combination of an acceleration sensor and a gyro sensor, or may be an inertial measurement unit or the like. The machine body tilt sensor S4 detects, for example, the tilt angle (roll angle) about the front-rear axis and the tilt angle (pitch angle) about the left-right axis of the upper rotating body 3. 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.

[0025] 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.

[0026] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs a captured image to the display device 40. The imaging device S6 may be configured to function as a spatial recognition device S7. The spatial recognition device S7 is configured to be able to detect an object present in a three-dimensional space around the shovel 100. The object is, for example, at least one of a person, an animal, a shovel, a machine, a building, and the like. The spatial recognition device S7 may be configured to be able to calculate a distance between the spatial recognition device S7 or the shovel 100 and an object detected by the spatial recognition device S7. The spatial recognition device S7 may be an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, or the like.

[0027] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may be attached to the roof of the cabin 10, i.e., outside the cabin 10. 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.

[0028] The communication device T1 is configured to control communication with an external device outside the shovel 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, a short-range wireless communication network, and the Internet network.

[0029] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may be configured to measure the orientation of the upper rotating body 3. The positioning device P1 is, for example, 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. The orientation detection device may be an orientation sensor attached to the upper rotating body 3. In addition, the position and orientation of the upper rotating body 3 may be configured to be measured by a rotation angular velocity sensor S5.

[0030] 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 or calculate 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, an inertial measurement unit, or the like.

[0031] FIG. 2 is a block diagram showing an example of the configuration of a basic system of the excavator 100, in which mechanical power transmission lines, hydraulic oil lines, pilot lines and electrical control lines are indicated by double lines, solid lines, dashed lines and dotted lines, respectively.

[0032] The basic system of the excavator 100 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 proportional valve 31, and a shuttle valve 32.

[0033] The engine 11 is a drive source of the excavator 100. In this embodiment, the engine 11 is 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.

[0034] 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.

[0035] The regulator 13 is configured to control the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a command from the controller 30. The controller 30 receives outputs from, for example, a discharge pressure sensor 28 and an operating pressure sensor 29, and outputs a command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0036] The pilot pump 15 is configured to supply hydraulic oil to hydraulic control devices including the operating device 26 and the proportional valve 31 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, the proportional valve 31, etc. 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.

[0037] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve 17 includes control valves 171 to 176. The control valve 17 can selectively supply the 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 the hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of the 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 serving as an electric actuator.

[0038] The operating device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies hydraulic oil discharged by 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. At least one of the operating devices 26 is configured to be able to supply hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line and a shuttle valve 32.

[0039] 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.

[0040] 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 as operation data to the controller 30. The operation content of the operation device 26 may be detected using a sensor other than the operation pressure sensor.

[0041] The proportional valve 31 is disposed in a pipe connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change the flow passage area of ​​the pipe. In this embodiment, the proportional valve 31 is a solenoid valve that operates in response to a command output by the controller 30. The proportional valve 31 functions as a control valve for machine control. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32, regardless of the operation of the operating device 26 by the operator.

[0042] The shuttle valve 32 is configured to have two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can apply the higher of the pilot pressure generated by the operating device 26 or the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0043] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26.

[0044] Next, the machine guidance device 50 included in the controller 30 will be described. The machine guidance device 50 is configured to execute, for example, a machine guidance function. In this embodiment, the machine guidance device 50 conveys work information, such as the distance between a target construction surface and a working part of the attachment, to the operator. Data on the target construction surface is, for example, stored in advance in the storage device 47. The data on the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The operator may determine an arbitrary point on the construction site as a reference point and set the target construction surface based on the relative positional relationship between each point on the target construction surface and the reference point. The working part of the attachment is, for example, the tip of the bucket 6 or the back of the bucket 6. The machine guidance device 50 conveys work information to the operator via at least one of the display device 40 and the sound output device 43, etc., to guide the operation of the excavator 100.

[0045] The machine guidance device 50 may execute a machine control function that automatically assists an operator in manually operating the shovel 100. For example, the machine guidance device 50 may automatically operate at least one of the boom 4, the arm 5, and the bucket 6 so that the distance between the target construction surface and the tip position of the bucket 6 is maintained at a predetermined value while the operator is manually performing an excavation operation.

[0046] In this embodiment, the machine guidance device 50 is incorporated in the controller 30, but may be a control device provided separately from the controller 30. In this case, the machine guidance device 50 is configured, for example, like the controller 30, by a computer including a CPU, RAM, ROM, etc. Then, each function provided by the machine guidance device 50 is realized by the CPU executing a program stored in the ROM, etc. Also, the machine guidance device 50 and the controller 30 are connected to each other so as to be able to communicate with each other through a communication network such as a CAN.

[0047] Specifically, the machine guidance device 50 acquires information from at least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the swing angular velocity sensor S5, the imaging device S6, the positioning device P1, the communication device T1, and the input device 42. Then, the machine guidance device 50 calculates the distance between the bucket 6 and the target construction surface based on the acquired information, for example, and conveys the magnitude of the distance between the bucket 6 and the target construction surface to the operator of the shovel 100 by at least one of sound and light (image display).

[0048] The machine guidance device 50 also has a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53 and an automatic control unit 54 to enable the machine control function of automatically assisting manual operations.

[0049] The position calculation unit 51 is configured to calculate the position of an object. In this embodiment, the position calculation unit 51 calculates a coordinate point in a reference coordinate system of a working part of an attachment. Specifically, the position calculation unit 51 calculates a coordinate point of the tip of the bucket 6 from each of the rotation angles of the boom 4, the arm 5, and the bucket 6. The position calculation unit 51 may calculate not only the coordinate point of the center of the tip of the bucket 6, but also the coordinate point of the left end of the tip of the bucket 6 and the coordinate point of the right end of the tip of the bucket 6. In this case, the output of the machine body tilt sensor S4 may be used.

[0050] The distance calculation unit 52 is configured to calculate the distance between two objects. In this embodiment, the distance calculation unit 52 calculates the vertical distance between the tip of the bucket 6 and the target construction surface. The distance calculation unit 52 may calculate the distance (e.g., vertical distance) between each of the coordinate points of the left end and the right end of the tip of the bucket 6 and the target construction surface so that the machine guidance device 50 can determine whether the shovel 100 is facing the target construction surface.

[0051] The information transmission unit 53 is configured to transmit various information to the operator of the shovel 100. In this embodiment, the information transmission unit 53 transmits the magnitude of the distance calculated by the distance calculation unit 52 to the operator of the shovel 100. Specifically, the information transmission unit 53 transmits the magnitude of the vertical distance between the tip of the bucket 6 and the target construction surface to the operator of the shovel 100 by using visual information and audio information.

[0052] For example, the information transmission unit 53 may use an intermittent sound from the sound output device 43 to inform the operator of the vertical distance between the tip of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 may shorten the interval of the intermittent sound as the vertical distance becomes smaller. The information transmission unit 53 may use a continuous sound, or may change the pitch or intensity of the sound to indicate differences in the vertical distance. Furthermore, the information transmission unit 53 may issue an alarm when the tip of the bucket 6 is lower than the target construction surface. The alarm is, for example, a continuous sound that is significantly louder than the intermittent sound.

[0053] The information transmission unit 53 may cause the display device 40 to display the vertical distance between the tip of the bucket 6 and the target construction surface as work information. The display device 40 displays on a screen, for example, the work information received from the information transmission unit 53 together with image data received from the imaging device S6. The information transmission unit 53 may convey the vertical distance to the operator using, for example, an image of an analog meter or an image of a bar graph indicator.

[0054] The automatic control unit 54 is configured to automatically assist the operator in manually operating the shovel 100 by automatically operating the actuator. For example, when the operator manually performs an arm closing operation, the automatic control unit 54 may automatically extend and retract at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the distance between the target construction surface and the tip of the bucket 6 is maintained at a predetermined value. In this case, the operator can close the arm 5 while maintaining the distance between the target construction surface and the tip of the bucket 6, for example, by simply operating the arm operation lever in the closing direction. Such automatic control may be configured to be executed when a predetermined switch, which is one of the input devices 42, is pressed. That is, the automatic control unit 54 may switch the operation mode of the shovel 100 from the manual control mode to the automatic control mode when the predetermined switch is pressed. The manual control mode means an operation mode in which manual control is executed, and the automatic control mode means an operation mode in which automatic control is executed. The predetermined switch is, for example, a machine control switch (hereinafter referred to as "MC switch 42A"), and may be arranged on the grip of the operation lever as a push button switch. In this case, the operator may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode by pressing the MC switch 42A again, or may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode by pressing a machine control stop switch (hereinafter referred to as "MC stop switch 42B") which is a switch separate from the MC switch 42A. The MC stop switch 42B may be disposed adjacent to the MC switch 42A, or may be disposed on a grip portion of a separate operation lever. Alternatively, the MC stop switch 42B may be omitted.

[0055] Alternatively, such automatic control may be configured to be executed when the MC switch 42A is pressed. In this case, the operator can close the arm 5 while maintaining the distance between the target construction surface and the tip of the bucket 6, for example, by simply operating the arm operation lever in the arm closing direction while pressing the MC switch 42A on the grip of the arm operation lever. This is because the boom cylinder 7 and the bucket cylinder 9 automatically move in response to the arm closing operation by the arm cylinder 8. Also, the operator can stop the automatic control by simply releasing his / her finger from the MC switch 42A. Hereinafter, the control for automatically operating the excavation attachment while maintaining the distance between the target construction surface and the tip of the bucket 6 is referred to as "automatic excavation control", which is one of the automatic controls (machine control functions).

[0056] When a predetermined switch such as the MC switch 42A is pressed, the automatic control unit 54 may automatically rotate the swing hydraulic motor 2A so as to make the upper swing body 3 face the target construction surface. In this case, the operator can make the upper swing body 3 face the target construction surface simply by pressing a predetermined switch, or by operating the swing operation lever while pressing the predetermined switch. Alternatively, the operator can make the upper swing body 3 face the target construction surface and start the machine control function, that is, make the excavator 100 in a state in which automatic control can be executed, simply by pressing a predetermined switch. Hereinafter, the control for making the upper swing body 3 face the target construction surface is referred to as "automatic facing control", which is one of the automatic controls (machine control functions). In the automatic facing control, the machine guidance device 50 determines that the excavator 100 is facing the target construction surface when, for example, the left end vertical distance between the coordinate point of the left end of the tip of the bucket 6 and the target construction surface becomes equal to the right end vertical distance between the coordinate point of the right end of the tip of the bucket 6 and the target construction surface. However, the machine guidance device 50 may determine that the excavator 100 is facing the target construction surface not when the left end vertical distance and the right end vertical distance become equal, that is, not when the difference between the left end vertical distance and the right end vertical distance becomes zero, but when the difference becomes a predetermined value or less.

[0057] The automatic control unit 54 may be configured to automatically execute boom-raising or boom-lowering rotation when a predetermined switch, such as the MC switch 42A, is pressed. In this case, the operator can start boom-raising or boom-lowering rotation simply by pressing the predetermined switch, or by operating the rotation operation lever while the predetermined switch is pressed. Hereinafter, the control that automatically starts boom-raising or boom-lowering rotation is referred to as "automatic combined rotation control," which is one of the automatic controls (machine control functions).

[0058] In this embodiment, the automatic control unit 54 can operate each actuator individually and automatically by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator. For example, in the automatic facing control, the automatic control unit 54 may operate the hydraulic motor 2A for swing based on the difference between the left end vertical distance and the right end vertical distance. Specifically, when the swing operation lever is operated with a predetermined switch pressed, the automatic control unit 54 determines whether or not the swing operation lever is operated in a direction to make the upper swing body 3 face the target construction surface. For example, when the swing operation lever is operated to swing the upper swing body 3 in a direction in which the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope) becomes larger, the automatic control unit 54 does not execute the automatic facing control. On the other hand, when the swing operation lever is operated to swing the upper swing body 3 in a direction in which the vertical distance between the tip of the bucket 6 and the target construction surface (upward slope) becomes smaller, the automatic control unit 54 executes the automatic facing control. As a result, the swing hydraulic motor 2A can be operated so as to reduce the difference between the left end vertical distance and the right end vertical distance. Thereafter, when the difference becomes equal to or less than a predetermined value or becomes zero, the automatic control unit 54 stops the swing hydraulic motor 2A. Alternatively, the automatic control unit 54 may set the swing angle at which the difference becomes equal to or less than a predetermined value or becomes zero as a target angle, and perform swing angle control so that the angle difference between the target angle and the current swing angle (detected value) becomes zero. In this case, the swing angle is, for example, the angle of the front and rear axes of the upper swing body 3 relative to a predetermined reference direction.

[0059] The automatic control unit 54 may be configured to stop the automatic control when a predetermined condition is satisfied. "When a predetermined condition is satisfied" may include, for example, "when information on the movement of the shovel 100 shows a tendency that is different from normal." Hereinafter, the function of stopping the automatic control when a predetermined condition is satisfied is referred to as an "emergency stop function."

[0060] The "information on the movement of the shovel 100" is, for example, "information on the operation of the operating device 26". The automatic control unit 54 may be configured to determine that "information on the movement of the shovel 100 shows a tendency different from normal" when, for example, the operating device 26 is suddenly operated. Alternatively, the "information on the movement of the shovel 100" may be "information on the operation of the swing operation lever mounted on the upper swing body 3". In this case, the automatic control unit 54 may be configured to determine that "information on the movement of the shovel 100 shows a tendency different from normal" when, for example, an operation is performed to swing the upper swing body 3 in a direction opposite to the swing executed by the automatic facing control or the automatic combined swing control as the automatic control. Then, when it is determined that "information on the movement of the shovel 100 shows a tendency different from normal", the automatic control unit 54 may be configured to stop the automatic control.

[0061] The "case where a predetermined condition is satisfied" may include, for example, "when the inclination of the upper rotating body 3 becomes a predetermined state" or "when the instability of the excavator 100 increases." The "case where the inclination of the upper rotating body 3 becomes a predetermined state" may include, for example, "when the pitch angle of the upper rotating body 3 becomes a predetermined angle," "when the absolute value of the change speed (change rate) of the pitch angle becomes a predetermined value or more," and "when the change amount of the pitch angle becomes a predetermined value or more." The same applies to the roll angle. In this case, the automatic control unit 54 may be configured to stop the automatic control based on the output of the machine body inclination sensor S4. Specifically, when the automatic control unit 54 detects that the pitch angle of the upper rotating body 3 becomes a predetermined angle based on the output of the machine body inclination sensor S4, it may stop the automatic control and switch the operation mode of the excavator 100 from the automatic control mode to the manual control mode.

[0062] Furthermore, "when a predetermined condition is satisfied" may include, for example, "when the emergency stop switch 48, which is a foot switch installed under the operator's feet, is depressed."

[0063] Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to Fig. 3. Fig. 3 shows a configuration example of a hydraulic system mounted on the shovel 100 of Fig. 1. In Fig. 3, similar to Fig. 2, mechanical power transmission lines, hydraulic oil lines, pilot lines, and electrical control lines are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0064] The hydraulic system circulates hydraulic oil from the left main pump 14L driven by the engine 11 to a hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and also circulates hydraulic oil from the right main pump 14R driven by the engine 11 to a hydraulic oil tank via a right center bypass line 40R or a right parallel line 42R. The left main pump 14L and the right main pump 14R correspond to the main pump 14 in FIG. 2.

[0065] 2. The left center bypass line 40L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve 17. The right center bypass line 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve 17. The control valves 175L and 175R correspond to the control valve 175 in FIG. 2. The control valves 176L and 176R correspond to the control valve 176 in FIG. 2.

[0066] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left-side traveling hydraulic motor 1L and to discharge the hydraulic oil discharged by the left-side traveling hydraulic motor 1L to the hydraulic oil tank.

[0067] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right-side traveling hydraulic motor 1R and to discharge the hydraulic oil discharged by the right-side traveling hydraulic motor 1R to the hydraulic oil tank.

[0068] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

[0069] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0070] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7.

[0071] The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0072] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0073] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0074] The left parallel conduit 42L is a hydraulic oil line that runs parallel to the left center bypass conduit 40L. When the flow of hydraulic oil through the left center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, 175L, the left parallel conduit 42L can supply hydraulic oil to a more downstream control valve. The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. When the flow of hydraulic oil through the right center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, 175R, the right parallel conduit 42R can supply hydraulic oil to a more downstream control valve.

[0075] The left regulator 13L is configured to be able to control the discharge amount of the left main pump 14L. In this embodiment, the left regulator 13L controls the discharge amount of the left main pump 14L, for example, by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. The right regulator 13R is configured to be able to control the discharge amount of the right main pump 14R. In this embodiment, the right regulator 13R controls the discharge amount of the right main pump 14R, for example, by adjusting the swash plate tilt angle of the right main pump 14R according to the discharge pressure of the right main pump 14R. The left regulator 13L and the right regulator 13R correspond to the regulator 13 in FIG. 2. The left regulator 13L reduces the discharge amount by adjusting the swash plate tilt angle of the left main pump 14L, for example, according to an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to prevent the absorption horsepower of the main pump 14, which is expressed by the product of the discharge pressure and the discharge amount, from exceeding the output horsepower of the engine 11.

[0076] The left discharge pressure sensor 28L is an example of a discharge pressure sensor 28, and detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.

[0077] Here, the negative control employed in the hydraulic system of FIG. 3 will be described.

[0078] In the left center bypass pipe 40L, a left throttle 18L is disposed between the most downstream control valve 176L and the hydraulic oil tank. The flow of hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30. In the right center bypass pipe 40R, a right throttle 18R is disposed between the most downstream control valve 176R and the hydraulic oil tank. The flow of hydraulic oil discharged by the right main pump 14R is restricted by the right throttle 18R. The right throttle 18R generates a control pressure for controlling the right regulator 13R. The right control pressure sensor 19R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.

[0079] The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in response to the control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as the control pressure increases, and increases the discharge rate of the left main pump 14L as the control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0080] Specifically, as shown in FIG. 3, in the case of a standby state in which none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe 40L and reaches the left throttle 18L. Then, the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the allowable minimum discharge amount, suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated through the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of the hydraulic oil discharged by the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L to circulate sufficient hydraulic oil to the hydraulic actuator to be operated, and ensures the drive of the hydraulic actuator to be operated. The same applies to the hydraulic oil discharged by the right main pump 14R.

[0081] With the above-mentioned configuration, the hydraulic system of Fig. 3 can suppress unnecessary energy consumption in each of the left main pump 14L and the right main pump 14R in a standby state. The unnecessary energy consumption includes pumping loss caused in the left center bypass line 40L by the hydraulic oil discharged from the left main pump 14L, and pumping loss caused in the right center bypass line 40R by the hydraulic oil discharged from the right main pump 14R. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 3 can supply necessary and sufficient hydraulic oil from each of the left main pump 14L and the right main pump 14R to the hydraulic actuator to be operated.

[0082] Next, a configuration for automatically operating the actuator will be described. The boom operation lever 26A is an example of the operation device 26, and is used to operate the boom 4. The boom operation lever 26A uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to the operation content to the pilot ports of the control valves 175L and 175R. Specifically, when the boom operation lever 26A is operated in the boom-up direction, it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the boom operation lever 26A is operated in the boom-down direction, it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0083] The operating pressure sensor 29A is one example of the operating pressure sensor 29, which detects the operation content of the operator on the boom operating lever 26A in the form of pressure, and outputs the detected value to the controller 30. The operation content is, for example, the operation direction and the operation amount (operation angle), etc.

[0084] The proportional valves 31AL and 31AR constitute a boom proportional valve 31A, which is an example of the proportional valve 31, and the shuttle valves 32AL and 32AR constitute a boom shuttle valve 32A, which is an example of the shuttle valve 32. The proportional valve 31AL operates in response to a current command adjusted by the controller 30. The controller 30 adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the shuttle valve 32AL. The proportional valve 31AR operates in response to a current command adjusted by the controller 30. The controller 30 adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR. The proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.

[0085] With this configuration, during automatic excavation control, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the shuttle valve 32AL, regardless of the boom raising operation by the operator. That is, the controller 30 can automatically raise the boom 4. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR, regardless of the boom lowering operation by the operator. That is, the controller 30 can automatically lower the boom 4.

[0086] The arm operating lever 26B is an example of the operating device 26, and is used to operate the arm 5. The arm operating lever 26B uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to the operation to the pilot ports of the control valves 176L and 176R. Specifically, when the arm operating lever 26B is operated in the arm opening direction, it applies pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. Also, when the arm operating lever 26B is operated in the arm closing direction, it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

[0087] The operating pressure sensor 29B is an example of the operating pressure sensor 29, which detects the operation of the operator on the arm operating lever 26B in the form of pressure and outputs the detected value to the controller 30.

[0088] The proportional valves 31BL and 31BR constitute an arm proportional valve 31B, which is an example of the proportional valve 31, and the shuttle valves 32BL and 32BR constitute an arm shuttle valve 32B, which is an example of the shuttle valve 32. The proportional valve 31BL operates in response to a current command adjusted by the controller 30. The controller 30 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL and the shuttle valve 32BL. The proportional valve 31BR operates in response to a current command adjusted by the controller 30. The controller 30 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR and the shuttle valve 32BR. The proportional valves 31BL and 31BR are capable of adjusting the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0089] With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL and the shuttle valve 32BL, regardless of the arm closing operation by the operator. That is, the controller 30 can automatically close the arm 5. Also, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR and the shuttle valve 32BR, regardless of the arm opening operation by the operator. That is, the controller 30 can automatically open the arm 5.

[0090] As a result, in the automatic excavation control, the arm cylinder 8 and the boom cylinder 7 automatically operate in accordance with the amount of operation of the arm operating lever 26B, thereby executing speed control or position control of the working part.

[0091] The excavator 100 may be provided with a configuration for automatically rotating the upper rotating body 3 left and right, a configuration for automatically opening and closing the bucket 6, and a configuration for automatically moving the lower traveling body 1 forward and backward. In this case, the hydraulic system portion related to the swing hydraulic motor 2A, the hydraulic system portion related to the operation of the bucket cylinder 9, the hydraulic system portion related to the operation of the left traveling hydraulic motor 1L, and the hydraulic system portion related to the operation of the right traveling hydraulic motor 1R may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0092] Next, the automatic control by the controller 30 will be described in detail with reference to Fig. 4. Fig. 4 is a block diagram showing an example of the relationship between functional elements F1 to F6 regarding the execution of automatic control in the controller 30.

[0093] 4, the controller 30 has functional elements F1 to F6 related to the execution of automatic 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.

[0094] The functional element F1 is configured to analyze an operation tendency, which is a tendency of manual operation by an operator. In this embodiment, the functional element F1 analyzes the operation tendency based on the operation data output by the operation pressure sensor 29, and outputs the analysis result together with the operation data. The operation tendency includes, for example, an operation tendency of bringing the tip of the bucket 6 closer to the machine body in a linear manner, an operation tendency of moving the tip of the bucket 6 away from the machine body in a linear manner, an operation tendency of raising the tip of the bucket 6 in a linear manner, and an operation tendency of lowering the tip of the bucket 6 in a linear manner. Then, the functional element F1 outputs, as an analysis result, which operation tendency the current operation tendency matches.

[0095] The functional element F2 is configured to generate a target trajectory. In this embodiment, the functional element F2 refers to the design data stored in the storage device 47 and generates a trajectory that the tip of the bucket 6 should follow during the slope finishing operation.

[0096] The functional element F3 is configured to be able to switch the operation mode of the shovel 100. In this embodiment, the functional element F3 switches the operation mode of the shovel 100 from the manual control mode to the automatic control mode when it receives an ON command from the MC switch 42A, and switches the operation mode of the shovel 100 from the automatic control mode to the manual control mode when it receives an OFF command from the MC stop switch 42B.

[0097] Furthermore, the functional element F3 may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode based on the analysis result of the operation tendency that is the output of the functional element F1. For example, when the functional element F3 determines that "information on the movement of the shovel 100 shows a tendency that is different from normal" as described above based on the analysis result of the operation tendency that is the output of the functional element F1, the functional element F3 may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode.

[0098] When the control mode is switched to the automatic control mode, the operation data and the analysis result of the operation tendency, which are the output of the functional element F1, are supplied to the functional element F5. When the control mode is switched to the manual control mode, the operation data among the output of the functional element F1 is supplied to the functional element F6.

[0099] The functional element F4 is configured to calculate a current tip position. In this embodiment, the functional element F4 calculates the coordinate point of the tip of the bucket 6 as the current tip position based on the boom angle α detected by the boom angle sensor S1, the arm angle β detected by the arm angle sensor S2, and the bucket angle γ detected by the bucket angle sensor S3. The functional element F4 may use the output of the machine body tilt sensor S4 when calculating the current tip position.

[0100] The functional element F5 is configured to calculate the next toe position when the automatic control mode is selected. In this embodiment, when the automatic control mode is selected, the functional element F5 calculates the toe position after a predetermined time as a target toe position based on the analysis result of the operation data and operation tendency output by the functional element F1, the target trajectory generated by the functional element F2, and the current toe position calculated by the functional element F4.

[0101] The functional element F6 is configured to calculate a command value for operating the actuator. In this embodiment, when the automatic control mode is selected, the functional element F6 calculates a boom command value α based on the target tip position calculated by the functional element F5 in order to move the current tip position to the target tip position. * , arm command value β * , and the bucket command value γ * Calculate at least one of the following:

[0102] Furthermore, when the manual control mode is selected, the functional element F6 calculates a boom command value α based on the operation data in order to realize the movement of the actuator in accordance with the operation data. * , arm command value β * , and the bucket command value γ * Calculate at least one of the following:

[0103] When the automatic control mode is selected, the functional element F6 controls the boom command value α as necessary even when the boom operation lever 26A is not operated. * This is to automatically operate the boom 4. The same applies to the arm 5 and the bucket 6.

[0104] On the other hand, when the manual control mode is selected, the functional element F6 is configured to control the boom command value α * This is because in the manual control mode, the boom 4 is not operated unless the boom operation lever 26A is operated. The same applies to the arm 5 and the bucket 6.

[0105] Next, the functional element F6 will be described in detail with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the configuration of the functional element F6 that calculates various command values.

[0106] 5, the controller 30 further includes functional elements F11 to F13, F21 to F23, and F31 to F33 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.

[0107] The functional elements F11 to F13 are the boom command value α * The functional elements F21 to F23 are the functional elements related to the arm command value β * The functional elements F31 to F33 are functional elements related to the bucket command value γ * It is a functional element related to.

[0108] The functional elements F11, F21, and F31 are configured to generate a current command to be output to the proportional valve 31. In this embodiment, the functional element F11 outputs a boom current command to the boom proportional valve 31A (see FIG. 3), the functional element F21 outputs an arm current command to the arm proportional valve 31B (see FIG. 3), and the functional element F31 outputs a bucket current command to the bucket proportional valve 31C.

[0109] The functional elements F12, F22, and F32 are configured to calculate the displacement amount of a spool that constitutes a spool valve. In this embodiment, the functional element F12 calculates the displacement amount of a boom spool that constitutes a control valve 175 for the boom cylinder 7 based on the output of the boom spool displacement sensor S11. The functional element F22 calculates the displacement amount of an arm spool that constitutes a control valve 176 for the arm cylinder 8 based on the output of the arm spool displacement sensor S12. The functional element F23 calculates the displacement amount of a bucket spool that constitutes a control valve 174 for the bucket cylinder 9 based on the output of the bucket spool displacement sensor S13.

[0110] The functional elements F13, F23, and F33 are configured to calculate the rotation angle of the work body. In this embodiment, the functional element F13 calculates the boom angle α based on the output of the boom angle sensor S1. The functional element F23 calculates the arm angle β based on the output of the arm angle sensor S2. The functional element F33 calculates the bucket angle γ based on the output of the bucket angle sensor S3.

[0111] Specifically, the functional element F11 basically calculates the boom command value α * and the boom angle α 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 proportional valve 31A.

[0112] The boom proportional valve 31A changes the opening area in response to the boom current command, and applies a pilot pressure corresponding to the magnitude of the boom command current 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 S11 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 α to the functional element F4.

[0113] The functional element F21 basically calculates the arm command value β generated by the functional element F6. *and the arm angle β 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 proportional valve 31B.

[0114] The arm proportional valve 31B changes the opening area in response to the arm current command, and applies a pilot pressure corresponding to the magnitude of the arm command current 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 S12 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 β to the functional element F4.

[0115] Similarly, the functional element F31 basically calculates the bucket command value γ * and the bucket angle γ 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 proportional valve 31C.

[0116] The bucket proportional valve 31C changes the opening area in response to the bucket current command, and applies a pilot pressure corresponding to the magnitude of the bucket command current 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 S13 detects the displacement of the bucket spool, and feeds back the detection result to the 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 the functional element F33 of the controller 30. The functional element F33 feeds back the calculated bucket angle γ to the functional element F4.

[0117] 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 automatic control.

[0118] Next, the effect of the emergency stop function will be described with reference to Figs. 6 to 9. Figs. 6 to 9 relate to the movement of the shovel 100 when a portion of the ground LP (see Fig. 7) supporting the shovel 100 during slope finishing work collapses. Specifically, they relate to the movement of the shovel 100 when the operator reflexively performs an arm opening operation to prevent the shovel 100 from tipping over when the portion of the ground LP below the front end of the lower running structure 1 collapses and the shovel 100 tilts forward. The operator intends to open the arm 5 to bring the bucket 6 into contact with the slope and stop the shovel 100 from tilting forward.

[0119] More specifically, Fig. 6 is a diagram showing the state of the hydraulic system when an arm opening operation is performed during automatic excavation control in a shovel 100 in which the emergency stop function is set not to operate, and corresponds to Fig. 3. Fig. 7 is a diagram showing the movement of the excavation attachment when an arm opening operation is performed during automatic excavation control in a shovel 100 in which the emergency stop function is set not to operate, and corresponds to Fig. 1.

[0120] When the emergency stop function does not operate, the hydraulic system increases the pilot pressure acting on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R when the arm operating lever 26B is operated in the arm opening direction while the MC switch 42A is pressed, as shown in Fig. 6. This is to contract the arm cylinder 8 to open the arm 5. Therefore, the arm 5 opens according to the operator's intention, as shown by the arrow AR1 in Fig. 7.

[0121] At this time, the controller 30 detects that the arm operating lever 26B has been operated in the arm opening direction based on the output of the operating pressure sensor 29B. As the shovel 100 tilts forward, the tip of the bucket 6 approaches the target construction surface. Therefore, the controller 30 performs a boom-up operation to suppress the tip of the bucket 6 from moving below the target construction surface. Specifically, the controller 30 outputs a control command to the proportional valve 31AL to apply a predetermined pilot pressure to each of the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. This is to extend the boom cylinder 7 in response to the opening of the arm 5 to raise the boom 4. Therefore, the boom 4 rises against the operator's intention, as shown by the arrow AR2 in FIG. 7. And the vertical distance between the tip of the bucket 6 and the target construction surface TS is maintained at a value D1 against the operator's intention, as shown in FIG. 7. That is, the operator cannot support the shovel 100 by bringing the bucket 6 into contact with the slope. As a result, the shovel 100 tilts further forward as indicated by the arrow AR3 in FIG.

[0122] On the other hand, when the emergency stop function is activated, the controller 30 can prevent the excavation attachment from automatically moving against the operator's will, as described above. Fig. 8 is a diagram showing the state of the hydraulic system when an arm opening operation is performed during automatic excavation control in a shovel 100 set to activate the emergency stop function, and corresponds to Fig. 3. Fig. 9 is a diagram showing the movement of the excavation attachment when an arm opening operation is performed during automatic excavation control in a shovel 100 set to activate the emergency stop function, and corresponds to Fig. 1.

[0123] When the emergency stop function is activated, the hydraulic system increases the pilot pressure acting on each of the left pilot port of the control valve 176L and the right pilot port of the control valve 176R when the arm operating lever 26B is operated in the arm opening direction as shown in Fig. 8, in the same manner as when the emergency stop function is not activated. This is to contract the arm cylinder 8 to open the arm 5. Therefore, the arm 5 opens according to the operator's intention, as shown by the arrow AR4 in Fig. 9.

[0124] At this time, the controller 30 detects that the arm operating lever 26B has been operated in the arm opening direction based on the output of the operating pressure sensor 29B. Then, the controller 30 judges whether or not a predetermined condition for stopping the automatic control has been satisfied. For example, the controller 30 judges that the predetermined condition has been satisfied when the operating speed of the arm operating lever 26B in the arm opening direction exceeds a predetermined speed. Then, when it is judged that the predetermined condition has been satisfied, the controller 30 stops the automatic control. In this way, the controller 30 can switch the operation mode of the excavator 100 from the automatic control mode to the manual control mode even during automatic control.

[0125] When the automatic control is stopped, unlike the case where the emergency stop function does not operate, the controller 30 does not output a control command to the proportional valve 31AL. Therefore, a predetermined pilot pressure is not applied to each of the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. That is, the boom cylinder 7 is not extended according to the opening of the arm 5, and the boom 4 is not raised. That is, the boom 4 does not rise against the operator's intention, as shown in FIG. 9. As a result, the vertical distance between the tip of the bucket 6 and the target construction surface TS is shortened as the arm 5 opens in accordance with the operator's intention, and becomes zero when the arm angle reaches a certain angle. That is, the operator can stop further forward tilting of the excavator 100 by contacting the tip of the bucket 6 with the slope, as shown in FIG. 9.

[0126] Next, a similar effect by the emergency stop function will be described with reference to Fig. 10 and Fig. 11. Fig. 10 and Fig. 11 relate to the movement of the shovel 100 when a part of the ground LP supporting the shovel 100 during slope finishing work by the arm closing operation collapses. Specifically, they relate to the movement of the shovel 100 when the operator reflexively performs a boom lowering operation to prevent the shovel 100 from tipping over when the part of the ground LP below the front end of the lower running structure 1 collapses and the shovel 100 tilts forward. The operator intends to stop the shovel 100 from tilting forward by lowering the boom 4 and bringing the bucket 6 into contact with the slope.

[0127] When the emergency stop function is activated, the controller 30 can prevent the excavation attachment from automatically moving against the operator's intention when the operator reflexively performs a boom lowering operation, just as when the operator reflexively performs an arm opening operation. Fig. 10 shows the state of the hydraulic system when a boom lowering operation is performed during automatic excavation control in a shovel 100 set to activate the emergency stop function. Fig. 11 shows the movement of the excavation attachment when a boom lowering operation is performed during automatic excavation control in a shovel 100 set to activate the emergency stop function.

[0128] When the controller 30 detects that the boom operation lever 26A has been operated in the boom lowering direction based on the output of the operation pressure sensor 29A, the controller 30 judges whether or not a predetermined condition for stopping the automatic control is satisfied. For example, the controller 30 judges that the predetermined condition is satisfied when the operation speed of the boom operation lever 26A in the boom lowering direction exceeds a predetermined speed. Then, when it is determined that the predetermined condition is satisfied, the controller 30 stops the automatic control.

[0129] When the automatic control is stopped, the hydraulic system increases the pilot pressure acting on the right pilot port of the control valve 175R when the boom operation lever 26A is operated in the boom lowering direction, as shown in Fig. 10. This is to contract the boom cylinder 7 to lower the boom 4. Therefore, the boom 4 is lowered according to the operator's intention, as shown by the arrow AR5 in Fig. 11. The arm 5 does not move automatically in response to the lowering of the boom 4.

[0130] As a result, the distance between the tip of the bucket 6 and the target construction surface TS is shortened as the boom 4 descends in accordance with the operator's intention, and becomes zero when the boom angle reaches a certain angle. That is, the operator can stop further forward tilting of the shovel 100 by bringing the tip of the bucket 6 into contact with the slope as shown in Fig. 11.

[0131] In the above-mentioned configuration, the controller 30 stops the automatic control when the boom operation lever 26A or the arm operation lever 26B is suddenly operated. However, the controller 30 may stop the automatic control when it detects that the pitch angle of the upper rotating body 3 is equal to or greater than a predetermined angle based on the output of the machine body inclination sensor S4. Alternatively, the controller 30 may stop the automatic control when the emergency stop switch 48, which is a foot switch installed under the feet of the operator in the cabin 10, is stepped on. Alternatively, the controller 30 may stop the automatic control when the MC stop switch 42B is pressed. Even in these cases, the operator can stop the forward tilt of the excavator 100 by, for example, opening the arm 5 or lowering the boom 4 to bring the bucket 6 into contact with the slope.

[0132] Thus, the excavator 100 according to the 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 as an attachment attached to the upper rotating body 3, and a controller 30 as a control device capable of executing automatic control, which is mounted on the upper rotating body 3. The controller 30 is configured to stop the automatic control when information on the movement of the excavator 100 or information on the state of the surrounding machines shows a tendency different from the normal. When the information on the movement of the excavator 100 shows a tendency different from the normal, for example, it corresponds to a case where the bucket 6 may not be pressed against the upslope as intended by the operator. The automatic control may be, for example, automatic excavation control. The automatic control may be, for example, control to move the working part along a target trajectory. With this configuration, the excavator 100 can move according to the operator's intention even during automatic control.

[0133] The "information regarding the movement of the shovel 100" may be, for example, information regarding the operation of the operating device 26 mounted on the upper rotating body 3. The controller 30 may be configured to determine that "the information regarding the movement of the shovel 100 shows an unusual tendency" when, for example, the operating device 26 is operated suddenly. "When the operating device 26 is operated suddenly" includes, for example, a case where the operation amount per unit time of the arm operating lever as the operating device 26 exceeds a predetermined value. Note that the operation amount per unit time of the arm operating lever may be, for example, the tilt angle per unit time of the arm operating lever.

[0134] The automatic control may be, for example, automatic facing control or automatic combined swing control. The "information regarding the movement of the excavator 100" may be information regarding the operation of a swing operation lever mounted on the upper swing body 3. In this case, the controller 30 may be configured to determine that "the information regarding the movement of the excavator 100 shows an unusual tendency" when an operation is performed to swing the upper swing body 3 in a direction opposite to the swing executed by the automatic control.

[0135] Next, details of the automatic control by the controller 30 will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is a block diagram showing another example of the relationship between the functional elements F1 to F6 related to the execution of automatic control in the controller 30, and corresponds to Fig. 4. Fig. 13 is a block diagram showing another configuration example of the functional element F6 that calculates various command values, and corresponds to Fig. 5.

[0136] In the configuration of FIG. 12, a functional element F2 generates a target trajectory based on the output of the spatial recognition device S7, a functional element F4 acquires a turning angle δ, and a functional element F6 acquires a turning command value δ * 13 differs from the configuration in Fig. 4 in that it calculates the rotation hydraulic motor 2A, but is otherwise the same as the configuration in Fig. 4. Also, the configuration in Fig. 13 differs from the configuration in Fig. 5 in that it includes functional elements related to automatic control of the rotation hydraulic motor 2A, but is otherwise the same as the configuration in Fig. 5. Therefore, in the following, a description of the common parts will be omitted, and the different parts will be described in detail.

[0137] 12 and 13, the functional element F2 generates a trajectory to be followed by the tip of the bucket 6 as a target trajectory based on object data detected by the spatial recognition device S7. The object data is information about objects present around the excavator 100, such as the position and shape of a dump truck.

[0138] The functional element F4 calculates the coordinate point of the tip of the bucket 6 as the current tip position based on the boom angle α, the arm angle β, the bucket angle γ, and the rotation angle δ calculated from the output of the rotation angular velocity sensor S5. The functional element F4 may use the output of the machine body inclination sensor S4 when calculating the current tip position.

[0139] When the automatic control mode is selected, the functional element F6 calculates a boom command value α based on the target toe position calculated by the functional element F5 in order to move the current toe position to the target toe position. * , arm command value β * , bucket command value γ * , and the turning command value δ * Calculate at least one of the following:

[0140] The functional elements F41 to F43 are the rotation command value δ * Specifically, the functional element F41 outputs a swing current command to the swing proportional valve 31D. The functional element F42 calculates the displacement 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 S14. The functional element F43 calculates the swing angle δ based on the output of the swing angular velocity sensor S5.

[0141] The functional element F41 basically calculates the rotation command value δ generated by the functional element F6. *and the swing angle δ 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 adjusted swing current command to the swing proportional valve 31D.

[0142] The swing proportional valve 31D changes the opening area according to the swing current command, and applies a pilot pressure corresponding to the magnitude of the swing command current to the pilot port of the control valve 173. The control valve 173 moves the swing spool according to the pilot pressure, and causes hydraulic oil to flow into the swing hydraulic motor 2A. The swing spool displacement sensor S14 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 according to the inflow of hydraulic oil, and swings the upper swing body 3. The swing angular velocity sensor S5 detects the rotation angle of the swinging 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 δ to the functional element F4.

[0143] 12 and 13 configures a three-stage feedback loop not only for the boom angle α, the arm angle β, and the bucket angle γ, but also for the swing angle δ. That is, the controller 30 configures a feedback loop for the swing spool displacement amount, a feedback loop for the rotation angle of the upper swing body 3, and a feedback loop for the toe position. Therefore, the controller 30 can control the movement of the toe of the bucket 6 with high accuracy during automatic control.

[0144] Next, the automatic compound swing control will be described with reference to Fig. 14 and Fig. 15. Fig. 14 and Fig. 15 show the movement of the excavation attachment during the work of loading earth and sand onto the bed of the dump truck DT. Fig. 14 is a top view of the work site. Fig. 15 is a side view of the work site as viewed from the +Y side. For clarity, Fig. 15 omits the illustration of the shovel 100 (excluding the bucket 6).

[0145] In Figures 14 and 15, the excavation attachment shown by solid lines indicates the state of the excavation attachment when an excavation operation is completed, the excavation attachment shown by dotted lines indicates the state of the excavation attachment when a turning operation is being performed, and the excavation attachment shown by dashed and dotted lines indicates the state of the excavation attachment immediately before an earth removal operation is performed.

[0146] Point P11 indicates the center point of the back surface of the bucket 6 when the excavation operation is completed, point P12 indicates the center point of the back surface of the bucket 6 when a swing operation is being performed, and point P13 indicates the center point of the back surface of the bucket 6 immediately before an earth discharge operation is performed. The thick dashed line connecting points P11, P12, and P13 indicates the trajectory of the center point of the back surface of the bucket 6. The earth discharge operation is an operation for dropping the soil in the bucket 6 onto the bed of the dump truck DT.

[0147] In the automatic compound swing control, for example, when the operator is manually performing a swing operation, the automatic control unit 54 automatically extends and retracts at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the center point of the back surface of the bucket 6 moves along a predetermined trajectory. The predetermined trajectory is, for example, a target trajectory calculated based on information about the dump truck DT including the position and shape of the dump truck DT. Information about the dump truck DT as a peripheral machine is acquired based on the output of at least one of the spatial recognition device S7 and the communication device T1. In this case, the operator can move the center point of the back surface of the bucket 6 along the predetermined trajectory just by operating the swing operation lever. That is, the operator can move the bucket 6 that was near the ground to above the bed of the dump truck DT at height Hd while preventing contact between the excavation attachment and the dump truck DT just by operating the swing operation lever. Alternatively, the operator can move the bucket 6 that was on the bed of the dump truck DT at height Hd to near the ground while preventing contact between the excavation attachment and the dump truck DT just by operating the swing operation lever. It should be noted that the trajectory utilized during a right turn (boom up rotation) may be the same as or different from the trajectory utilized during a left turn (boom down rotation).

[0148] Next, an emergency stop function related to the automatic compound swing control will be described. This emergency stop function operates, for example, when the operator of the shovel 100 performs a right swing operation to load earth and sand onto the bed of the dump truck DT, and the dump truck DT starts to move, and the operator performs a left swing operation reflexively. Specifically, this emergency stop function operates, for example, when the stopped dump truck DT suddenly starts to move backward, and the operator performs a left swing operation reflexively to prevent contact between the shovel 100 and the dump truck DT. In this case, the operator intends to move the bucket 6 away from the dump truck DT while maintaining the height of the bucket 6 by swinging the upper swing body 3 to the left, which is the opposite direction, during the right swing.

[0149] For example, if the swing operation lever is suddenly operated in the opposite direction, the automatic control unit 54 determines that "information regarding the movement of the shovel 100 shows an unusual tendency," and stops the automatic combined swing control.

[0150] If the emergency stop function does not operate, i.e., if the automatic compound swing control is not stopped, the automatic control unit 54 will move the center point of the back surface of the bucket 6 along a predetermined trajectory even if the swing operation lever is rapidly operated to the left, thereby reducing the height of the bucket 6 against the operator's intention. The cross-hatched figure in Fig. 15 indicates the position of the bucket 6 whose height has been reduced. In other words, Fig. 15 shows that the bucket 6, which was at the height of the figure shown by the dotted line, descends to the height of the figure shown by the cross-hatched figure.

[0151] On the other hand, when the emergency stop function operates, that is, when the automatic compound swing control is stopped, the automatic control unit 54 can move the bucket 6 by deviating the center point of the back surface of the bucket 6 from the predetermined trajectory when the swing operation lever is abruptly operated to the left. Therefore, the automatic control unit 54 can move the bucket 6 to the left while maintaining the height of the bucket 6 in accordance with the operator's intention, without reducing the height of the bucket 6 against the operator's intention. The figure shown by the diagonal hatching in FIG. 15 shows the position of the bucket 6 moved to the left while maintaining the height. In other words, FIG. 15 shows that the bucket 6, which was at the height of the figure shown by the dotted line, moves to the position of the figure shown by the diagonal hatching while maintaining the same height.

[0152] In this way, when the emergency stop function is activated and the operator reflexively performs a left turning operation, the controller 30 can prevent the excavation attachment from automatically moving against the operator's intention.

[0153] The controller 30 may be configured to detect that the dump truck DT has started to move (for example, started to move backward) based on the output of the spatial recognition device S7. In this case, the controller 30 identifies which work is currently being performed based on the output of various sensors, and then acquires information on the normal state of the peripheral machines related to the work, which is registered in advance for each work. Then, for example, when the controller 30 can identify that the currently performed work is a loading work of loading earth and sand into the bed of the dump truck DT, it acquires information that the normal state of the dump truck DT, which is the peripheral machine related to the loading work, is a stopped state. Then, when the dump truck DT starts to move in the middle of the loading work, the controller 30 can determine that the dump truck DT is in a state different from the normal state. Based on this determination result, the controller 30 can stop the automatic control.

[0154] The operation mode of the shovel 100 may have a stop mode in addition to the manual control mode and the automatic control mode. In this configuration, when the tip of the bucket 6 as the working part is present in an area other than the area above the bed of the dump truck DT, the controller 30 may stop the automatic control when it detects that the dump truck DT has started to move, and then switch the operation mode of the shovel 100 from the automatic control mode to the stop mode. In the stop mode, the controller 30 may stop the movement of the working part in the space between the dump truck DT and the point P11 indicating the center point of the back surface of the bucket 6 when the excavation operation is completed, regardless of whether or not the operation device 26 is operated. This is to prevent the working part from contacting the dump truck DT by making the working part wait until the dump truck DT stops, that is, by forcibly stopping the movement of the working part until the dump truck DT stops.

[0155] In this way, when the controller 30 detects that the dump truck DT has started to move during loading operation, the controller 30 may switch the operation mode of the excavator 100 from the automatic control mode to the stop mode.

[0156] Alternatively, the operation mode of the shovel 100 may have an avoidance mode in addition to the manual control mode and the automatic control mode. Then, for example, when the controller 30 detects that the dump truck DT has started to move during loading operation and when the tip of the bucket 6 as the working part is in an area above the bed of the dump truck DT, the controller 30 may switch the operation mode of the shovel 100 from the automatic control mode to the avoidance mode. In the avoidance mode, the controller 30 may automatically operate various hydraulic actuators regardless of the presence or absence of an operation on the operating device 26, thereby avoiding the tip of the bucket 6 into the space between the dump truck DT and point P11 indicating the center point of the back surface of the bucket 6 when the excavation operation is completed. This is to prevent contact between the working part and the dump truck DT by forcibly moving the working part from within the area above the bed of the dump truck DT to outside the area until the dump truck DT stops.

[0157] In this way, when the controller 30 detects that the dump truck DT has started to move during loading operation, the controller 30 may switch the operation mode of the excavator 100 from the automatic control mode to the avoidance mode.

[0158] The shovel 100 may have a switch related to automatic control, such as the MC switch 42A. In this case, the controller 30 may be configured to execute the automatic control when the switch is operated.

[0159] 3 discloses a hydraulic operation system equipped with a hydraulic pilot circuit. For example, in a hydraulic pilot circuit related to the boom operation lever 26A, hydraulic oil supplied from the pilot pump 15 to the remote control valve 27A is supplied to the pilot port of the control valve 175 at a flow rate corresponding to the opening degree of the remote control valve 27A that is opened by tilting the boom operation lever 26A. Alternatively, in a hydraulic pilot circuit related to the arm operation lever 26B, hydraulic oil supplied from the pilot pump 15 to the remote control valve 27B is supplied to the pilot port of the control valve 176 at a flow rate corresponding to the opening degree of the remote control valve 27B that is opened by tilting the arm operation lever 26B.

[0160] However, instead of a hydraulic operation system equipped with such a hydraulic pilot circuit, an electric operation system equipped with an electric operation lever 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 disposed 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 by controlling the solenoid valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure.

[0161] When an electric operation system equipped with an electric operation lever is adopted, the controller 30 can easily switch between the manual control mode and the automatic control mode. When the controller 30 switches the manual control mode to the automatic control mode, the multiple control valves may be controlled separately in response to an electric signal corresponding to the lever operation amount of one electric operation lever.

[0162] Fig. 16 shows an example of the configuration of an electric operation system. Specifically, the electric operation system in Fig. 16 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 60 for boom-raising operation, and a solenoid valve 62 for boom-lowering operation. The electric operation system in Fig. 16 can also be applied to an arm operation system, a bucket operation system, etc.

[0163] 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 60 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 62 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.

[0164] 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.

[0165] 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 60. Solenoid valve 60 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. 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 62. Solenoid valve 62 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.

[0166] When performing automatic control, the controller 30 generates, for example, a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to a correction operation signal (electrical signal) instead of an operation signal output by an operation signal generating unit of the boom operation lever 26A. The correction 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.

[0167] Furthermore, 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. 17. FIG. 17 is a schematic diagram showing an example of the configuration of the shovel management system SYS. The management system SYS is a system that manages the shovel 100. In this embodiment, the management system SYS is mainly composed of the shovel 100, a support device 200, and a management device 300. The shovel 100, the support device 200, and the management device 300 that configure the management system SYS may each be one unit or multiple units. In the example of FIG. 17, the management system SYS includes one shovel 100, one support device 200, and one management device 300.

[0168] The support device 200 is typically a mobile terminal device, for example, a computer 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 the operator of the shovel 100. However, the support device 200 may be a fixed terminal device.

[0169] 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).

[0170] At least one of the support device 200 and the management device 300 (hereinafter referred to as the "support device 200, etc.") may include a monitor and an operation device for remote operation. In this case, the operator operates 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, for example.

[0171] In the above-mentioned excavator management system SYS, the controller 30 of the excavator 100 may transmit information on at least one of the time and place at which the automatic control was stopped to the support device 200, etc. In this case, the controller 30 may transmit a peripheral image, which is an image captured by the imaging device S6, to the support device 200, etc. The peripheral image may be a plurality of peripheral images captured during a predetermined period including the time at which the automatic control was stopped. Furthermore, the controller 30 may transmit information on at least one of data on the work content of the excavator 100 during a predetermined period including the time at which the automatic control was stopped, data on the attitude of the excavator 100, and data on the attitude of the excavation attachment, to the support device 200, etc. This is to enable the manager who uses the support device 200, etc. to obtain information on the work site as shown in Figures 9, 11, 14, and 15, etc. In other words, this is to enable the manager to analyze the cause of the operation that caused the automatic control to be stopped, etc., and further, to enable the manager to improve the work environment of the excavator 100 based on the results of such analysis.

[0172] In this way, the management system SYS of the shovel 100 according to the embodiment of the present invention includes the shovel 100 that stores at least one of the time, place, attitude, and peripheral image when the automatic control by the shovel 100 is stopped in the storage device 47 or the like and transmits at least one of the stored time, place, attitude, and peripheral image to the outside at any timing, and the management device 300 that receives at least one of the time, place, attitude, and peripheral image transmitted by the shovel 100 and outputs at least one of the received attitude and peripheral image. The attitude is, for example, at least one of the attitude of the shovel 100 when the automatic control is stopped and the attitude of the excavation attachment when the automatic control is stopped. The management device 300 allows the manager to recognize the attitude of the shovel 100, for example, by displaying an illustrated image of the shovel 100 on a monitor. The management device 300 may allow the manager to recognize the attitude of the shovel 100, for example, by outputting audio information.

[0173] 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 and substitutions can be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately can be combined unless technical contradictions arise.

[0174] For example, in the above embodiment, the controller 30 automatically operates the turning hydraulic motor 2A to make the upper turning body 3 face the target construction surface. However, the controller 30 may automatically operate the turning motor generator to make the upper turning body 3 face the target construction surface.

[0175] In the above-described embodiment, the operation data is generated in response to the operation device or the operation device for remote control, but it may be generated automatically by a predetermined operation program.

[0176] The controller 30 may also operate other actuators to make the upper rotating body 3 face the target construction surface. For example, the controller 30 may automatically operate the left-side traveling hydraulic motor 1L and the right-side traveling hydraulic motor 1R to make the upper rotating body 3 face the target construction surface.

[0177] This application claims priority based on Japanese Patent Application No. 2018-013970, filed on January 30, 2018, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0178] 1···Lower body 1L···Hydraulic motor for left-hand travel 1R···Hydraulic motor for right-hand travel 2···Slewing mechanism 2A···Hydraulic motor for swing 3···Upper swing body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Cabin 11··Engine 13···Regulator 13L···Left regulator 13R···Right regulator 14···Main pump 14L···Left main pump 14R···Right main pump 15···Pilot pump 17···Control valve 18L···Left throttle 18R···Right throttle 19L···Left control pressure sensor 19R···Right control pressure sensor 26···Operating device 26A···Boom operation lever 26B Arm operation lever 27A, 27B Remote control valve 28 Discharge pressure sensor 28L Left discharge pressure sensor 28R Right discharge pressure sensor 29, 29A, 29B, 29C Operation pressure sensor 30 Controller 31, 31AL, 31AR, 31BL, 31BR Proportional valve 31A Boom proportional valve 31B Arm proportional valve 31C Bucket proportional valve 31D Swing proportional valve 32, 32AL, 32AR, 32BL, 32BR Shuttle valve 32A Boom shuttle valve 32B Arm shuttle valve 40 Display device 40L Left center bypass pipe 40R Right center bypass pipe 42 Input device 42A MC switch 42B MC stop switch 42L Left parallel pipe 42R Right parallel pipe 43 Sound output device 47 Memory device 48 Emergency stop switch 50 Machine guidance device 51 Position calculation section 52 Distance calculation section 53 Information transmission section 54 Automatic control section 60, 62 Solenoid valve 100 Excavator 171 to 174, 175L, 175R, 176L, 176R Control valve 200 Support device 300 Management device F1 to F6, F11 to F13, F21 to F23, F31 to F33, F41 to F43 Functional elements S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4: Airframe tilt sensor S5: Turning angular velocity sensor S6: Imaging deviceS6B...Rear camera S6F...Front camera S6L...Left camera S6R...Right camera S7...Spatial recognition device S11...Boom spool displacement sensor S12...Arm spool displacement sensor S13...Bucket spool displacement sensor S14...Swivel spool displacement 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 attachment attached to the upper rotating body; A control device capable of executing automatic control, the control device being mounted on the upper rotating body; A switch related to the automatic control, the automatic control is a control for operating a first hydraulic actuator when one operation device is operated, and automatically operating a second hydraulic actuator even if there is no operation of another operation device corresponding to a predetermined second hydraulic actuator, thereby moving a working part along a target trajectory only by operating the one operation device, The control device is configured to execute the automatic control when the switch is operated, and is configured to stop the automatic control when an output from the one operating device indicates an operation tendency different from an operation tendency in the automatic control during execution of the automatic control, even if the switch is operated. Shovel.

2. The control device is configured to determine that an output from the one operating device indicates an operating tendency different from an operating tendency in the automatic control when an operation amount per unit time of the one operating device exceeds a predetermined value. The shovel according to claim 1.

3. The automatic control is an automatic facing control, or an automatic combined swing control that automatically extends and retracts at least one of a boom cylinder, an arm cylinder, and a bucket cylinder so that a working part moves along a target trajectory when an operator is manually performing a swing operation, The control device is configured to determine that, when an operation is performed to rotate the upper rotating body in a direction opposite to the direction of rotation executed by the automatic control, the output from the one operation device indicates an operation tendency different from the operation tendency in the automatic control. The shovel according to claim 1.

4. The control device continues operation of the first hydraulic actuator in response to an operation of the one operating device by stopping the automatic control, and stops operation of the second hydraulic actuator in response to the operation of the first hydraulic actuator. The shovel according to claim 1.

5. The second hydraulic actuator is a boom cylinder or a bucket cylinder. The shovel according to claim 1.

6. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; An attachment attached to the upper rotating body; A spatial recognition device attached to the upper rotating body; A vehicle tilt sensor that detects the tilt of the upper rotating body; A control device capable of executing automatic control, the control device being mounted on the upper rotating body; A switch related to the automatic control, the automatic control is a control for operating a first hydraulic actuator when one operation device is operated, and automatically operating a second hydraulic actuator even if there is no operation of another operation device corresponding to a predetermined second hydraulic actuator, thereby moving a working part along a target trajectory only by operating the one operation device, The control device is configured to execute the automatic control when the switch is operated, and is configured to stop the automatic control based on an output of the aircraft tilt sensor or the spatial recognition device even when the switch is operated. Shovel.

7. The second hydraulic actuator is a boom cylinder or a bucket cylinder. The shovel according to claim 6.

8. An excavator which operates a first hydraulic actuator when an operating device is operated with a switch related to automatic control being operated, and which automatically operates a second hydraulic actuator even without the need to operate another operating device corresponding to a specified second hydraulic actuator, thereby moving a working part along a target trajectory simply by operating the one operating device, and which stores at least one of the time, location, attitude and surrounding image when the excavator's control device stops the automatic control when the switch is operated, and transmits at least one of the stored time, location, attitude and surrounding image; and a management device that receives at least one of the time, the location, the posture, and the surrounding image, and outputs at least one of the posture and the surrounding image received. Excavator management system.

9. A first operation signal outputted from an operation signal generating unit of an operation lever is inputted to the control device, a second operation signal is output to a solenoid valve that controls a pilot pressure of the control valve based on the input first operation signal; The shovel according to claim 1 or 6.

10. When the control device stops the automatic control even if the switch is operated, when the one operating device is operated to bring the work part into contact with the ground in a state in which the work part is not in contact with the ground, the control device moves only the first hydraulic actuator in response to the movement of the first hydraulic actuator without moving the second hydraulic actuator to bring the work part into contact with the ground. The shovel according to claim 1 or 6.

11. When the operator reflexively performs an arm opening operation or a boom lowering operation, the control device stops the automatic control. The shovel according to claim 1 or 6.

12. The control device stops the automatic control even if the switch is operated when the pitch angle of the upper rotating body reaches a predetermined angle, when the absolute value of the rate of change of the pitch angle reaches or exceeds a predetermined value, or when the amount of change of the pitch angle reaches or exceeds a predetermined value. The shovel according to claim 1 or 6.

13. The control device is configured to stop the automatic control when the operation speed of the one operating device exceeds a predetermined speed, or when the operation amount or tilt angle per unit time of the one operating device exceeds a predetermined value, or when the one operating device is operated in the opposite direction, even if the switch is operated. The shovel according to claim 1.

14. The target trajectory is generated based on an output of the spatial recognition device. The shovel according to claim 7.

15. The target trajectory is a trajectory regarding the movement of an excavation attachment in an operation of loading soil and sand onto a bed of a dump truck. The shovel according to claim 7.

16. The control device performs feedback control based on the turning angle. The shovel according to claim 6.

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