Excavator

Abstract

The shovel (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 object detection device (70) provided on the upper rotating body (3), a controller (30) as a control device provided on the upper rotating body (3), and a driven body moved by an actuator. The object detection device (70) is configured to detect another shovel (200) in a detection space (DS) set around the shovel (100). The controller (30) is configured to change a movable range (MS), which is a range within which the driven body can enter, based on the state of the object detected by the object detection device (70).

Description

Technical Field

[0001] The present disclosure relates to an excavator.

Background Art

[0002] Conventionally, there is known an excavator that decelerates or stops the movement of an arm when it is determined that there is a possibility of interference (collision) with another excavator working nearby (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the above-described excavator decelerates or stops the movement of the arm if there is even a slight possibility of collision. Therefore, there is a risk of reducing the work efficiency.

[0005] Therefore, it is desirable to provide an excavator that can work efficiently while avoiding collisions with other objects working nearby.

Means for Solving the Problems

[0006] The excavator according to an embodiment of the present invention includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, an object detection device provided on the upper swing body, a control device provided on the upper swing body, and a driven body moved by an actuator, the object detection device being configured to detect an object in a detection space set around the excavator, and the control device being configured to, based on the state of the object including the position of the object detected by the object detection device, determine a range in which the driven body can enter The columnar range set asThe movable range is changed, and both the movable range before the change and the movable range after the change are within the range where the driven body can enter. The columnar range set as and at least one of the movable range before the change and the movable range after the change has, in a plan view, a cross-section in the shape of a columnar space obtained by cutting out an arc of a circle from an annular sector range including the arc of the circle centered on the turning axis of the upper slewing body with a maximum turning radius as the radius, the turning axis moves as the lower traveling body travels, and the maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent.

Advantages of the Invention

[0007] By the above means, an excavator is provided that can work efficiently while avoiding collisions with other objects working nearby.

Brief Description of the Drawings

[0008]

Figure 1A

Figure 1B

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12A

Figure 12B

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0009] First, with reference to FIGS. 1A and 1B, an excavator 100 as an excavating machine according to an embodiment of the present invention will be described. FIGS. 1A and 1B are diagrams showing a configuration example of the excavator 100. FIG. 1A is a side view of the excavator 100, and FIG. 1B is a top view of the excavator 100.

[0010] In the present embodiment, the lower traveling body 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. However, the traveling hydraulic motor 2M may be a traveling electric generator as an electric actuator. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. Since the lower traveling body 1 is driven by the crawler 1C, it functions as a driven body.

[0011] The upper slewing body 3 is mounted on the lower traveling body 1 via a slewing mechanism 2 so as to be slewed. The slewing mechanism 2 as a driven body is driven by a slewing hydraulic motor 2A mounted on the upper slewing body 3. However, the slewing hydraulic motor 2A may be a slewing motor generator as an electric actuator. Since the upper slewing body 3 is driven by the slewing mechanism 2, it functions as a driven body.

[0012] A boom 4 as a driven body is attached to the upper slewing body 3. An arm 5 as a driven body is attached to the tip of the boom 4, and a bucket 6 as a driven body and an end attachment is attached to the tip of the arm 5. The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. Since the excavation attachment is driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, it functions as a driven body.

[0013] 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.

[0014] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the boom angle which is the rotation angle of the boom 4 with respect to the upper slewing body 3. The boom angle becomes the minimum angle, for example, when the boom 4 is lowered most, and increases as the boom 4 is raised.

[0015] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle which is the rotation angle of the arm 5 with respect to the boom 4. The arm angle becomes the minimum angle, for example, when the arm 5 is closed most, and increases as the arm 5 is opened.

[0016] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. The bucket angle becomes the minimum angle, for example, when the bucket 6 is closed most, and increases as the bucket 6 is opened.

[0017] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor, etc.

[0018] The upper swing body 3 is provided with a cabin 10 as a driver's cab and is equipped with a power source such as an engine 11. Further, a controller 30, an object detection device 70, an orientation detection device 85, a body tilt sensor S4, a swing angular velocity sensor S5, etc. are attached to the upper swing body 3. Inside the cabin 10, an operation device 26 etc. are provided. In this document, for convenience, the side of the upper swing body 3 where the boom 4 is attached is defined as the front, and the side where the counterweight is attached is defined as the rear.

[0019] The controller 30 is a control device for controlling the excavator 100. In the present embodiment, the controller 30 is composed of a computer equipped with a CPU, a RAM, an NVRAM, a ROM, etc. Then, the controller 30 reads out the program corresponding to each function from the ROM and loads it into the RAM, and causes the CPU to execute the corresponding processing.

[0020] The object detection device 70 is configured to detect an object existing around the excavator 100. Further, the object detection device 70 is configured to calculate the distance to the object detected from the object detection device 70 or the excavator 100. The object is, for example, a person, an animal, a vehicle, a construction machine, a building, a fence, or a hole. The object detection device 70 is, for example, a monocular camera, an ultrasonic sensor, a millimeter-wave radar, a lidar, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor. In the present embodiment, the object detection device 70 is composed of a plurality of distance image sensors, including a front sensor 70F attached to the front end of the upper surface of the cab 10, a rear sensor 70B attached to the rear end of the upper surface of the upper swing body 3, a left sensor 70L attached to the left end of the upper surface of the upper swing body 3, and a right sensor 70R attached to the right end of the upper surface of the upper swing body 3.

[0021] The controller 30 may be configured to detect a predetermined object within a predetermined area set around the excavator 100 based on the output of the object detection device 70. The predetermined object is, for example, a movable object such as another excavator. Specifically, the controller 30 may be configured to distinguish an object other than the excavator, such as a stationary object like a fence, from the excavator. In this case, since the controller 30 recognizes the excavator as a movable object that makes a predetermined movement, the movement trajectory of the excavator can be easily estimated. The predetermined movement is, for example, the swing of the upper swing body 3 around the swing axis, the rotation of the boom 4 around the boom rotation axis, or the forward and backward movement in the extending direction of the crawler 1C.

[0022] The orientation detection device 85 is configured to detect information regarding the relative relationship between the orientation of the upper swing body 3 and the orientation of the lower traveling body 1 (hereinafter referred to as "information regarding orientation"). For example, the orientation detection device 85 may be configured by a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper swing body 3. Alternatively, the orientation detection device 85 may be configured by a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper swing body 3. In a configuration where the upper swing body 3 is swing-driven by a swing electric generator, the orientation detection device 85 may include a resolver.

[0023] The machine body inclination sensor S4 is configured to detect the inclination of the upper swing body 3 with respect to a predetermined plane. In the present embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the inclination angle (roll angle) around the longitudinal axis and the inclination angle (pitch angle) around the lateral axis of the upper swing body 3 with respect to the horizontal plane. The longitudinal axis and the lateral axis of the upper swing body 3 pass through, for example, a point on the swing axis of the excavator 100 that is the excavator center point and are orthogonal to each other. The machine body inclination sensor S4 may be a combination of an acceleration sensor and a gyro sensor.

[0024] The swing angular velocity sensor S5 is configured to detect the swing angular velocity of the upper swing body 3. In the present embodiment, the swing angular velocity sensor S5 is a gyro sensor. The swing angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The swing angular velocity sensor S5 may detect the swing speed. The swing speed may be calculated from the swing angular velocity.

[0025] Hereinafter, any combination of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the swing angular velocity sensor S5 is also collectively referred to as an attitude sensor. The attitude sensor is configured to acquire information regarding the attitude of the excavator 100.

[0026] Next, referring to FIG. 2, a configuration example of the hydraulic system mounted on the excavator 100 will be described. FIG. 2 is a diagram showing a configuration example of the hydraulic system mounted on the excavator 100. In FIG. 2, the mechanical power transmission line, the hydraulic oil line, the pilot line, and the electric control line are shown by double lines, solid lines, broken lines, and dotted lines, respectively.

[0027] The hydraulic 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 control valve 60, and the like.

[0028] In FIG. 2, the hydraulic system circulates hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank through the center bypass pipeline 40 or the parallel pipeline 42.

[0029] The engine 11 is a drive source of the excavator 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0030] The main pump 14 is configured to supply hydraulic oil to the control valve 17 through the hydraulic oil line. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0031] The regulator 13 is configured to control the discharge amount (push-back volume) of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount (push-back volume) of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 according to a control command from the controller 30.

[0032] The pilot pump 15 is configured to supply hydraulic oil to the hydraulic control equipment including the operating device 26 via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function that the pilot pump 15 has been responsible for 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 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.

[0033] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In the present embodiment, the control valve 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 1756. The control valve 17 can selectively supply the hydraulic oil discharged from the main pump 14 to one or a plurality of 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 actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0034] The operating device 26 is a device used by the operator for operating the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. The pressure (pilot pressure) of the hydraulic oil supplied to each of the pilot ports is a pressure corresponding to the operation direction and operation amount of a lever or a pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators.

[0035] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0036] The operation pressure sensor 29 is configured to detect the content of the operation of the operation device 26 by the operator. In the present embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30. The operation content of the operation device 26 may be detected using other sensors other than the operation pressure sensor.

[0037] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipeline 40L or the left parallel pipeline 42L, and the right main pump 14R circulates the hydraulic oil to the hydraulic oil tank through the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0038] The left center bypass pipeline 40L is a hydraulic oil line passing through the control valves 171, 173, 175L, and 176L arranged in the control valve 17. The right center bypass pipeline 40R is a hydraulic oil line passing through the control valves 172, 174, 175R, and 176R arranged in the control valve 17.

[0039] 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 traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0040] 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 traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0041] 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 slewing hydraulic motor 2A and to discharge the hydraulic oil discharged by the slewing hydraulic motor 2A to the hydraulic oil tank.

[0042] 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.

[0043] The control valve 175L 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 boom cylinder 7. 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.

[0044] 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.

[0045] 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.

[0046] The left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L. When the flow of hydraulic oil through the left center bypass pipeline 40L is restricted or blocked by any one of the control valves 171, 173, and 175L, the left parallel pipeline 42L can supply hydraulic oil to the downstream control valve. The right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R. When the flow of hydraulic oil through the right center bypass pipeline 40R is restricted or blocked by any one of the control valves 172, 174, and 175R, the right parallel pipeline 42R can supply hydraulic oil to the downstream control valve.

[0047] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, for example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to decrease the discharge amount. The same applies to the right regulator 13R. This is to ensure that the absorption power (e.g., absorption horsepower) of the main pump 14, represented by the product of the discharge pressure and the discharge amount, does not exceed the output power (e.g., output horsepower) of the engine 11.

[0048] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a traveling lever 26D. The traveling lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0049] The left operating lever 26L is used for turning operation and operation of the arm 5. When the left operating lever 26L is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When the left operating lever 26L is operated in the left-right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0050] Specifically, when the left operation lever 26L is operated in the arm closing direction, hydraulic oil is introduced into the right pilot port of the control valve 176L and into the left pilot port of the control valve 176R. Also, when the left operation lever 26L is operated in the arm opening direction, hydraulic oil is introduced into the left pilot port of the control valve 176L and into the right pilot port of the control valve 176R. Further, when the left operation lever 26L is operated in the left turning direction, hydraulic oil is introduced into the left pilot port of the control valve 173, and when it is operated in the right turning direction, hydraulic oil is introduced into the right pilot port of the control valve 173.

[0051] The right operation lever 26R is used for the operation of the boom 4 and the bucket 6. When the right operation lever 26R is operated in the front - rear direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. Also, when the right operation lever 26R is operated in the left - right direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0052] Specifically, when the right operation lever 26R is operated in the boom lowering direction, hydraulic oil is introduced into the left pilot port of the control valve 175R. Also, when the right operation lever 26R is operated in the boom raising direction, hydraulic oil is introduced into the right pilot port of the control valve 175L and into the left pilot port of the control valve 175R. Further, when the right operation lever 26R is operated in the bucket closing direction, hydraulic oil is introduced into the left pilot port of the control valve 174, and when it is operated in the bucket opening direction, hydraulic oil is introduced into the right pilot port of the control valve 174.

[0053] The traveling lever 26D is used for the operation of the crawler 1C. Specifically, the left traveling lever 26DL is used for the operation of the left crawler 1CL. The left traveling lever 26DL may be configured to be interlocked with the left traveling pedal. When the left traveling lever 26DL is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right traveling lever 26DR is used for the operation of the right crawler 1CR. The right traveling lever 26DR may be configured to be interlocked with the right traveling pedal. When the right traveling lever 26DR is operated in the front-rear direction, it uses the hydraulic oil discharged by the pilot pump 15 and introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0054] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0055] The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects, in the form of pressure, the content of the front-rear direction operation of the left operation lever 26L by the operator and outputs the detected value to the controller 30. The operation content is, for example, the lever operation direction and the lever operation amount (lever operation angle), etc.

[0056] Similarly, the operation pressure sensor 29LB detects the content of the left-right direction operation on the left operation lever 26L by the operator in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29RA detects the content of the front-back direction operation on the right operation lever 26R by the operator in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29RB detects the content of the left-right direction operation on the right operation lever 26R by the operator in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29DL detects the content of the front-back direction operation on the left travel lever 26DL by the operator in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29DR detects the content of the front-back direction operation on the right travel lever 26DR by the operator in the form of pressure, and outputs the detected value to the controller 30.

[0057] The controller 30 receives the output of the operation pressure sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14.

[0058] Here, the negative control using the throttle 18 and the control pressure sensor 19 will be described. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0059] In the left center bypass pipeline 40L, a left throttle valve 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle valve 18L. And the left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump 14R is also controlled in the same way.

[0060] Specifically, as shown in FIG. 2, in the case of the standby state where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged by the left main pump 14L reaches the left throttle valve 18L through the left center bypass pipeline 40L. And the flow of the hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 decreases the discharge amount of the left main pump 14L to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipeline 40L. On the other hand, when any hydraulic actuator related to the left center bypass pipeline 40L 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. And the flow of the hydraulic oil discharged by the left main pump 14L decreases or disappears the amount reaching the left throttle valve 18L, and decreases the control pressure generated upstream of the left throttle valve 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, allows sufficient hydraulic oil to flow into the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the controller 30 controls the discharge amount of the right main pump 14R in the same way.

[0061] With the above configuration, in the standby state, the hydraulic system shown in Fig. 2 can suppress the wasteful energy consumption in the main pump 14. The wasteful energy consumption includes the pumping loss generated by the hydraulic oil discharged from the main pump 14 in the center bypass pipeline 40. Also, when operating the hydraulic actuator, the hydraulic system shown in Fig. 2 can surely supply sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0062] The control valve 60 is configured to switch between the effective state and the ineffective state of the operating device 26. The effective state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26, and the ineffective state of the operating device 26 is a state in which the operator cannot move the related driven body even by operating the operating device 26.

[0063] In this embodiment, the control valve 60 is an electromagnetic valve that can switch between the communication state and the cutoff state of the pilot line CD1 connecting the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch between the communication state and the cutoff state of the pilot line CD1 according to a command from the controller 30.

[0064] The control valve 60 may be configured to be interlocked with a gate lock lever (not shown). Specifically, it may be configured to cut off the pilot line CD1 when the gate lock lever is pushed down and to put the pilot line CD1 in the communication state when the gate lock lever is pulled up.

[0065] In the above-described embodiment, a hydraulic operation lever equipped with a hydraulic pilot circuit is adopted. However, instead of such a hydraulic operation lever equipped with a hydraulic pilot circuit, an electric operation lever equipped with an electric pilot circuit may be adopted. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. Further, a solenoid valve is disposed between the pilot pump 15 and the pilot ports of the respective control valves. The solenoid valve is configured to operate in response to an electric signal from the controller 30. With this configuration, when a manual operation using the electric operation lever is performed, the controller 30 can control the solenoid valve by an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving the respective control valves. Each control valve may be constituted by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

[0066] Next, with reference to FIG. 3, a process in which the controller 30 restricts the movement of the driven body (hereinafter referred to as "movement restriction process") will be described. FIG. 3 is a flowchart of an example of the movement restriction process. The controller 30 repeatedly executes this movement restriction process, for example, at a predetermined control cycle.

[0067] First, the controller 30 determines whether or not it is detecting an object inside the work space WS as shown in FIG. 1B (step ST1). In the present embodiment, the controller 30 determines whether or not it is detecting an object inside the work space WS included in the detection space DS as shown in FIG. 1B based on the output of the object detection device 70. The object is, for example, another excavator. The object may be another machine such as a dump truck.

[0068] The detection space DS is a space set around the excavator 100. In the present embodiment, the detection space DS is a cylindrical space with a radius greater than the maximum turning radius of the excavator 100. The maximum turning radius is, for example, the distance between the turning axis and the tip of the bucket 6 when the excavation attachment is extended outward to the maximum extent. The object detection device 70 is configured to be able to detect an object existing inside the detection space DS.

[0069] The work space WS is a space set inside the detection space DS as a space where the excavator 100 can operate. In the present embodiment, the work space WS is a range derived from the operating trajectory of the excavator 100. Specifically, the work space WS is a cylindrical space with the maximum turning radius as its radius.

[0070] When it is determined that an object is not detected inside the work space WS (NO in step ST1), the controller 30 ends the current operation restriction process.

[0071] When it is determined that an object is detected inside the work space WS (YES in step ST1), the controller 30 determines whether the operating device 26 has been operated (step ST2). In the present embodiment, the controller 30 determines whether the operating device 26 has been operated based on the output of the operation pressure sensor 29. For example, the controller 30 determines whether an arm closing operation has been performed and whether an arm opening operation has been performed based on the output of the operation pressure sensor 29LA, and determines whether a left turning operation has been performed and whether a right turning operation has been performed based on the output of the operation pressure sensor 29LB. Alternatively, the controller 30 determines whether a boom raising operation has been performed and whether a boom lowering operation has been performed based on the output of the operation pressure sensor 29RA, and determines whether a bucket closing operation has been performed and whether a bucket opening operation has been performed based on the output of the operation pressure sensor 29RB. Similarly, the controller 30 determines whether a forward operation of the left crawler 1CL has been performed and whether a reverse operation of the left crawler 1CL has been performed based on the output of the operation pressure sensor 29DL, and determines whether a forward operation of the right crawler 1CR has been performed and whether a reverse operation of the right crawler 1CR has been performed based on the output of the operation pressure sensor 29DR.

[0072] When it is determined that the operating device 26 has not been operated (NO in step ST2), the controller 30 ends the current motion restriction process.

[0073] When it is determined that the operating device 26 has been operated (YES in step ST2), the controller 30 determines whether to restrict the movement of the driven body corresponding to the operation (step ST3). Restricting the movement of the driven body may include prohibiting the movement of the driven body. That is, the controller 30 determines whether to allow the movement of the driven body corresponding to the manual operation via the operating device 26. In the present embodiment, the controller 30 acquires information regarding the posture of the excavator 100 based on the output of the posture sensor, and determines whether the movement of the driven body is within the movable range MS as shown in FIG. 1B based on that information. In FIG. 1B, the movable range MS is hatched.

[0074] The movable range MS is a range within the work space WS that is variably set and into which the driven body can enter. In the present embodiment, the movable range MS is variably set based on an object in the detection space DS or the state of an object in the work space WS included in the detection space DS.

[0075] The area other than the movable range MS in the work space WS is a restricted range RS (see FIG. 4). The restricted range RS is a range in which the entry of the driven body is restricted. In FIG. 1B, since the entire work space WS is the movable range MS, there is no restricted range RS.

[0076] The controller 30 is configured to variably set the movable range MS based on, for example, the state of an object in the detection space DS. In the present embodiment, the controller 30 variably sets the movable range MS based on the current state or future state of the object detected by the object detection device 70. The future state is the state after a predetermined time has elapsed from the current time and is predicted from at least one of the past state and the current state. Typically, the controller 30 variably sets the movable range MS so that the movable range MS becomes smaller when the object detected by the object detection device 70 approaches the excavator 100. Also, the controller 30 variably sets the movable range MS so that the movable range MS becomes larger when the object detected by the object detection device 70 moves away from the excavator 100. The controller 30 may be configured to update the movable range MS, for example, every predetermined control cycle.

[0077] Then, when the controller 30 moves the driven body in response to a manual operation via the operation device 26, the controller 30 determines whether the driven body exits the movable range MS. Then, when it is determined that the driven body exits the movable range MS, it is determined that the movement of the driven body is not a movement inside the movable range MS, and when it is determined that the driven body does not exit the movable range MS, it is determined that the movement of the driven body is a movement inside the movable range MS.

[0078] When the controller 30 determines that the driven body does not move out of the movable range MS, that is, when it determines that the movement of the driven body is within the movable range MS, the controller 30 does not restrict the movement of the driven body. For example, when a right-turn operation is performed and it is determined that the excavation attachment does not move out of the movable range MS even if the upper swing body 3 is turned to the right, the controller 30 allows the right-turn of the upper swing body 3 without restricting it.

[0079] On the other hand, when the controller 30 determines that the driven body moves out of the movable range MS and enters the restricted range RS, that is, when it determines that the movement of the driven body is not within the movable range MS, the controller 30 restricts the movement of the driven body. For example, when a right-turn operation is performed and it is determined that the excavation attachment moves out of the movable range MS when the upper swing body 3 is turned to the right, the controller 30 prohibits the right-turn of the upper swing body 3 without allowing it.

[0080] When it is determined not to restrict the movement of the driven body (NO in step ST3), the controller 30 ends the current movement restriction process.

[0081] When it is determined to restrict the movement of the driven body (YES in step ST3), the controller 30 restricts the movement of the driven body (step ST4). In the present embodiment, when the driven body has already moved, the controller 30 starts braking the driven body, and when the driven body has not moved yet, the controller 30 prohibits the movement of the driven body.

[0082] Specifically, the controller 30 outputs a control command to the control valve 60 to cut off the pilot line CD1 and invalidate the operation via the operating device 26.

[0083] More specifically, when the controller 30 prohibits the turning of the upper swing body 3, it outputs a control command to the control valve 60 to cut off the pilot line CD1 and invalidates the operation via the left operation lever 26L. Similarly, when the controller 30 prohibits the backward movement of the lower traveling body 1, it outputs a control command to the control valve 60 to cut off the pilot line CD1 and invalidates the operation via the travel lever 26D.

[0084] With this configuration, even when the controller 30 detects an object inside the work space WS, it can operate the driven body without uniformly restricting or prohibiting the movement of the driven body and without bringing the object into contact with the excavator 100. Therefore, it is possible to prevent the movement of the excavator 100 from being uniformly restricted when an object is detected in the work space WS.

[0085] Note that steps ST1 and ST2 may be in any order, and step ST1 may be executed after step ST2 is executed or may be executed simultaneously with step ST2.

[0086] Also, in the above-described embodiment, when the controller 30 restricts the movement of the driven body, it invalidates all operations via the operating device 26, but it may be configured to be able to individually invalidate each of the left operation lever 26L, the right operation lever 26R, and the travel lever 26D. For example, the controller 30 may be configured to be able to invalidate the travel lever 26D while keeping the left operation lever 26L and the right operation lever 26R in an enabled state. Such a configuration may be realized, for example, by using a plurality of control valves 60. Also, in the above-described embodiment, the control valve 60 is arranged in the pilot line connecting the pilot pump 15 and the operating device 26, but it may be arranged in the pilot line connecting the operating device 26 and each of the control valves 171 to 176. For example, the control valve 60 related to the boom raising operation may be arranged in the pilot line connecting the right operation lever 26R and the control valve 175.

[0087] Here, referring to FIGS. 4 to 7, a setting example of the movable range MS and the restricted range RS will be described. FIGS. 4 to 7 are top views of an excavator showing a setting example of the movable range MS and the restricted range RS. In the examples of FIGS. 4 to 7, another excavator 200 exists inside the work space WS included in the detection space DS of the excavator 100. Further, in FIGS. 4 to 7, the movable range MS is hatched.

[0088] Such a situation where the excavator 100 and the excavator 200 are close to each other occurs when a plurality of construction machines work simultaneously in a narrow place such as inside a tunnel, inside a parking lot, or inside a demolition site. Even in such a situation, the controller 30 can detect an approaching object and perform braking such as stopping or decelerating a driven body caused by the approaching object without reducing the working efficiency of the excavator 100 by setting the movable range MS and the restricted range RS as shown below.

[0089] The controller 30 acquires information regarding the state of the excavator 200 based on the output of the object detection device 70. Then, the controller 30 sets the movable range MS based on the information and allows the movement of the driven body within the movable range MS. On the other hand, the controller 30 restricts or prohibits the movement of the driven body within the restricted range RS, which is the range other than the movable range MS in the work space WS. The information regarding the state of the excavator 200 includes, for example, information regarding the movement trajectory of the excavator 200.

[0090] For example, when the excavator 200 is stationary as shown in FIG. 4, the controller 30 sets the movable range MS as a range in which the upper swing body 3 can be swung to the right by an angle α and can be swung to the left by an angle β. The excavator 100R shown by the dashed line represents the state of the excavator 100 when the upper swing body 3 is swung to the right by an angle α, and the excavator 100L shown by the dashed line represents the state of the excavator 100 when the upper swing body 3 is swung to the left by an angle β.

[0091] Further, when the controller 30 detects that the excavator 200 is turning right as shown in FIG. 5, the controller 30 increases the movable range MS compared to the case of FIG. 4. Specifically, the controller 30 increases the angle that can be turned right by an angle α1.

[0092] Also, when the controller 30 detects that the excavator 200 is traveling in a direction away from the excavator 100 as shown in FIG. 6, the controller 30 increases the movable range MS compared to the case of FIG. 4. Specifically, the controller 30 increases the angle that can be turned right by an angle α2.

[0093] On the other hand, when the controller 30 detects that the excavator 200 is turning left as shown in FIG. 7, the controller 30 decreases the movable range MS compared to the case of FIG. 4. Specifically, the controller 30 decreases the angle that can be turned right by an angle α3.

[0094] In this way, the controller 30 may set, as the movable range MS, a range that does not overlap with the range derived from the operating orbit of the excavator 200 among the work space WS derived from the operating orbit of the excavator 100.

[0095] Next, referring to FIG. 8, another example of the operation restriction process will be described. FIG. 8 is a flowchart of another example of the operation restriction process. The controller 30 repeatedly executes this operation restriction process, for example, at a predetermined control cycle.

[0096] First, the controller 30 determines whether an object is detected inside the detection space DS and outside the work space WS (step ST11). In the present embodiment, the controller 30 determines whether another excavator 200 is detected inside the detection space DS and outside the work space WS based on the output of the object detection device 70.

[0097] If it is determined that no object is detected (NO in step ST11), the controller 30 ends the current operation restriction process.

[0098] When it is determined that an object is being detected (YES in step ST11), the controller 30 determines whether the operating device 26 has been operated (step ST12). In the present embodiment, the controller 30 determines whether the operating device 26 has been operated based on the output of the operation pressure sensor 29.

[0099] When it is determined that the operating device 26 has not been operated (NO in step ST12), the controller 30 ends the current motion restriction process.

[0100] When it is determined that the operating device 26 has been operated (YES in step ST12), the controller 30 determines whether there is a possibility that the object will enter the work space WS (step ST13).

[0101] When it is determined that there is no possibility that the object will enter the work space WS (NO in step ST13), the controller 30 ends the current motion restriction process.

[0102] When it is determined that there is a possibility that the object will enter the work space WS (YES in step ST13), the controller 30 determines whether to restrict the movement of the driven body corresponding to the operation (step ST14). That is, the controller 30 determines whether the movement of the driven body corresponding to the manual operation via the operating device 26 is permitted. In the present embodiment, the controller 30 acquires information regarding the posture of the excavator 100 based on the output of the posture sensor, and determines whether the movement of the driven body is within the movable range based on that information. Specifically, it is determined whether the driven body will go out of the movable range MS when the driven body is moved according to the manual operation via the operating device 26.

[0103] When the controller 30 determines that the driven body will not go out of the movable range MS, it does not restrict the movement of the driven body. For example, when a right turning operation is performed and it is determined that the excavation attachment will not go out of the movable range MS even if the upper slewing body 3 is turned to the right, the controller 30 does not prohibit the right turning of the upper slewing body 3, that is, permits the right turning of the upper slewing body 3.

[0104] On the other hand, when the controller 30 determines that the driven body has exited the movable range MS, that is, when it determines that the driven body has entered the restricted range RS, the controller 30 prohibits the movement of the driven body. For example, when it is determined that the upper swing body 3 will exit the movable range MS when the upper swing body 3 is swung to the right during a right swing operation, the controller 30 prohibits the right swing of the upper swing body 3.

[0105] When it is determined not to restrict the movement of the driven body (NO in step ST14), the controller 30 ends the current movement restriction process.

[0106] When it is determined to restrict the movement of the driven body (YES in step ST14), the controller 30 restricts the movement of the driven body (step ST15). In the present embodiment, when the driven body is already moving, the controller 30 starts braking the driven body, and when the driven body has not yet moved, the controller 30 prohibits the movement of the driven body.

[0107] Specifically, the controller 30 outputs a control command to the control valve 60 to cut off the pilot line CD1 and invalidates the operation via the operating device 26.

[0108] More specifically, when the controller 30 prohibits the swing of the upper swing body 3, the controller 30 outputs a control command to the control valve 60 to cut off the pilot line CD1 and invalidates the operation via the left operation lever 26L. Similarly, when the controller 30 prohibits the backward movement of the lower traveling body 1, the controller 30 outputs a control command to the control valve 60 to cut off the pilot line CD1 and invalidates the operation via the traveling lever 26D.

[0109] With this configuration, when there is a risk that the excavator 200 existing inside the detection space DS and outside the work space WS may enter the work space WS, the controller 30 can narrow the movable range MS even when the excavator 200 has not yet entered the work space WS. Therefore, the controller 30 can more reliably prevent contact between the excavator 100 and the excavator 200.

[0110] Note that steps ST11 and ST12 can be in any order, and step ST11 may be executed after step ST12 is executed, or may be executed simultaneously with step ST12.

[0111] Also, in the above-described embodiment, when restricting the movement of the driven body, the controller 30 invalidates all operations via the operation device 26, but may be configured to be able to individually invalidate each of the left operation lever 26L, the right operation lever 26R, and the travel lever 26D. For example, the controller 30 may be configured to be able to invalidate the travel lever 26D while keeping the left operation lever 26L and the right operation lever 26R in an effective state. Such a configuration may be realized, for example, by using a plurality of control valves 60.

[0112] Here, referring to FIGS. 9 to 11, another setting example of the movable range MS and the restriction range RS will be described. FIGS. 9 to 11 are top views of an excavator showing another setting example of the movable range MS and the restriction range RS. In the examples of FIGS. 9 to 11, another excavator 200 exists inside the detection space DS of the excavator 100 and outside the work space WS. Also, in FIGS. 9 to 11, the movable range MS is hatched.

[0113] The controller 30 acquires information regarding the state of the excavator 200 based on the output of the object detection device 70. Then, the controller 30 sets the movable range MS based on that information and permits the movement of the driven body within the movable range MS. On the other hand, the controller 30 restricts or prohibits the movement of the driven body within the restricted range RS, which is the range other than the movable range MS in the work space WS. The information regarding the state of the excavator 200 includes, for example, information regarding the operating trajectory of the excavator 200.

[0114] For example, when the excavator 200 is stationary as shown in FIG. 9, the controller 30 sets the entire work space WS as the movable range MS.

[0115] Also, when the controller 30 detects that the excavator 200 is turning right as shown in FIG. 10, it makes the movable range MS smaller than in the case of FIG. 9. Specifically, it sets the range to the right rear of the excavator 100 as the restricted range RS.

[0116] Also, when the controller 30 detects that the excavator 200 is traveling in a direction approaching the excavator 100 as shown in FIG. 11, it makes the movable range MS smaller than in the case of FIG. 9. Specifically, it sets the range to the left side of the excavator 100 as the restricted range RS.

[0117] In this way, the controller 30 may set, as the movable range MS, the range in the work space WS derived from the operating trajectory of the excavator 100 that does not overlap with the range derived from the operating trajectory of the excavator 200.

[0118] Next, referring to FIGS. 12A and 12B, another configuration example of the excavator 100 will be described. FIGS. 12A and 12B are diagrams showing another configuration example of the excavator 100, where FIG. 12A shows a side view and FIG. 12B shows a top view.

[0119] The excavator shown in FIGS. 12A and 12B is different from the excavator 100 shown in FIG. 1 in that it is equipped with a display device 45, an imaging device 80, a communication device T1, and a positioning device P1, but is otherwise common. Therefore, the description of the common parts will be omitted, and the different parts will be described in detail.

[0120] The display device 45 is configured to display various information. The display device 45 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

[0121] The imaging device 80 images the surroundings of the excavator 100. In the examples shown in FIGS. 12A and 12B, it includes a rear camera 80B attached to the rear end of the upper surface of the upper swing body 3, a left camera 80L attached to the left end of the upper surface of the upper swing body 3, and a right camera 80R attached to the right end of the upper surface of the upper swing body 3. The imaging device 80 may include a front camera.

[0122] The rear camera 80B is arranged adjacent to the rear sensor 70B, the left camera 80L is arranged adjacent to the left sensor 70L, and the right camera 80R is arranged adjacent to the right sensor 70R. When the imaging device 80 includes a front camera, the front camera may be arranged adjacent to the front sensor 70F.

[0123] The image captured by the imaging device 80 is displayed on the display device 45 installed in the cab 10. The imaging device 80 may be configured to be able to display a viewpoint-converted image such as an overhead image on the display device 45. The overhead image is generated, for example, by synthesizing the images output by the rear camera 80B, the left camera 80L, and the right camera 80R respectively.

[0124] The communication device T1 is configured to control communication with external devices outside the excavator 100. In this embodiment, the communication device T1 controls communication with external devices via a satellite communication network, a mobile phone communication network, or the Internet network, etc.

[0125] The positioning device P1 is configured to measure the position of the upper swing body 3. The positioning device P1 may be configured to measure the orientation of the upper swing body 3. In the present embodiment, the positioning device P1 is a GNSS compass, which detects the position and orientation of the upper swing body 3 and outputs the detected values to the controller 30.

[0126] With this configuration, the excavator 100 shown in FIGS. 12A and 12B can display the image of the object detected by the object detection device 70 on the display device 45. Therefore, when the operation of the driven body is restricted or prohibited, the operator of the excavator 100 can immediately check the state of the object that caused the restriction by looking at the image displayed on the display device 45.

[0127] Further, the excavator 100 shown in FIGS. 12A and 12B is configured to be able to exchange various information with the excavator 200 via the communication device T1. The information to be exchanged includes at least one of information regarding the position and orientation of each excavator and information regarding manual operations via the operation device 26. Therefore, the excavator 100 can obtain information regarding the state of the excavator 200 in more detail than when obtained through the object detection device 70, and can more appropriately set the movable range MS.

[0128] Here, referring to FIG. 13, a construction support system that supports construction by excavators by enabling transmission and reception of information among a plurality of excavators will be described. FIG. 13 is a schematic diagram showing an example of the construction support system. As shown in FIG. 13, the construction support system includes an excavator 100, an excavator 200, a management device FS, and a mobile terminal TS as a support device. The excavator 100, the excavator 200, the management device FS, and the mobile terminal TS function as communication terminals connected to each other through the communication network CN. Each of the management device FS and the mobile terminal TS constituting the construction support system may be one or a plurality. Also, the number of excavators constituting the construction support system may be three or more. In the example of FIG. 13, the construction support system includes one management device FS and one mobile terminal TS.

[0129] As shown in FIG. 13, each of the excavators 100 and 200 has a positioning device P1 and a communication device T1. The communication device T1 transmits information outward. The communication device T1 transmits information that can be received by at least one of, for example, the management device FS, the mobile terminal TS, and another communication device T1.

[0130] The management device FS is a device that manages the work of the excavator, and is, for example, a computer equipped with a display device installed at a management center outside the work site or the like. The management device FS may be a portable computer that can be carried by a user. The mobile terminal TS is a communication terminal equipped with a display device, and is a smartphone, a tablet terminal, a notebook computer, or the like.

[0131] When the communication device T1 of the excavator 100 acquires information on, for example, the position and orientation of the excavator 100 or information on manual operation via the operation device 26, it transmits the information toward the management device FS via the communication network CN. The same applies to the communication device T1 of the excavator 200.

[0132] The management device FS may, for example, derive information on the relative positional relationship between the excavator 100 and the excavator 200 based on the received information, and generate information necessary when each of the excavator 100 and the excavator 200 executes an operation restriction process. Then, the generated information may be transmitted to each of the excavator 100 and the excavator 200. Alternatively, the management device FS may function as a repeater that directly transmits the information received from the excavator 100 to the excavator 200.

[0133] The above-described process executed by the management device FS may be executed by the mobile terminal TS. Also, the communication device T1 of the excavator 100 and the communication device T1 of the excavator 200 may directly exchange information without going through the management device FS and the mobile terminal TS, or may directly exchange information without going through the communication network CN.

[0134] With this configuration, the excavator 100 can exchange various information with the excavator 200 via the communication device T1. The information to be exchanged includes at least one of information regarding the position and orientation of each excavator, and information regarding manual operations via the operation device 26. Therefore, the excavator 100 can acquire detailed information regarding the state of the excavator 200 and can more appropriately set the movable range MS. The same applies to the excavator 200.

[0135] At least one of the mobile terminal TS and the management device FS may be provided with an operation device for remote operation. In this case, the operator may operate the excavator 100 while using the operation device for remote operation. The operation device for remote operation is connected to the controller 30 of the excavator 100, for example, through the communication network CN. Hereinafter, the exchange of information between the excavator 100 and the management device FS will be described, but the following description is similarly applicable to the exchange of information between the excavator 100 and the mobile terminal TS, and the exchange of information between the excavator 200 and each of the mobile terminal TS and the management device FS.

[0136] In the construction support system as described above, the controller 30 of the excavator 100 may transmit to the management device FS information regarding at least one of the time and location when the movement of the driven body in the excavator 100 is restricted, the respective movement trajectories of the excavator 100 and the excavator 200 estimated at that time, and the movable range MS and the restricted range RS set at that time. At that time, the controller 30 may transmit to the management device FS at least one of the output of the object detection device 70 and the image captured by the imaging device 80. The image may be a plurality of images captured during a predetermined period including the period when the movement of the driven body is restricted. The predetermined period may include a period preceding the period when the movement of the driven body is restricted, and may also include a period following the period when the movement of the driven body is restricted. Further, the controller 30 may transmit to the management device FS at least one of information regarding the work content of the excavator 100 during a predetermined period including the period when the movement of the driven body is restricted, information regarding the position of the excavator 100 and its transition, information regarding the posture of the excavator 100 and its transition, and information regarding the posture of the excavation attachment and its transition. Further, the controller 30 mounted on the excavator 100 may transmit to the management device FS, as information regarding the excavator 100, the information received via communication from the excavator 200 near the excavator 100. The information received from the excavator 200 is, for example, at least one of information regarding the work content of the excavator 200, information regarding the position of the excavator 200 and its transition, information regarding the posture of the excavator 200 and its transition, and information regarding the posture of the excavation attachment attached to the excavator 200 and its transition. This is to enable the administrator using the management device FS to obtain information regarding the excavator 100. Also, the controller 30 may transmit to the management device FS information regarding the work site. The information regarding the work site is, for example, information regarding the type of the location where the excavator 100 works. The type of the location where the excavator 100 works is, for example, inside a tunnel, inside a demolition site, or inside a parking apron, etc.

[0137] In this way, the construction support system enables information about the excavator 100 acquired during a predetermined period including a period in which the movement of the driven body is restricted to be shared between the operator and the manager of the excavator 100 or the operator of another excavator or the like.

[0138] As described above, the excavator 100 according to the embodiment of the present invention includes a lower traveling body 1, an upper revolving body 3 rotatably mounted on the lower traveling body 1, an object detection device 70 provided on the upper revolving body 3, a controller 30 as a control device provided on the upper revolving body 3, and a driven body moved by an actuator. The object detection device 70 is configured to detect an object in a detection space DS set around the excavator 100. And the controller 30 is configured to change a movable range MS, which is a range in which the driven body can enter, based on the state of the object detected by the object detection device 70. Specifically, the controller 30 is configured to variably set, for example, the movable range MS, which is a range in which the driven body can enter, based on the state of the object in the detection space DS, and allow the movement of the driven body in the movable range MS. With this configuration, the excavator 100 can continue working efficiently while avoiding collisions with other objects working nearby.

[0139] For example, it may be difficult for the operator of the excavator 100 to visually determine the distance from another excavator 200 working nearby. In particular, it may be difficult for the operator of the excavator 100 to visually determine the distance between the excavator 200 working behind the excavator 100 and the excavator 100. Therefore, when the operator of the excavator 100 turns or reverses the excavator 100, there is a risk of contacting the excavator 100 with the excavator 200. However, the excavator 100 can acquire information about the state of the excavator 200 based on the output of the object detection device 70. Therefore, the excavator 100 can restrict or stop turning or traveling as necessary. Therefore, the excavator 100 can prevent contact between the excavator 100 and the excavator 200, reduce the burden on the operator of the excavator 100, and further improve the working efficiency of the excavator 100.

[0140] The state of the object in the detection space DS may be the current state or the future state of the object. That is, the controller 30 may variably set the movable range MS, which is the range in which the driven body of the excavator 100 can enter, based on the current state or the future state of the excavator 200 in the detection space DS, and may be configured to allow the movement of the driven body in the movable range MS. The future state of the excavator 200 may be predicted from at least one of the past state and the current state of the excavator 200.

[0141] The controller 30 may variably set the movable range MS so that the movable range MS becomes smaller when the excavator 200 detected by the object detection device 70 approaches the excavator 100 or is predicted to approach. Further, the controller 30 may variably set the movable range MS so that the movable range MS Large becomes larger when the excavator 200 detected by the object detection device 70 moves away from the excavator 100 or is predicted to move away.

[0142] The controller 30 may be configured to acquire information regarding the state of the excavator 200 in the detection space DS via at least one of the object detection device 70 and the communication device T1 that controls communication with the excavator 200 in the detection space DS.

[0143] The controller 30 monitors the movement of the excavator 200 that exists inside the detection space DS and outside the work space WS included in the detection space DS, and may be configured to brake the driven body of the excavator 100 when there is a possibility that the excavator 200 will enter the work space WS. Specifically, the controller 30 may be configured to brake the turning of the upper swing body 3, or may be configured to brake the traveling of the lower traveling body 1.

[0144] The controller 30 monitors the movement of the excavator 200 that exists inside the detection space DS and outside the work space WS included in the detection space DS, and when there is a possibility that the excavator 200 may enter the work space WS, variably sets the movable range MS based on the state of the excavator 200, and may be configured to allow the movement of the driven body of the excavator 100 within the movable range MS.

[0145] The driven body of the excavator 100 may include at least one of the lower traveling body 1, the slewing mechanism 2, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0146] The controller 30 may be configured to determine, for example, based on the output of the object detection device 70 over a past predetermined period, whether there is a possibility that the excavator 200 existing inside the detection space DS and outside the work space WS included in the detection space DS may enter the work space WS.

[0147] As described above, the preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions etc. can be applied to the above-described embodiments without departing from the scope of the present invention. Also, the features described separately can be combined as long as no technical contradiction occurs.

[0148] For example, in the above-described embodiment, a hydraulic operation lever provided with a hydraulic pilot circuit is disclosed. Specifically, in the hydraulic pilot circuit related to the left operation lever 26L as an arm operation lever, the hydraulic oil supplied from the pilot pump 15 to the remote operation valve of the left operation lever 26L is transmitted to the pilot port of the control valve 176 at a flow rate corresponding to the opening degree of the remote operation valve opened and closed by the tilting of the left operation lever 26L.

[0149] However, instead of the hydraulic operation lever equipped with such a hydraulic pilot circuit, an electric operation lever equipped with an electric pilot circuit may be adopted. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. Also, a solenoid valve is disposed between the pilot pump 15 and the pilot ports of the control valves. The solenoid valve is configured to operate according to an electric signal from the controller 30. With this configuration, when a manual operation using the electric operation lever is performed, the controller 30 controls the solenoid valve by an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving each control valve within the control valve 17. Each control valve may be constituted by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates according to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

[0150] When an electric operation system equipped with an electric operation lever is adopted, the controller 30 can more easily execute an autonomous control function compared to the case where a hydraulic operation system equipped with a hydraulic operation lever is adopted. FIG. 14 shows a configuration example of the electric operation system. Specifically, the electric operation system in FIG. 14 is an example of a boom operation system and mainly includes a pilot pressure actuated control valve 17, a boom operation lever 26A as an electric operation lever, a controller 30, a solenoid valve 61 for boom raising operation, and a solenoid valve 62 for boom lowering operation. The electric operation system in FIG. 14 can be similarly applied to an arm operation system, a bucket operation system, and the like.

[0151] The pilot pressure actuated control valve 17 includes a control valve 175 related to the boom cylinder 7 (see FIG. 2), a control valve 176 related to the arm cylinder 8 (see FIG. 2), a control valve 174 related to the bucket cylinder 9 (see FIG. 2), and the like. The solenoid valve 61 is configured to be able to adjust the flow passage area of a pipeline connecting the pilot pump 15 and the raising side pilot port of the control valve 175. The solenoid valve 62 is configured to be able to adjust the flow passage area of a pipeline connecting the pilot pump 15 and the lowering side pilot port of the control valve 175.

[0152] When manual operation is performed, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) according to the operation signal (electrical signal) output by the operation signal generation unit of the boom operation lever 26A. The operation signal output by the operation signal generation unit of the boom operation lever 26A is an electrical signal that changes according to the operation amount and operation direction of the boom operation lever 26A.

[0153] Specifically, when the boom operation lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 61. The solenoid valve 61 adjusts the flow passage area according to the boom raising operation signal (electrical signal) and controls the pilot pressure as a boom raising operation signal (pressure signal) acting on the raising side pilot port of the control valve 175. Similarly, when the boom operation lever 26A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 62. The solenoid valve 62 adjusts the flow passage area according to the boom lowering operation signal (electrical signal) and controls the pilot pressure as a boom lowering operation signal (pressure signal) acting on the lowering side pilot port of the control valve 175.

[0154] When performing autonomous control, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) according to a correction operation signal (electrical signal), instead of according to the operation signal (electrical signal) output by the operation signal generation unit of the boom operation lever 26A for example. The correction operation signal may be an electrical signal generated by the controller 30, or may be an electrical signal generated by an external control device other than the controller 30.

[0155] This application claims priority based on Japanese Patent Application No. 2018-057173 filed on March 23, 2018, and incorporates the entire contents of this Japanese patent application by reference into this application.

Description of Reference Numerals

[0156] 1 ··· Lower traveling body 1C ··· Crawler 1CL ··· Left crawler 1CR ··· Right crawler 2 ··· Slewing mechanism 2A ··· Slewing hydraulic motor 2M ··· Traveling hydraulic motor 2ML ··· Left traveling hydraulic motor 2MR ··· Right traveling hydraulic motor 3 ··· Upper slewing body 4 ··· Boom 5 ··· Arm 6 ··· Bucket 7 ··· Boom cylinder 8 ··· Arm cylinder 9 ··· Bucket cylinder 10 ··· Cabin 11 ··· Engine 13 ··· Regulator 14 ··· Main pump 15 ··· Pilot pump 17 ··· Control valve 18 ··· Throttle 19 ··· Control pressure sensor 26 ··· Operating device 26A ··· Boom operation lever 26D ··· Travel lever 26DL ··· Left travel lever 26DR ··· Right travel lever 26L ··· Left operation lever 26R ··· Right operation lever 28 ··· Discharge pressure sensor 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB ··· Operating pressure sensors 30 ··· Controller 40 ··· Center bypass pipeline 42 ··· Parallel pipeline 45 ··· Display device 60 ··· Control valve 61, 62 ··· Solenoid valves 70 ··· Object detection device 70F ··· Front sensor 70B ··· Rear sensor 70L ··· Left sensor 70R ··· Right sensor 80 ··· Imaging device 80B ··· Rear camera 80L ··· Left camera 80R ··· Right camera 85 ··· Orientation detection device 100 ··· Excavator 171 - 176 ··· Control valves 200 ··· Excavator CD1 ··· Pilot line S1 ··· Boom angle sensor S2 ··· Arm angle sensor S3 ··· Bucket angle sensor S4 ··· Machine body tilt sensor S5 ··· Slewing angular velocity sensor P1 ··· Positioning device T1 ··· Communication device

Claims

1. A lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, an object detection device provided on the upper slewing body, a control device provided on the upper slewing body, and a driven body moved by an actuator, wherein the object detection device is configured to detect an object in a detection space set around the excavator, and the control device changes a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object detected by the object detection device, both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter, at least one of the movable range before the change and the movable range after the change has a cross-section in a shape obtained by cutting out an arc of a circle centered on the slewing axis of the upper slewing body and having a maximum slewing radius as the radius from an annular sector range including the arc of the circle in a plan view, which is a columnar space, the slewing axis moves as the lower traveling body travels, the maximum slewing radius is the distance between the slewing axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent, an excavator.

2. A lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, an object detection device provided on the upper slewing body, a control device provided on the upper slewing body, and a driven body moved by an actuator, wherein the object detection device is configured to detect an object in a detection space set around the excavator, and the control device changes a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object detected by the object detection device, and determines whether an object existing inside the detection space and outside a work space included in the detection space may enter the work space based on the output of the object detection device over a past predetermined period, the work space is a columnar space centered on the slewing axis of the upper slewing body and having a maximum slewing radius as the radius, both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter, At least one of the movable range before the change and the movable range after the change is, in a plan view, a columnar space having a cross-section in a shape obtained by cutting out a range of an annular sector including an arc of a circle centered on the turning axis and having a radius of the maximum turning radius from the circle, The turning axis moves as the lower traveling body travels, The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent, Excavator.

3. A lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, An object detection device provided on the upper slewing body, A control device provided on the upper slewing body, A driven body moved by an actuator, and comprising: The object detection device is configured to detect an object in a detection space set around the excavator, and The control device variably sets the size of a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object in the detection space, and is configured to allow the movement of the driven body within the movable range, Both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter, At least one of the movable range before the change and the movable range after the change is, in a plan view, a columnar space having a cross-section in a shape obtained by cutting out a range of an annular sector including an arc of a circle centered on the turning axis of the upper slewing body and having a radius of the maximum turning radius from the circle, The turning axis moves as the lower traveling body travels, The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent, Excavator.

4. The state of the object including the position of the object in the detection space is the current state or the future state of the object, The control device predicts the future state of the object from the past state and the current state of the object, The excavator according to claim 3.

5. A lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, An object detection device provided on the upper slewing body, A control device provided on the upper slewing body, A driven body moved by an actuator, and comprising: The object detection device is configured to detect an object in a detection space set around the excavator. The control device variably sets a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object in the detection space, and is configured to allow the movement of the driven body in the movable range. When an object in the detection space approaches the excavator or when it is predicted based on the past and current states of the object in the detection space that the object in the detection space will approach the excavator, the movable range is variably set so as to become smaller. And when an object in the detection space moves away from the excavator or when it is predicted based on the past and current states of the object in the detection space that the object in the detection space will move away from the excavator, the movable range is variably set so as to become larger. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter. At least one of the movable range before the change and the movable range after the change has a cross-section in a shape obtained by cutting out an arc of a circle from an annular sector range including the arc of the circle centered on the turning axis of the upper slewing body and having a maximum turning radius in a plan view, which is a columnar space. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

6. A lower traveling body; An upper slewing body rotatably mounted on the lower traveling body; An object detection device provided on the upper slewing body; A control device provided on the upper slewing body; A driven body moved by an actuator, and is provided with. The object detection device is configured to detect an object in a detection space set around the excavator. The control device variably sets a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of an object including the position of the object in the detection space, and is configured to allow the movement of the driven body within the movable range. Further, the control device monitors the movement of an object existing inside the detection space and outside a work space included in the detection space, and when there is a possibility that the object may enter the work space, the control device is configured to reduce the movable range and brake the driven body moving in a direction out of the movable range. The work space is a columnar space centered on the turning axis of the upper slewing body and having a maximum turning radius as the radius. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter. At least one of the movable range before the change and the movable range after the change has a cross-section in a shape obtained by cutting out an annular sector range including an arc of a circle centered on the turning axis and having the maximum turning radius as the radius, in a plan view. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of an attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator. Claim 7 A lower traveling body; An upper slewing body rotatably mounted on the lower traveling body; An object detection device provided on the upper slewing body; A control device provided on the upper slewing body; A driven body moved by an actuator, and The object detection device is configured to detect an object in a detection space set around the excavator. The control device variably sets a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of an object including the position of the object in the detection space, and is configured to allow the movement of the driven body within the movable range. Further, the control device monitors the movement of an object existing inside the detection space and outside a work space included in the detection space, and when there is a possibility that the object may enter the work space, the control device variably sets the movable range based on the state of the object and is configured to allow the movement of the driven body within the movable range. The work space is a columnar space centered on the turning axis of the upper slewing body and having a maximum turning radius as the radius. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges into which the driven body can enter. At least one of the movable range before the change and the movable range after the change has a columnar space with a cross-section in a shape obtained by cutting out a range of an annular sector including an arc of a circle centered on the turning axis and having a radius equal to the maximum turning radius, in plan view. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

8. The driven body includes at least one of the upper slewing body, the lower traveling body, a slewing mechanism, a boom, an arm, and a bucket. The excavator according to claim 3.

9. A lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, An object detection device provided on the upper slewing body, A control device provided on the upper slewing body, A driven body moved by an actuator, and is provided with. The object detection device is configured to detect an object in a detection space set around the excavator, and The control device is configured to receive information regarding the work content of an object in the detection space via a communication device, and change a movable range, which is a columnar range set as a range into which the driven body can enter, based on the received information. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges into which the driven body can enter. At least one of the movable range before the change and the movable range after the change has a columnar space with a cross-section in a shape obtained by cutting out a range of an annular sector including an arc of a circle centered on the turning axis of the upper slewing body and having a radius equal to the maximum turning radius, in plan view. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

10. A lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, An object detection device provided on the upper slewing body, A control device provided on the upper slewing body, A driven body moved by an actuator, and is provided with. The object detection device is configured to detect an object in a detection space set around the excavator, and the control device changes a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object detected by the object detection device, and receives, via a communication device, information regarding the transition of the position of the object in the detection space and information regarding the transition of the posture of the object in the detection space. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter. At least one of the movable range before the change and the movable range after the change is a columnar space having a cross section of a shape obtained by cutting out a range of an annular sector including an arc of a circle centered on the turning axis of the upper slewing body and having a maximum turning radius as the radius, in a plan view. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

11. A lower traveling body, an upper slewing body rotatably mounted on the lower traveling body, an object detection device provided on the upper slewing body, a control device provided on the upper slewing body, and a driven body moved by an actuator, and is provided with the object detection device is configured to detect an object in a detection space set around the excavator, and the control device changes a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object detected by the object detection device, and is configured to receive, via a communication device, information regarding the transition of the position of the object in the detection space. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter. At least one of the movable range before the change and the movable range after the change is a columnar space having a cross section of a shape obtained by cutting out a range of an annular sector including an arc of a circle centered on the turning axis of the upper slewing body and having a maximum turning radius as the radius, in a plan view. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

12. Lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, An object detection device provided on the upper slewing body, A control device provided on the upper slewing body, A driven body moved by an actuator, and is provided with, The object detection device is configured to detect an object in a detection space set around the excavator, and The control device changes a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object detected by the object detection device, and the information regarding the transition of the position of the excavator and the information regarding the transition of the posture of the excavator are transmitted to the management device. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges in which the driven body can enter. At least one of the movable range before the change and the movable range after the change has a cross-section in a shape obtained by cutting out an arc of a circle from an annular sector range including the arc of the circle centered on the turning axis of the upper slewing body and having a maximum turning radius as the radius in a plan view, which is a columnar space. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

13. Lower traveling body, An upper slewing body rotatably mounted on the lower traveling body, An object detection device provided on the upper slewing body, A control device provided on the upper slewing body, A driven body moved by an actuator, and is provided with, The object detection device is configured to detect an object in a detection space set around the excavator, and The control device changes a movable range, which is a columnar range set as a range in which the driven body can enter, based on the state of the object including the position of the object detected by the object detection device, and the information regarding the transition of the position of another excavator detected as an object in the detection space and the information regarding the transition of the posture of another excavator detected as an object in the detection space are transmitted to the management device. Both the movable range before the change and the movable range after the change are columnar ranges set as ranges into which the driven body can enter. At least one of the movable range before the change and the movable range after the change has a columnar space with a cross-section in a shape obtained by cutting out an annular sector range including an arc of a circle centered on the turning axis of the upper slewing body and having a maximum turning radius as the radius, in plan view. The turning axis moves as the lower traveling body travels. The maximum turning radius is the distance between the turning axis and the tip of the attachment when the attachment attached to the upper slewing body is extended outward to the maximum extent. Excavator.

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