Excavator

Abstract

To provide a shovel on which operation area settings can be performed while taking workability into consideration.SOLUTION: A shovel 100 according to one embodiment of the present invention includes a display device D1 that displays images showing the operation area around the shovel 100, and a controller 30 which, when a part of pixels in an image is specified by operational input from a user on the image displayed on the display device D1, specifies the part of the operation area corresponding to the pixels and performs settings related to that part of the operation area.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a technique for attaching an identification mark or the like to a predetermined object in a work area around a shovel, thereby enabling the shovel to recognize the object (for example, Patent Document 1).

[0003] According to this technology, the shovel can recognize predetermined objects in the work area (for example, obstacles present in the work area, specific locations within the work area, etc.) using, for example, an imaging device, etc. Therefore, the shovel can make settings related to the work area (for example, setting the object as an object to be avoided in the work area, or setting the object as a work target such as a location for unloading soil in the work area, etc.) based on the position, etc., of the recognized object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-105807 Summary of the Invention [Problem to be solved by the invention]

[0005] However, since the excavator operator and surrounding workers need to attach identification marks or the like to the target in advance, this may result in a decrease in workability.

[0006] In view of the above, an object of the present invention is to provide a shovel that allows the setting of a working area while taking into consideration workability. [Means for solving the problem]

[0007] In one embodiment of the present invention, Attachment and a display device for displaying an image representing a work area around the excavator; When a part of pixels in the image is designated by an operation input from a user for the image displayed on the display device, a part of the work area corresponding to a range consisting of a plurality of pixels including the designated part of pixels is designated, and based on the designated part of the work area, Without operating the attachment, In the above work area, the objects to be considered in the work performed by the excavator are as follows: In an additional way and a setting unit for setting the Shovels will be provided. In another embodiment of the present invention, Attachment and a detection unit that acquires information about objects around the shovel and detects the objects around the shovel; a display device for displaying an image representing a work area around the excavator; In response to an operation input from a user with respect to the image displayed on the display device, The detection unit When a pixel including a detected object of a predetermined type is designated, the object is designated, and based on the designated object, Without operating the attachment, In the above work area, the objects to be considered in the work performed by the excavator are as follows: In an additional way and a setting unit for setting the Shovels will be provided. [Effects of the Invention]

[0008] According to the above-described embodiment, it is possible to provide a shovel that allows the setting of the working area while taking workability into consideration. [Brief explanation of the drawings]

[0009] [Figure 1A] FIG. [Figure 1B] FIG. [Figure 2] FIG. 1 is a schematic diagram showing an example of a configuration centered on a hydraulic system of a shovel. [Figure 3A]1 is a diagram showing the positional relationship between each component of a shovel and the positional relationship between the shovel and surrounding objects. FIG. [Figure 3B] 1 is a diagram showing the positional relationship between each component of a shovel and the positional relationship between the shovel and surrounding objects. FIG. [Figure 4] FIG. 1 is a schematic diagram showing an example of a configuration centered on a control system of a shovel. [Figure 5] FIG. 10 is a diagram illustrating an example of the display content of the display device in a surrounding image mode. [Figure 6] FIG. 10 is a diagram showing an example of the display content of the display device in a setting mode. [Figure 7] FIG. 10 is a diagram illustrating an example of settings related to a work area around a shovel. [Figure 8A] FIG. 10 is a diagram showing an example of the display content of the display device in a view mode. [Figure 8B] 10A and 10B are diagrams illustrating other examples of display contents of the display device in the view mode. [Figure 9] FIG. 10 is a schematic diagram showing another example of a configuration centered on a hydraulic system of a shovel. [Figure 10A] FIG. 8 is a detailed view showing components relating to an operating system in the hydraulic system of FIG. 7. [Figure 10B] FIG. 8 is a detailed view showing components relating to an operating system in the hydraulic system of FIG. 7. [Figure 10C] FIG. 8 is a detailed view showing components relating to an operating system in the hydraulic system of FIG. 7. [Figure 10D] FIG. 8 is a detailed view showing components relating to an operating system in the hydraulic system of FIG. 7. [Figure 11] 10A and 10B are diagrams illustrating other examples of the display content of the display device in the setting mode. [Figure 12] FIG. 10 is a diagram showing another example of settings related to the work area around the excavator. [Figure 13] FIG. 10 is a diagram illustrating another example of the operating device. [Figure 14] FIG. 1 is a diagram illustrating an example of a configuration of an excavator management system. DETAILED DESCRIPTION OF THE INVENTION

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

[0011] In the description of this embodiment, the same or corresponding components are denoted by the same reference numerals, and redundant description may be omitted.

[0012] [Outline of the Excavator] First, an overview of a shovel 100 according to this embodiment will be described with reference to FIG. 1 (FIGS. 1A and 1B).

[0013] 1A and 1B are external views of a shovel 100 according to this embodiment. Specifically, Fig. 1A is a side view of the shovel 100, and Fig. 1B is a top view of the shovel 100.

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

[0015] The lower traveling body 1 includes a pair of left and right crawlers 1C, specifically a left crawler 1CL and a right crawler 1CR. The left crawler 1CL and the right crawler 1CR are hydraulically driven by hydraulic travel motors 2M, respectively, to cause the excavator 100 to travel. The hydraulic travel motor 2M includes a hydraulic motor 2ML that drives the left crawler 1CL and a hydraulic motor 2MR that drives the right crawler 1CR.

[0016] The upper rotating body 3 is driven by a swing hydraulic motor 2A to swing relative to the lower traveling body 1. The upper rotating body 3 may also be electrically driven by an electric motor instead of being hydraulically driven by the swing hydraulic motor 2A. Hereinafter, for convenience, the side of the upper rotating body 3 to which the attachment AT is attached will be referred to as the front, and the side to which the counterweight is attached will be referred to as the rear.

[0017] A boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which serve as hydraulic actuators, respectively.

[0018] The cabin 10 is a cab in which an operator sits, and is mounted on the front left side of the upper rotating body 3.

[0019] [Example of a shovel] Next, an example of the shovel 100 according to this embodiment will be described in detail with reference to FIGS. 2 to 8 in addition to FIGS. 1A and 1B.

[0020] <Excavator configuration> First, the configuration of a shovel 100 according to this embodiment will be described with reference to FIGS.

[0021] FIG. 2 is a schematic diagram showing an example of a configuration centered on a hydraulic system of the shovel 100 according to this embodiment. FIG. 3 (FIGS. 3A and 3B) is a diagram showing the positional relationship of each component of the shovel 100 and the positional relationship between the shovel 100 and a surrounding object (in this example, a road cone RC). Specifically, FIG. 3A and FIG. 3B are diagrams showing the positional relationship of each component of the shovel 100 and the positional relationship between the shovel 100 and a surrounding object, as viewed from the right side and from above the shovel 100, respectively. FIG. 4 is a schematic diagram showing an example of a configuration centered on a control system of the shovel 100. FIG. 5 is a diagram showing an example of the display content of the display device in camera mode.

[0022] In Fig. 2, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control systems are represented by double lines, solid lines, dashed lines, and dotted lines, respectively. In Fig. 4, the mechanical power transmission system, hydraulic oil lines, pilot lines, electrical control systems, and electrical power supply systems are represented by double lines, thick solid lines, dashed lines, dotted lines, and thin solid lines, respectively. In Fig. 3A, for clarity, illustration of components other than the attachment AT among the main components of the excavator 100 is omitted, and the attachment AT is shown as a simplified model.

[0023] As described above, the excavator 100 according to this example includes, as components related to the hydraulic system, hydraulic actuators such as traveling hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, respectively. The excavator 100 according to this example also includes, as components related to the hydraulic system, 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, and a pressure reducing valve 50.

[0024] The engine 11 is the main power source of the hydraulic system and is mounted, for example, on the rear of the upper rotating body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under the control of the ECU 74, and drives the main pump 14, the pilot pump 15, etc. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

[0025] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilting angle") in response to a control command from the controller 30. The regulator 13 includes regulators 13L and 13R corresponding to the main pumps 14L and 14R, respectively, which will be described later.

[0026] The main pump 14 is mounted, for example, on the rear of the upper rotating body 3, similar to the engine 11, and is driven by the engine 11 as described above to supply hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is, for example, a variable displacement hydraulic pump, and under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, as described above, to adjust the stroke length of the piston and control the discharge flow rate (discharge pressure). The main pump 14 includes main pumps 14L and 14R.

[0027] The pilot pump 15 is mounted, for example, on the rear of the upper rotating body 3, and supplies pilot pressure to the operating device 26 via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

[0028] The control valve 17 is a hydraulic control device that is mounted, for example, at the center of the upper rotating body 3 and controls the hydraulic actuators in response to an operator's operation of the control device 26. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) in response to the operating state of the control device 26. Specifically, the control valve 17 includes control valves 150 to 158 (see FIG. 2) that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

[0029] As shown in FIG. 2, the hydraulic system of the excavator 100 circulates hydraulic oil from main pumps 14L, 14R driven by the engine 11 through center bypass pipes 40L, 40R to a hydraulic oil tank.

[0030] The center bypass pipe 40L starts from the main pump 14L, passes through control valves 151, 153, 155, and 157 arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0031] The center bypass pipe 40R starts from the main pump 14R, passes through the control valves 150, 152, 154, 156, and 158 arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0032] The control valve 150 is provided at the most upstream of the center bypass pipe 40R, and is a spool valve that switches between supplying hydraulic oil from the main pumps 14L and 14R to the travel hydraulic motor 2ML and the travel hydraulic motor 2MR, respectively, or supplying hydraulic oil to both from one main pump 14L. Specifically, when the travel hydraulic motor 2ML and the travel hydraulic motor 2MR and other hydraulic actuators are operated simultaneously, the control valve 150 allows the hydraulic oil on the upstream side of the center bypass pipe 40R to flow into a parallel pipe that is arranged in parallel with the center bypass pipe 40L so that the hydraulic oil can be supplied to the control valves 153, 155, and 157 downstream of the control valve 151, and also allows the hydraulic oil on the upstream side of the control valve 151 of the center bypass pipe 40L to flow downstream of the center bypass pipe 40R. As a result, when the travel hydraulic motor 2ML and the travel hydraulic motor 2MR and other actuators are operated simultaneously, the travel hydraulic motor 2ML and the travel hydraulic motor 2MR are driven by hydraulic oil supplied from one main pump 14L, improving the straightness of the undercarriage 1. On the other hand, when the other hydraulic actuators are not operated, the control valve 150 allows the hydraulic oil on the upstream side of the center bypass pipe 40R to pass downstream as is, and also allows the hydraulic oil on the upstream side of the center bypass pipe 40L to flow into a parallel pipe arranged in parallel to the center bypass pipe 40L so that it can be supplied to the control valves 153, 155, and 157. As a result, hydraulic oil is supplied to the travel hydraulic motor 2ML and the travel hydraulic motor 2MR from the main pumps 14L and 14R, respectively.

[0033] The control valve 151 is a spool valve that supplies hydraulic oil discharged from the main pump 14L to the traveling hydraulic motor 2ML and also discharges hydraulic oil from the traveling hydraulic motor 2ML to a hydraulic oil tank.

[0034] The control valve 152 is a spool valve that supplies hydraulic oil discharged from the main pumps 14L, 14R to the traveling hydraulic motor 2MR and also discharges hydraulic oil from the traveling hydraulic motor 2MR to a hydraulic oil tank.

[0035] The control valve 153 is a spool valve that supplies the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7.

[0036] The control valve 154 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the boom cylinder 7 and also discharges the hydraulic oil in the boom cylinder 7 to a hydraulic oil tank.

[0037] The control valve 155 is a spool valve for supplying the hydraulic oil discharged from the main pumps 14L, 14R to the arm cylinder 8 and discharging the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0038] The control valve 156 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the main pump 14R to the arm cylinder 8.

[0039] The control valve 157 is a spool valve that circulates the hydraulic oil discharged from the main pumps 14L and 14R through the swing hydraulic motor 2A.

[0040] The control valve 158 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and also discharges the hydraulic oil in the bucket cylinder 9 to a hydraulic oil tank.

[0041] The operation device 26 is provided near the operator's seat in the cabin 10 and is an operation input means through which the operator operates various operating elements (undercarriage 1, upper revolving structure 3, boom 4, arm 5, bucket 6, etc.). In other words, the operation device 26 is an operation input means through which the operator operates the hydraulic actuators that drive the respective operating elements (i.e., travel hydraulic motors 2ML and 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.). The operation device 26 is connected to the control valve 17 through a pilot line on its secondary side. As a result, a pilot pressure corresponding to the operating state of the undercarriage 1, upper revolving structure 3, boom 4, arm 5, bucket 6, etc. in the operation device 26 is input to the control valve 17. Therefore, the control valve 17 can selectively drive each hydraulic actuator according to the operating state of the operation device 26. The operation device 26 includes a boom operation lever 26A corresponding to the operation of the boom 4 (boom cylinder 7), and a swing operation lever 26B corresponding to the operation of the upper swing body 3 (swing hydraulic motor 2A).

[0042] Boom control lever 26A is used to raise and lower boom 4. Boom control lever 26A uses hydraulic oil discharged from pilot pump 15 to apply a control pressure (pilot pressure) corresponding to the lever operation amount (i.e., tilt amount, tilt angle, etc.) to either the left or right pilot port of control valve 154. This controls the stroke of the spool in control valve 154, and the flow rate of hydraulic oil supplied to boom cylinder 7. The same applies to control valve 153.

[0043] In FIG. 2, for clarity, the pilot lines connecting the boom operation lever 26A to the left and right pilot ports of the control valve 153 and the left pilot port of the control valve 154 are omitted from the illustration.

[0044] The swing operation lever 26B is an operating device that drives the swing hydraulic motor 2A to operate the swing mechanism 2. The swing operation lever 26B uses, for example, hydraulic oil discharged from the pilot pump 15 to introduce a control pressure according to the amount of lever operation into either the left or right pilot port of the control valve 157. This controls the stroke of the spool in the control valve 157, and the flow rate supplied to the swing hydraulic motor 2A.

[0045] In FIG. 2, for clarity, the pilot line connecting the swing operation lever 26B and the right pilot port of the control valve 157 is omitted from the illustration.

[0046] Similarly, the operation device 26 includes a travel lever (or a travel pedal), an arm operation lever, and a bucket operation lever that correspond to the operation of the lower traveling structure 1 (travel hydraulic motors 2ML, 2MR), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9), respectively. In other words, the travel lever (or the travel pedal), the arm operation lever, and the bucket operation lever are used to operate the traveling of the lower traveling structure 1, the opening and closing of the arm 5, and the opening and closing of the bucket 6, respectively. Like the boom operation lever 26A and the like, these utilize hydraulic oil discharged from the pilot pump 15 to apply a control pressure (pilot pressure) corresponding to the lever operation amount (or the pedal operation amount corresponding to the pedal depression amount) to either the left or right pilot port of the corresponding control valve.

[0047] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 28 is input to the controller 30. The discharge pressure sensor 28 includes discharge pressure sensors 28L, 28R that detect the discharge pressures of the main pumps 14L, 14R, respectively.

[0048] The operating pressure sensor 29 detects the secondary pilot pressure of the operating device 26, that is, the pilot pressure (hereinafter referred to as "operating pressure") corresponding to the operating state (i.e., operation content) of each operating element (i.e., hydraulic actuator) in the operating device 26. A detection signal of the pilot pressure by the operating pressure sensor 29 corresponding to the operating state of the undercarriage 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc. in the operating device 26 is input to the controller 30. The operating pressure sensor 29 includes operating pressure sensors 29A and 29B.

[0049] The operating pressure sensor 29A detects the details of the operator's operation of the boom operating lever 26A (for example, the operating direction and the lever operation amount) in the form of an operating pressure.

[0050] The operating pressure sensor 29B detects the operation of the operator on the swing operation lever 26B in the form of an operating pressure.

[0051] The operation pressure sensor 29 also includes operation pressure sensors corresponding to the above-mentioned travel lever (or travel pedal), arm operation lever, and bucket operation lever. Similar to the operation pressure sensors 29A and 29B, these detect the operation of the operator or the like in the form of operation pressure.

[0052] The pressure reducing valve 50 is provided in the pilot line on the secondary side of the operating device 26, i.e., in the pilot line between the operating device 26 and the control valve 17, and adjusts (reduces) the pilot pressure corresponding to the operation content (operation amount) of the operating device 26 under the control of the controller 30. In this way, the controller 30 can limit the operation of various operating elements by controlling the pressure reducing valve 50. The pressure reducing valve 50 includes pressure reducing valves 50L and 50R.

[0053] The pressure reducing valve 50L is provided in the pilot line between the swing operation lever 26B and the control valve 157, and adjusts (reducing) the control pressure (pilot pressure) corresponding to the operation of the upper swing body 3 relative to the swing operation lever 26B (hereinafter referred to as "swing operation") under the control of the controller 30.

[0054] In addition, Figure 2 shows the configuration for adjusting the control pressure acting on the left pilot port of the control valve 157, but omits the configuration for adjusting the control pressure acting on the right pilot port of the control valve 157.

[0055] The pressure reducing valve 50R is provided in the pilot line between the boom operating lever 26A and the control valve 154, and adjusts (reducing) the control pressure (pilot pressure) corresponding to the operation of the boom 4 relative to the boom operating lever 26A (hereinafter referred to as "boom operation") under the control of the controller 30.

[0056] In addition, Figure 2 shows the configuration for adjusting the control pressure acting on the right pilot port of the control valve 154, and omits the configuration for adjusting the control pressure acting on the left pilot port of the control valve 154.

[0057] The control system configuration of the excavator 100 in this example mainly includes a controller 30, an ECU (Engine Control Unit) 74, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a turning state sensor S5, a boom cylinder pressure sensor 7a, an object detection device 70, an imaging device 80, a display device D1, and an audio output device D2.

[0058] The controller 30 is a control device that is attached, for example, inside the cabin 10 and controls the drive of the excavator 100. The controller 30 operates on power supplied from the storage battery BT. The same applies to the display device D1 and various sensors (e.g., the object detection device 70, the imaging device 80, the boom angle sensor S1, etc.). The functions of the controller 30 may be realized by any hardware or any combination of hardware and software. The controller 30 is mainly composed of a computer including, for example, a central processing unit (CPU), a memory device such as a random access memory (RAM), a non-volatile auxiliary storage device such as a read-only memory (ROM), and an interface device for input / output with the outside. In this case, the controller 30 can realize various functions by reading out programs installed in the auxiliary storage device, loading them into the memory device, and executing them on the CPU.

[0059] Note that some of the functions of controller 30 may be realized by another controller (control device). That is, the functions of controller 30 may be realized in a distributed manner by a plurality of controllers. Furthermore, storage battery BT is charged with power generated by alternator 11b driven by engine 11.

[0060] For example, the controller 30 controls the regulator 13 etc. based on detection signals received from various sensors such as the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the boom cylinder pressure sensor 7a, the discharge pressure sensor 28, and the operating pressure sensor 29.

[0061] Furthermore, for example, the controller 30 outputs a control signal to the pressure reducing valve 50 and adjusts the control pressure (pilot pressure) acting on the control valve 17, thereby controlling (limiting) the operation of various operating elements driven by the hydraulic actuators. Specifically, the controller 30 may output a control signal to the pressure reducing valve 50L and adjust the control pressure acting on the control valve 157, thereby controlling (limiting) the swing operation of the upper swing body 3. The controller 30 may also output a control signal to the pressure reducing valve 50R and adjust the control pressure acting on the control valve 154, thereby controlling (limiting) the raising operation (hereinafter referred to as the "boom raising operation") and the lowering operation (hereinafter referred to as the "boom lowering operation") of the boom 4.

[0062] Furthermore, for example, the controller 30 (an example of a setting unit) sets the work area around the shovel 100 in response to an operation input by an operator or the like to the operation input unit D1c. The setting of the work area includes setting a target object (hereinafter, "target object") in the work area for a predetermined task performed by operating various operational elements of the shovel 100, and setting an object to be avoided in the work area (hereinafter, "avoidance object"). Target objects in the work area may include, for example, a dump truck to which excavated soil is to be loaded, a buried pipe to be replaced, and a target construction surface in the machine guidance function and machine control function described below. Furthermore, objects to be avoided in the work area may include, for example, obstacles such as road cones, walls, utility poles, and power lines. Furthermore, objects to be avoided in the work area may include a target construction surface in the machine guidance function and machine control function (specifically, a completed portion of the target construction surface). This is because the completed target construction surface needs to be protected from damage. Furthermore, the objects to be avoided in the working area may include virtual objects (for example, a virtual wall VW described later) defined by a plurality of obstacles (objects) such as road cones. The details of this function of the controller 30 will be described later (see FIGS. 6 to 8, 11, and 12).

[0063] Furthermore, for example, the controller 30 recognizes the current posture of the shovel 100 as a prerequisite for controlling the operations of various operation elements. Hereinafter, this function of the controller 30 will be specifically described with reference to Figs. 3A and 3B.

[0064] 3A, boom 4 swings (rotates) up and down relative to upper rotating body 3 about swing axis J parallel to the Y axis, and arm 5 is rotatably attached to the tip of boom 4, and bucket 6 is rotatably attached to the tip of arm 5. A boom angle sensor S1 is attached to the connection (point P1) between upper rotating body 3 and boom 4, an arm angle sensor S2 is attached to the connection (point P2) between boom 4 and arm 5, and a bucket angle sensor S3 is attached to the connection (point P3) between arm 5 and bucket 6.

[0065] In addition, in FIGS. 3A and 3B, the oscillation axis J is disposed at a position separated from the rotation axis K (Z axis), but the rotation axis K and the oscillation axis J may be disposed so as to intersect.

[0066] The boom angle sensor S1 measures, for example, the angle β1 between the longitudinal direction of the boom 4 and a reference horizontal plane. The reference horizontal plane is, for example, the ground contact surface of the excavator 100. The arm angle sensor S2 measures, for example, the angle δ1 between the longitudinal direction of the boom 4 and the longitudinal direction of the arm 5, and the bucket angle sensor S3 measures, for example, the angle δ2 between the longitudinal direction of the arm 5 and the longitudinal direction of the bucket 6. In this case, the longitudinal direction of the boom 4 is a direction along a line passing through the connecting portions at both ends of the boom 4, i.e., points P1 and P2, within a reference vertical plane (XZ plane) perpendicular to the swing axis J. The longitudinal direction of the arm 5 is a direction along a line passing through the connecting portions at both ends of the arm 5, i.e., points P2 and P3, within the reference vertical plane. The longitudinal direction of the bucket 6 is a direction along a line passing through the connecting portion of the bucket 6 with the arm 5 and the toe, i.e., points P3 and P4, within the reference vertical plane.

[0067] As shown in FIG. 3B, the upper rotating body 3 is configured to be able to rotate freely left and right relative to the lower running body 1 around a rotation axis K that constitutes the Z axis, and the upper rotating body 3 is equipped with a machine body inclination sensor S4 and a rotation state sensor S5 as described above.

[0068] The machine body tilt sensor S4 measures, for example, the angle (lateral tilt angle) between the left-right axis (Y axis) of the upper rotating body 3 and a reference horizontal plane, and the angle (front-rear tilt angle) between the front-rear axis (X axis) of the upper rotating body 3 and the reference horizontal plane. In addition, the turning state sensor S5 measures, for example, the angle α between the longitudinal direction of the lower traveling body 1 and the front-rear axis (X axis) of the upper rotating body 3. In this case, the longitudinal direction of the lower traveling body 1 is the extension direction (traveling direction) of the crawler 1C.

[0069] The controller 30 can derive the relative position of point P1 (the connection between the upper rotating body 3 and the boom 4) with respect to the origin O (for example, the intersection of the reference horizontal plane and the Z axis) based on the detection signals of the machine body tilt sensor S4 and the rotation state sensor S5. This is because point P1 is fixed to the upper rotating body 3. Furthermore, the controller 30 can derive the relative positions of points P2 to P4 with respect to point P1 based on the detection signals of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. Similarly, the controller 30 can derive the relative position of any part of the attachment AT, such as a predetermined position on the back of the bucket 6, with respect to point P1.

[0070] Furthermore, the controller 30 can derive the relative position of point P5 (the mounting position of the front sensor 70F on the upper rotating body 3) with respect to the origin O based on the relative position of point P1 with respect to the origin O. This is because the front sensor 70F is fixed to the top surface of the cabin 10. In other words, even if the attachment AT operates and the upper rotating body 3 rotates, the relative positional relationship between point P1 and point P5 does not change.

[0071] Similarly, the controller 30 can derive the relative positions of the mounting positions of the rear sensor 70B, the left sensor 70L, and the right sensor 70R on the upper rotating body 3 based on the relative position of the point P1 with the origin O as the reference.

[0072] Furthermore, the controller 30 can derive the relative position of point P6 (the position of the road cone RC arranged around the excavator 100) with respect to the origin O, based on the relative position of point P5 with respect to the origin O. This is because the front sensor 70F can detect the distance and direction from point P5 to the road cone RC.

[0073] The positional relationship between the road cone RC as a detected object and the shovel 100 is constantly updated at each predetermined control cycle. Therefore, the coordinates of P6 corresponding to the position of the road cone RC on the X-axis, Y-axis, and Z-axis centered on the origin O on the rotation axis K of the shovel 100 are constantly updated at each control cycle.

[0074] Furthermore, if a local coordinate system is determined at the time of surveying the construction site, the position of the shovel 100 can be identified as the shovel coordinates on the local coordinate system of the construction site. Therefore, the position of the detected road cone RC can be identified as the road cone coordinates in the local coordinate system of the construction site. In this case, the positional relationship between the road cone RC and the shovel 100 is calculated in a form corresponding to the local coordinate system of the construction site determined at the time of surveying.

[0075] Furthermore, even when using a local coordinate system centered on the origin O on the rotation axis K of the shovel 100, when using a local coordinate system of the construction site determined during surveying, or even when using the World Geodetic System, the shovel coordinates and road cone coordinates change each time the shovel rotates or travels. This allows the controller 30 to constantly keep track of their relative positions. Furthermore, even when a worker or the like moves the road cone RC, for example, the controller 30 can identify the position of the road cone RC after the movement.

[0076] In this way, the controller 30 can derive the posture of the attachment AT, the position of the toe of the bucket 6, and the position of an object (e.g., a road cone RC) around the excavator 100 based on the detection signals (output signals) of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the turning state sensor S5, and the object detection device 70.

[0077] The ECU 74 controls the operation of the engine 11 under the control of the controller 30. For example, in response to an ignition-on operation, the ECU 74 appropriately controls the fuel injection device and the like in accordance with the operation of the starter 11a driven by power from the storage battery BT, and starts the engine 11. Furthermore, for example, the ECU 74 appropriately controls the fuel injection device and the like so that the engine 11 rotates at a constant speed specified by a control signal from the controller 30 (isochronous control).

[0078] The engine 11 may be directly controlled by the controller 30. In this case, the ECU 74 may be omitted.

[0079] The boom angle sensor S1 is attached to the boom 4 and detects the elevation / depression angle (hereinafter referred to as the "boom angle") θ1 of the boom 4 relative to the upper rotating structure 3. The boom angle θ1 is, for example, the angle of ascent from the state in which the boom 4 is lowered to its lowest position. In this case, the boom angle θ1 is greatest when the boom 4 is raised to its highest position. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc., and the same applies to the arm angle sensor S2, bucket angle sensor S3, and machine body tilt sensor S4 below. The boom angle sensor S1 may also be a stroke sensor attached to the boom cylinder 7, and the same applies to the arm angle sensor S2 and bucket angle sensor S3 below. A detection signal corresponding to the boom angle θ1 detected by the boom angle sensor S1 is input to the controller 30.

[0080] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle θ2 of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). The arm angle θ2 is, for example, the opening angle of the arm 5 from its most closed state. In this case, the arm angle θ2 is maximum when the arm 5 is most open. A detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

[0081] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle θ3 of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). The bucket angle θ3 is the opening angle of the bucket 6 from its most closed state. In this case, the bucket angle θ3 is maximum when the bucket 6 is most open. A detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

[0082] The machine body tilt sensor S4 detects the tilt state of the machine body (e.g., the upper rotating body 3) with respect to a predetermined plane (e.g., a horizontal plane). The machine body tilt sensor S4 is attached, for example, to the upper rotating body 3, and detects the tilt angles of the excavator 100 (i.e., the upper rotating body 3) about two axes in the fore-aft and lateral directions (hereinafter referred to as the "fore-aft tilt angle" and the "lateral tilt angle"). The detection signals corresponding to the tilt angles (fore-aft tilt angle and lateral tilt angle) by the machine body tilt sensor S4 are input to the controller 30.

[0083] The turning state sensor S5 is attached to the upper rotating body 3 and outputs detection information related to the turning state of the upper rotating body 3. The turning state sensor S5 detects, for example, the turning angular velocity and turning angle of the upper rotating body 3. The turning state sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0084] If the vehicle tilt sensor S4 includes a gyro sensor, a six-axis sensor, an IMU, or the like that can detect angular velocities around three axes, the rotation state (e.g., rotation angular velocity) of the upper rotating body 3 may be detected based on the detection signal of the vehicle tilt sensor S4. In this case, the rotation state sensor S5 may be omitted.

[0085] The boom cylinder pressure sensor 7a detects the pressure of the hydraulic oil in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). A detection signal corresponding to the boom bottom pressure detected by the boom cylinder pressure sensor 7a is input to the controller 30.

[0086] The object detection device 70 detects objects present around the shovel 100. Examples of objects to be detected include people, animals, vehicles, construction machinery, buildings, walls, fences, holes, etc. The object detection device 70 includes at least one of a monocular camera, an ultrasonic sensor, a millimeter-wave radar, a stereo camera, a LIDAR, a range image sensor, an infrared sensor, etc. The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100. The object detection device 70 may also be configured to be capable of distinguishing between types of objects, for example, between humans and non-human objects. For example, the object detection device 70 may be configured to be capable of detecting a predetermined object or distinguishing between types of objects based on a predetermined model such as a pattern recognition model or a machine learning model. The object detection device 70 includes a forward sensor 70F, a rearward sensor 70B, a leftward sensor 70L, and a rightward sensor 70R. The controller 30 receives output signals corresponding to the detection results from the object detection devices 70 (the front sensor 70F, the rear sensor 70B, the left sensor 70L, and the right sensor 70R).

[0087] The front sensor 70F is attached to the front end of the top surface of the cabin 10, for example, and detects an object present in front of the upper rotating body 3.

[0088] The rear sensor 70B is attached to, for example, the rear end of the upper surface of the upper rotating body 3, and detects an object present behind the upper rotating body 3.

[0089] The left sensor 70L is attached to, for example, the left end of the top surface of the upper rotating body 3, and detects an object present to the left of the upper rotating body 3.

[0090] The right sensor 70R is attached to, for example, the right end of the top surface of the upper rotating body 3, and detects an object present to the right of the upper rotating body 3.

[0091] The imaging device 80 captures images of the surroundings of the shovel 100 and outputs the captured images. The imaging device 80 includes a front camera 80F, a rear camera 80B, a left camera 80L, and a right camera 80R. Images captured by the imaging devices 80 (each of the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R) are captured by the display device D1. The images captured by the imaging device 80 are also captured by the controller 30 via the display device D1. The images captured by the imaging device 80 may also be captured by the controller 30 directly, without via the display device D1.

[0092] The front camera 80F is attached to the front end of the upper surface of the cabin 10 so as to be adjacent to the front sensor 70F, for example, and captures an image of the situation in front of the upper rotating body 3.

[0093] The rear camera 80B is attached to the rear end of the upper surface of the upper rotating body 3 so as to be adjacent to the rear sensor 70B, for example, and captures an image of the situation behind the upper rotating body 3.

[0094] The left camera 80L is attached to the left end of the top surface of the upper rotating body 3 so as to be adjacent to the left sensor 70L, for example, and captures an image of the situation to the left of the upper rotating body 3.

[0095] The right camera 80R is attached to the right end of the top surface of the upper rotating body 3 so as to be adjacent to the right sensor 70R, and captures an image of the situation to the right of the upper rotating body 3.

[0096] Note that, when the object detection device 70 includes an imaging device such as a monocular camera or a stereo camera, some or all of the functions of the imaging device 80 may be integrated into the object detection device 70. For example, when the forward sensor 70F includes an imaging device, the functions of the forward camera 80F may be integrated into the forward sensor 70F. The same applies to the functions of the rearward camera 80B, the left camera 80L, and the right camera 80R when the rearward sensor 70B, the left sensor 70L, and the right sensor 70R each include an imaging device.

[0097] The display device D1 is attached, for example, to a location that is easily visible to an operator seated in a cockpit inside the cabin 10, and displays various information images. The display device D1 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. For example, the display device D1 displays a captured image captured by the imaging device 80, or a converted image obtained by performing a predetermined conversion process on the captured image (for example, a viewpoint converted image or a composite image obtained by combining multiple captured images). The display device D1 includes a display control unit D1a, an image display unit D1b, and an operation input unit D1c.

[0098] The display control unit D1a performs control processing to display various information images on the image display unit D1b in response to an operation input by an operator or the like to the operation input unit D1c. Similar to the controller 30, the display control unit D1a may be configured mainly with a computer including, for example, a CPU, a memory device such as RAM, an auxiliary storage device such as ROM, and an interface device for input / output with the outside.

[0099] The function of the display control unit D1a may be provided outside the display device D1, and may be realized by the controller 30, for example.

[0100] The image display section D1b is an area that displays an information image on the display device D1. The image display section D1b is configured by, for example, a liquid crystal panel or an organic EL panel.

[0101] The operation input unit D1c accepts operation inputs related to the display device D1. An operation input signal corresponding to the operation input to the operation input unit D1c is taken into the display control unit D1a. The operation input unit D1c may also accept various operation inputs related to the excavator 100 other than the display device D1. In this case, the operation input signals corresponding to the various operation inputs to the operation input unit D1c are taken into the controller 30 directly or indirectly via the display control unit D1a. The operation input unit D1c includes, for example, a touch panel mounted on a liquid crystal panel or an organic EL panel as the image display unit D1b. The operation input unit D1c may also include any operation member such as a touch pad, button, switch, toggle, or lever that is separate from the image display unit D1b.

[0102] Note that an operation input unit that receives various operation inputs related to the excavator 100 other than the display device D1 may be provided separately from the display device D1 (operation input unit D1c).

[0103] The display device D1 has a plurality of operation modes with mutually different display contents under the control of the display control unit D1a. The display device D1 switches between the plurality of operation modes in response to a predetermined operation by the operator. The plurality of operation modes include, for example, a surrounding image mode, a setting mode, and a view mode. The same may be true for other examples of the shovel 100 described below.

[0104] In the surrounding image mode, an image (hereinafter referred to as "surrounding image") representing the surroundings of the shovel 100 based on an image captured by the imaging device 80 is displayed on the display device D1 (image display unit D1b). The surrounding image may be, for example, an output image (captured image) of at least one of the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R. The surrounding image may also be a viewpoint-converted image generated based on an output image of at least one of the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R. The viewpoint-converted image may be, for example, a combination of a top-view image of a relatively close range around the shovel 100 viewed from directly above and a horizontal image of a relatively distant range around the shovel 100 viewed horizontally from the shovel 100.

[0105] For example, as shown in Fig. 5, in the surrounding image mode, the display device D1 displays a surrounding image 500. In addition, the display device D1 displays various information related to the excavator 100. of The information images 501 to 510 are displayed in a manner that they are superimposed on the surrounding image 500 at the upper or lower end of the display area (image display section D1b). This allows the information images 501 to 510 to allow the operator to recognize various pieces of information while ensuring the visibility of the surrounding image 500.

[0106] The information image 501 displays the current time.

[0107] Information image 502 displays the operation mode corresponding to the engine speed set through a predetermined input means (for example, an engine speed adjustment dial).

[0108] The information image 503 displays the type of travel mode that has been set for the undercarriage 1. The travel mode indicates the setting state of the travel hydraulic motors 1L, 1R that use variable displacement motors. For example, the travel mode has a low-speed mode and a high-speed mode, and in the low-speed mode, a mark shaped like a "turtle" is displayed, and in the high-speed mode, a mark shaped like a "rabbit" is displayed.

[0109] The information image 504 displays an icon representing the type of attachment currently attached.

[0110] The information image 505 displays the control state of the engine 11. In this example, "automatic deceleration / automatic stop mode" is selected as the control state of the engine 11. The automatic deceleration / automatic stop mode means a control state in which the engine speed is automatically reduced and the engine 11 is automatically stopped depending on the duration of non-operation of the excavator 100. The control state of the engine 11 displayed in the information image 505 may further include "automatic deceleration mode", "automatic stop mode", "manual deceleration mode", etc.

[0111] The information image 506 displays the remaining amount of urea water stored in the urea water tank of the excavator 100 and used in a urea SCR (Selective Catalytic Reduction) system. In this example, the information image 506 displays a bar gauge indicating the current remaining amount of urea water. The remaining amount of urea water is displayed based on data output from a urea water remaining amount sensor provided in the urea water tank.

[0112] The remaining amount of fuel stored in the fuel tank is displayed on the information image 507. In this example, a bar gauge showing the current remaining amount of fuel is displayed on the information image 507. The remaining amount of fuel is displayed based on data output from a fuel remaining amount sensor provided in the fuel tank.

[0113] The information image 508 displays the temperature state of the cooling water for the engine 11 (hereinafter referred to as "engine cooling water"). In this example, the information image 508 displays a bar gauge that indicates the temperature state of the engine cooling water. The temperature of the engine cooling water is displayed based on data output from a water temperature sensor provided in the engine 11.

[0114] The information image 509 displays the cumulative operating time of the engine 11. In this example, the information image 509 displays the cumulative operating time together with the unit "hr" (hours). The information image 509 may display the lifetime operating time of the excavator 100 over the entire period since its manufacture, or may display the section operating time since the count was restarted by the operator, as the cumulative operating time of the engine 11.

[0115] Information image 510 displays the range of the surrounding image displayed as surrounding image 500. Information image 510 includes shovel image 510a representing the shape of shovel 100, and band-shaped direction display image 510b representing the imaging direction of imaging device 80 that captured surrounding image 500 being displayed.

[0116] In this example, a direction display image 510b is displayed below the shovel image 510a (opposite the figure representing the attachment). This indicates that an image of the rear of the shovel 100 captured by the rear camera 80B included in the imaging device 80 is displayed as the surrounding image 500. For example, when an image captured by the right camera 80R included in the imaging device 80 is displayed as the surrounding image 500, the direction display image 510b is displayed to the right of the shovel image 510a. Furthermore, for example, when an image captured by the left camera 80L included in the imaging device 80 is displayed as the surrounding image 500, the direction display image 510b is displayed to the left of the shovel image 510a.

[0117] In the setting mode, a setting screen relating to the working area around the excavator 100, which will be described later, is displayed. Details will be described later (see FIGS. 6 and 11).

[0118] In the view mode, the contents of settings relating to the working area around the excavator 100, which will be described later, are displayed. Details will be described later (see FIG. 7).

[0119] The audio output device D2 is attached, for example, inside the cabin 10, and outputs audio under the control of the controller 30. The audio output device D2 is, for example, a buzzer, a speaker, or the like.

[0120] <How to set the working area around the excavator> Next, a method for setting the working area around the excavator 100 by the controller 30 will be described with reference to FIG.

[0121] Fig. 6 is a diagram showing an example of the display content of the display device D1 in the setting mode. Specifically, Fig. 6 is a diagram showing an example of a setting screen (setting screen 600) related to the work area around the excavator 100. In this example, the setting screen 600 is an operation screen for setting an avoidance target in the work area, as a specific example of setting related to the work area, in response to an operation by an operator or the like on the operation input unit D1c. Then, the controller 30 sets the avoidance target in response to the operation on the setting screen 600.

[0122] In the setting mode, the display device D1 may display the contents of the setting screen 600 superimposed on the display contents of the surrounding image mode (for example, the surrounding image 500 and the information images 501 to 510 in FIG. 5). In this case, the contents of the setting screen 600 may be displayed superimposed on a portion of the display contents of the surrounding image mode that is located in the vertical center of the display area (image display section D1b). As a result, in the setting mode, the display device D1 displays the contents of the setting screen 600 and the contents of the information images 501 to 510 in a manner that is visible to the operator.

[0123] The display device D1 displays a setting screen 600 on the image display unit D1b under the control of the display control unit D1a. Specifically, the setting screen 600 displays an image (an example of an image representing a work area) captured by the imaging device 80 (in this example, the left camera 80L). In this example, two road cones RC are arranged side by side, one behind the other, on the ground to the left of the shovel 100 (see FIG. 7), and the two road cones RC are also captured (included) in the image captured by the left camera 80L. In this example, the two road cones RC are positioned so as to separate the work site where the shovel 100 is located from the road on which vehicles travel, and the setting screen 600 (i.e., the image captured by the imaging device 80) shows a centerline 606 of the road.

[0124] The display control unit D1a displays the image captured by the imaging device 80 on the image display unit D1b (setting screen 600) in a state in which coordinates defined in advance for the work area are associated with each pixel (an example of an image component) of the image captured by the imaging device 80, based on a predetermined coordinate system (hereinafter, for convenience, referred to as the "setting coordinate system"). At this time, coordinate positions on any plane, such as the ground surface or the contact surface of the shovel 100, may be associated with the pixels. Furthermore, detected objects, such as road cones (see FIGS. 3A and 3B), may be associated with pixels (specifically, pixels within the range in which the detected object is captured). As a result, for example, an operator or the like can specify a pixel in the captured image on the setting screen 600 via the operation input unit D1c to specify a portion of the work area corresponding to the coordinates associated with that pixel, i.e., the portion of the work area captured in that pixel. At this time, the pixel of the captured image on the setting screen 600 may be designated by the fingertip of an operator or the like via a touch panel (for example, by tapping, etc.), or may be designated by moving a cursor and performing a confirm operation using a mouse, joystick, or the like. The process of associating the coordinates of the work area in the setting coordinate system with each pixel in the captured image of the imaging device 80 may be performed by the display control unit D1a, or may be performed outside the display device D1, for example, by the controller 30. The setting coordinate system may be, for example, a local coordinate system that is uniquely set (fixed) in a specific geographical range, such as the work site of the shovel 100 (for example, a local coordinate system of the construction site determined during surveying), or may be an absolute coordinate system expressed by longitude, latitude, altitude, etc. (for example, the World Geodetic System). The setting coordinate system may be a local coordinate system based on a predetermined position of the shovel 100 and fixed to the shovel 100, i.e., a mobile coordinate system (for example, an XYZ coordinate system fixed to the upper revolving body 3 shown in FIGS. 3A and 3B). The same applies to other examples of the shovel 100 (FIG. 9) described below.

[0125] Furthermore, the display control unit D1a may reduce or enlarge the scale of the image captured by the imaging device 80 on the image display unit D1b (setting screen 600) in accordance with a predetermined operation input (for example, a pinch-in operation or a pinch-out operation on a touch panel) by an operator or the like to the operation input unit D1c. That is, the display control unit D1a may change the display area of the image captured by the imaging device 80 on the image display unit D1b by reducing or enlarging the scale of the image captured by the imaging device 80. In this case, naturally, in accordance with the change in the scale of the captured image on the image display unit D1b (setting screen 600), the coordinates on the setting coordinate system and the correspondence between the objects corresponding to the coordinates and the pixels are also changed.

[0126] Furthermore, the display control unit D1a may change the display area of the captured image of the periphery of the excavator 100 (specifically, the front, rear, left, and right of the upper rotating body 3) output by the imaging device 80 to be displayed on the setting screen 600 in accordance with an operation input by the operator or the like to the operation input unit D1c (for example, a flick operation or a swipe operation on a touch panel). For example, when the operator or the like performs a flick operation or a swipe operation to the left on the touch panel, an area of the captured image on the right side that is not displayed on the setting screen 600 is gradually displayed on the setting screen 600. In this example, on the setting screen 600, the image captured by the left camera 80L is gradually switched to the image captured by the front camera 80F. At this time, the display control unit D1a may continuously switch the display area of the captured image output by the imaging device 80 to be displayed on the setting screen 600 in accordance with an operation input by the operator or the like to the operation input unit D1c, so that the surroundings of the excavator 100 are displayed without interruption. Furthermore, the display control unit D1a may select a camera corresponding to a captured image to be displayed on the setting screen 600 from the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R in response to an operation input by an operator or the like via the operation input unit D1c. That is, the display control unit D1a may discontinuously switch the display area of the captured images output by the imaging device 80 to be displayed on the setting screen 600 for each of the captured images of the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R in response to an operation input by an operator or the like via the operation input unit D1c. This allows the operator or the like to switch the area of the captured image to be displayed on the setting screen 600 by operating the operation input unit D1c. Furthermore, the display control unit D1a may change the display area of the captured image on the setting screen 600 in the vertical direction in response to an operation input by an operator or the like via the operation input unit D1c (for example, a flick operation or a swipe operation on a touch panel). When the display area of the captured image on the image display section D1b (setting screen 600) is changed, naturally, the correspondence between the coordinates on the setting coordinate system and the objects corresponding to the coordinates and the pixels is also changed in accordance with the change in the display area of the captured image on the setting screen 600.

[0127] Specifically, the imaging devices 80 (front camera 80F, rear camera 80B, left camera 80L, and right camera 80R) are fixed to the upper rotating structure 3, and the imaging range (angle of view) is specified (fixed) in advance. Therefore, for example, by taking into consideration in advance the topographical shape of the work area within the imaging range, it is possible to identify the relative position, as seen from the shovel 100 (upper rotating structure 3), of the part of the work area (topographical shape) that is shown in each pixel of the image captured by the imaging device 80. Also, for example, when an object is detected in the work area within the imaging range by the object detection device 70, it is possible to identify the relative position, as seen from the shovel 100 (upper rotating structure 3), of the pixel group corresponding to the object that is shown in the image captured by the imaging device 80 in a manner that obscures the topographical shape, as seen from the shovel 100 (upper rotating structure 3). Therefore, the display control unit D1a, the controller 30, etc. can associate coordinates, which are predefined for the work area according to the setting coordinate system, with each pixel of the image captured by the imaging device 80. For example, when the setting coordinate system is a moving coordinate system fixed to the upper rotating body 3, the above-mentioned association may be realized by a map (hereinafter referred to as a "correspondence map") that shows the correspondence between each pixel of the captured image and a relative position based on the imaging device 80 (front camera 80F, rear camera 80B, left camera 80L, or right camera 80R). Furthermore, when the setting coordinate system is a fixed coordinate system fixed to the work area, the above-mentioned association may be realized by, for example, the above-mentioned correspondence map and a conversion formula or conversion map that converts the relative positions defined in the correspondence map into coordinates in the setting coordinate system. At this time, the conversion formula, conversion map, etc. naturally take into consideration the position (coordinates) in the setting coordinate system of the shovel 100, which is identified based on the positioning results of a positioning device such as a GNSS (Global Navigation Satellite System) device mounted on the upper rotating body 3. Furthermore, the conversion formula, conversion map, etc. may be changed as appropriate depending on the tilt state of the upper rotating body 3, the presence of an object detected by the object detection device 70 within the imaging range of the imaging device 80, etc. This is because the portion of the work area (terrain shape) included in the image captured by the imaging device 80 changes depending on the tilt state of the shovel 100.Also, for example, if an object exists within the imaging range of the imaging device 80, the detected object will be reflected in the captured image, obscuring the background (terrain, etc.) in the background, and as described above, a shift will occur in the relative positions of the pixels in that image portion defined by the correspondence map.

[0128] Note that object detection information including the presence or absence of an object detected by the object detection device 70 and the position of the object (for example, the relative position as seen from the upper rotating body 3) may be notified (shared) by the controller 30 to the display control unit D1a. The same applies to other examples of the excavator 100 described below.

[0129] Furthermore, the display control unit D1a causes the image captured by the imaging device 80 to be displayed on the image display unit D1b (setting screen 600) in a state in which the coordinates of an object (target) detected by the object detection device 70 in the work area, based on the setting coordinate system, are associated with pixels corresponding to the target in the image captured by the imaging device 80 (for example, pixels in an image portion including the target). For example, the display control unit D1a or the like may identify pixels in the above-mentioned association map that correspond to the coordinates of the object detected by the object detection device 70 (for example, representative coordinates or multiple coordinates corresponding to multiple portions of the object), and distinguish one or more identified pixels by a flag or the like, thereby realizing the association. The same applies to other examples of the excavator 100 (FIG. 9) described below. As a result, for example, an operator or the like can specify a pixel in an image portion in which the target is captured (included) in the captured image on the setting screen 600 via the operation input unit D1c, thereby specifying the target located at the coordinates corresponding to the specified pixel.

[0130] In this example, as described above, two road cones RC (examples of objects) appear in the image captured by the left camera 80L that constitutes the setting screen 600. Therefore, an operator or the like can specify a road cone RC by specifying a pixel in the image portion that includes the road cone RC through the operation input unit D1c (for example, a tap operation on a touch panel). Furthermore, the specification of a detected object such as a road cone RC may be performed by a double tap operation or a long tap operation.

[0131] Specifically, when a pixel in an image portion including the road cone RC on the left side of the setting screen 600, that is, the road cone RC in front of the upper rotating body 3 as a reference, is specified, the display control unit D1a displays a triangular icon 601 surrounding the pixel group including the road cone RC on the setting screen 600. Then, the display control unit D1a notifies the controller 30 that the road cone RC has been specified. This allows the controller 30 to set the road cone RC in front of the upper rotating body 3 as a target to be avoided when the excavator 100 is working.

[0132] Similarly, when a pixel in an image portion including the road cone RC on the right side of the setting screen 600, that is, the road cone RC on the rear side relative to the upper rotating body 3, is specified, the display control unit D1a displays a triangular icon 602 surrounding the pixel group including the road cone RC on the setting screen 600. Then, the display control unit D1a notifies the controller 30 that the road cone RC has been specified. This allows the controller 30 to set the road cone RC on the rear side relative to the upper rotating body 3 as an object to be avoided when the excavator 100 is working.

[0133] Furthermore, when two road cones RC are specified on the setting screen 600, the controller 30 may set a section to be avoided (hereinafter, "avoidance section") in a manner that complements the space between the two road cones. For example, a virtual wall (hereinafter, "virtual wall") may be set as the section to be avoided, extending vertically from the line segment connecting the two road cones RC to a predetermined height (e.g., 10 m). For example, an operator or the like can specify two road cones RC on the setting screen 600 by tapping on the touch panel, and then dragging from one to the other to set a virtual wall between the two road cones RC. In this case, the display control unit D1a displays a rectangular icon 603 on the setting screen 600, indicating that a virtual wall has been set between the specified two road cones RC. This allows the operator to recognize that a virtual wall has been set between the work site area where the excavator 100 is located and the road.

[0134] Note that there may be cases where a cone bar is stretched between two road cones RC. In this case, when two road cones RC are specified, the controller 30 may set a virtual wall along the cone bar. Furthermore, when three or more road cones RC are installed around the excavator 100, multiple virtual walls may be set between the road cones RC so that they are connected to each other. For example, when the road cones RC are placed so as to surround the excavator 100 and all the road cones are specified, multiple virtual walls defined by the road cones RC may be set so as to be connected to surround the excavator 100.

[0135] Furthermore, the virtual wall may extend (expand) not only between the two road cones RC but also to a space outside the two road cones RC. For example, when an operation to extend the left end of the icon 603 to the left is performed through the operation input unit D1c, specifically, when an operation to drag the left end of the icon 603 toward the left is performed through a touch panel or the like, the display control unit D1a expands the icon 603 to a region 604 to the left of the left road cone RC. Then, the display control unit D1a notifies the controller 30 that an operation to extend the virtual wall has been performed to the left of the left road cone RC on the setting screen 600, that is, to a predetermined position forward of the front road cone RC based on the upper rotating body 3. Similarly, when an operation to extend the right end of the icon 603 to the right is performed via the operation input unit D1c, specifically, when an operation to drag the right end of the icon 603 toward the right is performed via a touch panel or the like, the display control unit D1a extends the icon 603 to an area 605 to the right of the right road cone RC. Then, the display control unit D1a notifies the controller 30 that an operation to extend the virtual wall to the right of the right road cone RC on the setting screen 600, that is, to a predetermined position rearward of the rear road cone RC relative to the upper rotating body 3. This allows the controller 30 to extend the virtual wall to a space outside the two road cones in accordance with an operation by an operator or the like on the setting screen 600 via the operation input unit D1c.

[0136] The setting of the avoidance target by the controller 30 may be performed automatically based on the designation of an object, such as a road cone RC, on the setting screen 600, or may be performed when a predetermined operation is performed via the operation input unit D1c after the designation of the object. Furthermore, instead of the road cone RC detected by the object detection device 70, a similar setting may be performed for other types of objects (people, utility poles, construction machinery, fences, etc.) detected by the object detection device 70. For example, if a utility pole is detected by the object detection device 70, the utility pole may be set as the avoidance target in a similar manner, or a virtual wall may be set as the avoidance target based on multiple utility poles. Furthermore, although an avoidance target is set in this example, a target target may also be set in a similar manner. For example, if a dump truck is captured (included) in the image captured by the imaging device 80, the dump truck may be set as the target target for loading the excavator 100 with unloaded soil.

[0137] <Example of settings for the work area around the excavator> Next, with reference to Figs. 7 and 8 (Figs. 8A and 8B), a specific example of work by the shovel 100 based on the settings related to the work area around the shovel 100 will be described.

[0138] FIG. 7 is a diagram illustrating an example of settings related to the work area around the shovel 100. Specifically, FIG. 7 is a perspective view of the shovel 100 illustrating settings related to the work area around the shovel 100 set through the setting screen 600 of FIG. 6, and more specifically, a diagram illustrating a virtual wall VW set through the setting screen 600 of FIG. 6. FIGS. 8A and 8B are diagrams illustrating an example and another example of display content of the display device D1 in the view mode, respectively. Specifically, FIGS. 8A and 8B are diagrams illustrating an example and another example of a confirmation screen for settings related to the work area around the shovel 100, and more specifically, diagrams illustrating an example and another example of a confirmation screen for settings set through the setting screen 600 of FIG. 6.

[0139] 7, in this example, a virtual wall VW as an object to be avoided in the work area is set to the left of the excavator 100 (upper rotating body 3) in such a manner that a straight line connecting two road cones RC arranged one behind the other is extended a predetermined distance in the vertical direction. In other words, the virtual wall VW as an object to be avoided (section) in the work area is set in such a manner that the icon 603 is expanded to areas 604 and 605 on the setting screen 600 in FIG.

[0140] The operator can check the settings related to the work area including the virtual wall VW through a confirmation screen displayed on the display device D1.

[0141] For example, as shown in FIG. 8A, a surrounding image 800 is displayed on the display device D1. Information images 801 to 810 are also displayed on the display device D1. The information images 801 to 810 represent the same content as the information images 501 to 510 in FIG. 5, and are displayed superimposed on the surrounding image 800 at the upper or lower end of the display area (image display section D1b). Also, a setting check image 820 is displayed on the display device D1 superimposed on the surrounding image 800, occupying approximately the left half of the center in the vertical direction of the display area. As a result, the setting check image 820 and the contents of the information images 801 to 810 are displayed on the display device D1 in a manner that is visible to the operator.

[0142] The setting confirmation image 820 displays, using a three-dimensional image, the setting contents related to the work area around the shovel 100, including the virtual wall VW. Specifically, the setting confirmation image 820 displays the shovel 100, the work area around the shovel 100, and the set virtual wall VW as a three-dimensional image viewed from a virtual viewpoint placed diagonally above the shovel 100 (hereinafter simply referred to as "oblique virtual viewpoint").

[0143] The setting check image 820 includes a shovel image 821 , a traffic cone image 822 , a utility pole image 823 , a fence image 824 , and a virtual wall image 825 .

[0144] The shovel image 821 is a three-dimensional image of the shovel 100 viewed from a perspective virtual viewpoint. The shovel image 821 may be a captured image of the shovel 100 viewed from a perspective virtual viewpoint, or may be computer graphics that simulate the shovel 100 viewed from a perspective virtual viewpoint. The same applies to the shovel image 871 described below.

[0145] The road cone image 822 is a three-dimensional image of the road cone RC placed around the excavator 100 (that is, the road cone RC in FIGS. 6 and 7) viewed from an oblique virtual viewpoint.

[0146] The utility pole image 823 and the fence image 824 are three-dimensional images of the utility pole and fence (that is, the utility pole and fence in FIG. 7) that exist around the excavator 100, respectively, viewed from an oblique virtual viewpoint.

[0147] A three-dimensional image representing the work area around the shovel 100, including a traffic cone image 822, a utility pole image 823, and a fence image 824, may be generated as a viewpoint converted image by performing a known viewpoint conversion process based on an image captured by the imaging device 80. Furthermore, a three-dimensional oblique image representing the work area around the shovel 100 may be computer graphics generated from an image template of the object to be detected that is prepared in advance, using the detection results of the object detection device 70, for example.

[0148] The virtual wall image 825 is a three-dimensional image of a virtual wall VW set based on two road cones RC, viewed from an oblique virtual viewpoint.

[0149] 8B, for example, a surrounding image 850 is displayed on the display device D1. Information images 851 to 860 are also displayed on the display device D1. The information images 851 to 860 represent the same content as the information images 501 to 510 in FIG. 5, and are displayed superimposed on the surrounding image 850 at the upper or lower end of the display area (image display section D1b). Furthermore, setting check images 870 and 880 are displayed superimposed on the surrounding image 850, occupying approximately the left half and approximately the right half of the center in the vertical direction of the display area, respectively. As a result, the setting check images 870 and 880 and the contents of the information images 851 to 860 are displayed on the display device D1 in a manner that is visible to the operator.

[0150] The setting confirmation images 870 and 880 display the setting contents related to the work area around the shovel 100, including the virtual wall VW, using two-dimensional images. Specifically, the setting confirmation image 870 displays the shovel 100, the work area around the shovel 100, and the set virtual wall VW as a two-dimensional (planar) image viewed from a virtual viewpoint directly above the shovel 100 (hereinafter simply referred to as the "top-view virtual viewpoint"). Furthermore, the setting confirmation image 880 displays the work area around the shovel 100 and the set virtual wall VW as a two-dimensional (planar) image viewed horizontally from the shovel 100.

[0151] The setting check image 870 includes a shovel image 871, a traffic cone image 872, a utility pole image 873, a fence image 874, a virtual wall image 875, and distance notification images 876-879.

[0152] The shovel image 871 is an image of the shovel 100 viewed from a top-view virtual viewpoint.

[0153] The road cone image 872 is an image (ie, a top-view image) of the road cone RC (ie, the road cone RC in FIGS. 6 and 7) placed around the excavator 100 viewed from a top-view virtual viewpoint.

[0154] The utility pole image 873 and the fence image 874 are images (ie, top-view images) of the utility pole and fence (ie, the utility pole and fence in FIG. 7) that exist around the excavator 100, respectively, viewed from a top-view virtual viewpoint.

[0155] The top view image representing the work area around the shovel 100, including the traffic cone image 872, the utility pole image 873, and the fence image 874, may be generated as a viewpoint converted image by performing a known viewpoint conversion process on the basis of the image captured by the imaging device 80. The top view image representing the work area around the shovel 100 may also be computer graphics generated from an image template of the object to be detected that is prepared in advance, using the detection result of the object detection device 70, for example.

[0156] The virtual wall image 875 is an image (that is, a top-view image) of the virtual wall VW set based on the two road cones RC as references, viewed from a top-view virtual viewpoint.

[0157] Distance notification images 876 to 879 each indicate the distance (for example, the shortest distance) between the shovel 100 and a surrounding object to be detected or an object to be avoided (zone). This allows the operator to operate the shovel 100 while more specifically understanding the distance relationship between the shovel 100 and the surrounding object or object to be avoided (zone).

[0158] The distance notification image 876 shows the shortest distance between an end attachment (for example, bucket 6) of the shovel 100 and the virtual wall VW. The distance notification image 876 includes a double-headed arrow (dimension line) connecting the portions corresponding to the shortest distance between the part of the shovel image 871 corresponding to the end attachment and the virtual wall image 875, and text information indicating the distance ("xx m").

[0159] Distance notification image 877 shows the shortest distance between the upper revolving body 3 of shovel 100 and virtual wall VW. Distance notification image 877 includes a double-sided arrow (dimension line) connecting the portions corresponding to the shortest distance between the portion of shovel image 871 corresponding to the upper revolving body 3 and virtual wall image 875, and text information indicating the distance ("xx m").

[0160] Distance notification image 878 shows the shortest distance between the fence and an end attachment (for example, bucket 6) of shovel 100. Distance notification image 878 includes a double-headed arrow (dimension line) connecting the parts corresponding to the shortest distance between the part of shovel image 871 corresponding to the end attachment and fence image 874, and text information indicating the distance ("xx m").

[0161] Distance notification image 879 shows the shortest distance between the upper revolving body 3 of shovel 100 and the utility pole. Distance notification image 879 includes a double-sided arrow (dimension line) connecting the parts corresponding to the shortest distance between the part of shovel image 871 corresponding to the upper revolving body 3 and utility pole image 873, and text information indicating the distance ("xx m").

[0162] The setting confirmation image 880 includes a traffic cone image 882 , a virtual wall image 885 , a center line image 886 , and a height notification image 887 .

[0163] The road cone image 882 is an image of the road cones RC placed around the excavator 100 (that is, the road cones RC in FIGS. 6 and 7) viewed horizontally from the excavator 100.

[0164] The virtual wall image 885 is an image of the virtual wall VW, which is set based on the two road cones RC, viewed horizontally from the excavator 100. The virtual wall image 885 includes a virtual wall upper end image 885A representing the upper end of the virtual wall VW, and a virtual wall lower end image 885B representing the lower end of the virtual wall VW.

[0165] The centerline image 886 is an image of the road centerline 606 viewed horizontally from the excavator 100.

[0166] An image of the work area around the shovel 100 viewed horizontally from the shovel 100, including the road cone image 882 and the center line image 886, may be generated as a viewpoint converted image by performing a known viewpoint conversion process based on the image captured by the imaging device 80. Furthermore, an image of the work area around the shovel 100 viewed horizontally from the shovel 100 may be computer graphics generated from an image template of the object to be detected that is prepared in advance, using the detection results of the object detection device 70, for example.

[0167] The height notification image 887 indicates the height of the set avoidance target section (virtual wall VW). The height notification image 887 includes a double-sided arrow (dimension line) connecting the virtual wall upper end image 885A and the virtual wall lower end image 885B in the up-down direction (vertical direction), and text information indicating the distance ("xx m").

[0168] In this way, the operator can understand the positional relationship between the shovel 100 and the virtual wall VW set in the work area around the shovel 100 through the setting check image 820 and the setting check images 870 and 880.

[0169] The setting confirmation image 880 may be displayed as a two-dimensional (planar) image of the shovel 100, the work area around the shovel 100, and the set virtual wall VW, viewed from a virtual viewpoint to the side of the shovel 100. In this case, the setting confirmation image 880 may display an shovel image representing the shovel 100, or utility pole images and fence images representing utility poles, fences, and the like present around the shovel 100. In addition, in the view mode, only one of the setting confirmation image 870 and the setting confirmation image 880 may be displayed on the display device D1. In addition, in the view mode, the setting confirmation image 820 and one of the setting confirmation images 870 and 880 may be displayed on the display device D1. In addition, in the view mode, the setting confirmation image may be displayed superimposed on an information image other than the surrounding image.

[0170] The controller 30 may output a warning in a situation where the shovel 100 is likely to come into contact with the virtual wall VW, so as to prevent the shovel 100 from coming into contact with the non-existent virtual wall VW.

[0171] For example, when the distance between the virtual wall VW and the shovel 100 (lower running structure 1, upper rotating structure 3, attachment AT, etc.) falls below a predetermined threshold, the controller 30 may output a control signal to the audio output device D2 to output an alarm sound. At this time, the controller 30 can identify the position of the shovel 100 itself in a setting coordinate system based on the positioning results of a positioning device such as a GNSS device mounted on the upper rotating structure 3, and determine the positional relationship with the virtual wall VW. Furthermore, the controller 30 may output alarm sounds with different alarm levels in multiple stages as the distance between the virtual wall VW and the shovel 100 decreases. Furthermore, the controller 30 may output an alarm in the form of an information image via the display device D1.

[0172] Furthermore, the controller 30 may control (limit) the operation of the operating elements of the shovel 100 so as not to come into contact with the non-existent virtual wall VW, in other words, so as not to cross the virtual wall VW.

[0173] For example, when the upper rotating body 3 is rotated to the left via the rotation control lever 26B from the state of the excavator 100 shown in FIG. 7 , a part of the upper rotating body 3 (e.g., the counterway) or the attachment AT may approach the virtual wall VW and cross the virtual wall VW. Therefore, for example, when the rotation control lever 26B is operated and the upper rotating body 3 is rotating, the controller 30 may output a control signal to the pressure reducing valve 50L to restrict and decelerate the rotation of the upper rotating body 3 if the distance between the virtual wall VW and the upper rotating body 3 or the attachment AT falls below a predetermined first threshold. Furthermore, the controller 30 may vary the degree of restriction on the upper rotating body 3 so that the closer the distance between the virtual wall VW and the upper rotating body 3 or the attachment AT becomes, the higher the degree of restriction on the upper rotating body 3 becomes. The same applies to the case of controlling (restricting) the operation of the boom 4, which will be described later. Furthermore, when the swing operation lever 26B is operated and the upper swing body 3 is swinging, and the attachment AT or the upper swing body 3 approaches the virtual wall VW and the distance between the attachment AT and the virtual wall VW falls below a predetermined second threshold value that is smaller than the first threshold value, the controller 30 may output a control signal to the pressure reducing valve 50L to reduce the control pressure output from the pressure reducing valve 50L to a level corresponding to the lever operation amount "zero," thereby stopping the swing operation of the upper swing body 3. In this way, the controller 30 can control the operation of the upper swing body 3 so that the attachment AT or the upper swing body 3 does not cross the virtual wall VW that has been set as an object to be avoided.

[0174] Furthermore, for example, when the upper rotating body 3 rotates leftward by a predetermined amount from the state of the excavator 100 shown in FIG. 7 and a virtual wall VW is present in front of the upper rotating body 3, if the boom 4 is operated via the boom operation lever 26A, the attachment AT (e.g., the bucket 6) may approach the virtual wall VW. Therefore, for example, when the boom operation lever 26A is operated and the boom 4 is operating, if the distance between the virtual wall VW and the attachment AT falls below a predetermined first threshold, the controller 30 may output a control signal to the pressure-reducing valve 50R to restrict the operation of the boom 4. Furthermore, when the boom operation lever 26A is operated and the boom 4 is operating, if the attachment AT further approaches the virtual wall VW and the distance between the attachment AT and the virtual wall VW falls below a predetermined second threshold that is smaller than the first threshold, the controller 30 may output a control signal to the pressure-reducing valve 50R to reduce the control pressure output from the pressure-reducing valve 50R to a level corresponding to the lever operation amount "zero," thereby stopping the operation of the boom 4. This allows the controller 30 to control the operation of the boom 4 so that the upper rotating body 3 does not cross the virtual wall VW that has been set as an object to be avoided.

[0175] The first threshold value for limiting the rotational movement of the upper rotating body 3 and the first threshold value for limiting the movement of the boom 4 may be the same or different, and the same applies to the second threshold value. Furthermore, when a pressure reducing valve 50 for controlling (limiting) the movements of the lower traveling body 1, the arm 5, and the bucket 6 is provided, the controller 30 may output a control signal to the pressure reducing valve 50 to control (limit) the movements of the lower traveling body 1, the arm 5, and the bucket 6, thereby preventing the excavator 100 from crossing the virtual wall VW.

[0176] [Another example of a shovel] Next, with reference to Figs. 9 to 12 in addition to Fig. 1, another example of the shovel 100 according to this embodiment will be described in detail.

[0177] <Excavator configuration> First, the configuration of a shovel 100 according to this example will be described with reference to FIGS. 1, 9, and 10. FIG.

[0178] Fig. 9 is a schematic diagram showing another example of the configuration centered on the hydraulic system of the shovel 100 according to this embodiment. Fig. 10 (Figs. 10A to 10D) is a detailed diagram showing components related to the operating system in the hydraulic system of the shovel 100 according to this embodiment, specifically, a detailed diagram showing components related to the operating system in the hydraulic system of Fig. 9.

[0179] In Fig. 9, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system are respectively represented by double lines, solid lines, dashed lines, and dotted lines, as in Fig. 2. Furthermore, the configuration of the excavator 100 according to this example, centered on the control system, is the same as in Fig. 4 except that the pressure reducing valve 50 is replaced with a shuttle valve 32, etc., which will be described later, and therefore is not shown in the figure.

[0180] The excavator 100 according to this example includes, as components related to the hydraulic system, hydraulic actuators such as traveling hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, respectively. Similarly to the example of the excavator 100 described above, the excavator 100 according to this example also includes, as components related to the hydraulic system, 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, and an operating pressure sensor 29.

[0181] The control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. The control valve 171 corresponds to the traveling hydraulic motor 2ML. The control valve 172 corresponds to the traveling hydraulic motor 2MR. The control valve 173 corresponds to the swing hydraulic motor 2A, and the control valve 174 corresponds to the bucket cylinder 9. The control valve 175 corresponds to the boom cylinder 7 and includes control valves 175L and 175R. The control valve 176 corresponds to the arm cylinder 8 and includes control valves 176L and 176R.

[0182] The operating device 26 is connected to the control valve 17 via a shuttle valve 32 (described later) provided in a pilot line on the secondary side of the operating device 26. This allows a pilot pressure to be input to the control valve 17 according to the operating state of the operating device 26 for the undercarriage 1, upper revolving structure 3, boom 4, arm 5, bucket 6, etc. Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state of the operating device 26. The operating device 26 includes a left operating lever 26L and a right operating lever 26R for operating the attachment AT, i.e., the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), the bucket 6 (bucket cylinder 9), and the upper revolving structure 3. The operating device 26 also includes a travel lever 26D for operating the undercarriage 1, and the travel lever 26D includes a left travel lever 26DL for operating the left crawler 1CL and a right travel lever 26DR for operating the right crawler 1CR.

[0183] The left operating lever 26L is used to operate the swing of the upper rotating body 3 and the arm 5. Specifically, operating the left operating lever 26L in the forward / backward direction is used to operate the arm 5, and operating the left operating lever 26L in the left / right direction is used to operate the upper rotating body 3. That is, the component corresponding to operating the left operating lever 26L in the forward / backward direction corresponds to the arm operating lever in the example of the excavator 100 described above, and the component corresponding to operating the left operating lever 26L in the left / right direction corresponds to the swing operating lever 26B. When the left operating lever 26L is operated in the forward / backward direction as seen by the operator in the cabin 10 (that is, the forward / backward direction of the upper rotating body 3), it uses hydraulic oil discharged from the pilot pump 15 to output a control pressure (pilot pressure) corresponding to the lever operation amount to a secondary pilot line. In addition, when the left operating lever 26L is operated in the left-right direction as seen by the operator in the cabin 10 (i.e., the left-right direction of the upper rotating body 3), it uses the hydraulic oil discharged from the pilot pump 15 to output a control pressure (pilot pressure) corresponding to the amount of lever operation to the secondary pilot line.

[0184] A switch NS is provided at the tip of the left operating lever 26L. This allows an operator to operate the left operating lever 26L while pressing the switch NS. The switch NS is, for example, a push button switch, and a signal corresponding to its operating state is input to the controller 30.

[0185] The switch NS may be provided on the right operating lever 26R, or may be provided at another position in the cabin 10 (preferably at a position that is easy for a seated operator or the like to operate).

[0186] The right operating lever 26R is used to operate the boom 4 and the bucket 6. Specifically, operating the right operating lever 26R in the forward / backward direction is used to operate the boom 4, and operating the right operating lever 26R in the left / right direction is used to operate the bucket 6. That is, the component corresponding to operating the right operating lever 26R in the forward / backward direction corresponds to the boom operating lever 26A in the example of the excavator 100 described above, and the component corresponding to operating the right operating lever 26R in the left / right direction corresponds to the bucket operating lever. When the right operating lever 26R is operated in the forward / backward direction as seen by the operator in the cabin 10, it uses hydraulic oil discharged from the pilot pump 15 to output a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line. When the right operating lever 26R is operated in the left / right direction, it uses hydraulic oil discharged from the pilot pump 15 to output a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line.

[0187] As described above, the left travel lever 26DL is used to operate the left crawler 1CL, and may be configured to operate in conjunction with a left travel pedal (not shown). When the left travel lever 26DL is operated in the forward or backward direction as seen by the operator inside the cabin 10, it uses hydraulic oil discharged from the pilot pump 15 to output a control pressure (pilot pressure) corresponding to the amount of lever operation to a secondary pilot line. The secondary pilot lines corresponding to the forward and reverse operation of the left travel lever 26DL are each directly connected to the corresponding pilot port of the control valve 171. In other words, the operation of the left travel lever 26DL is reflected in the spool position of the control valve 171, which drives the travel hydraulic motor 2ML.

[0188] As described above, the right travel lever 26DR is used to operate the right crawler 1CR, and may be configured to operate in conjunction with a right travel pedal (not shown). When the right travel lever 26DR is operated in the forward or backward direction as seen by the operator inside the cabin 10, it uses hydraulic oil discharged from the pilot pump 15 to output a control pressure (pilot pressure) corresponding to the amount of lever operation to a secondary pilot line. The secondary pilot lines corresponding to the forward and reverse direction operation of the right travel lever 26DR are each directly connected to the corresponding pilot port of the control valve 172. In other words, the operation of the right travel lever 26DR is reflected in the spool position of the control valve 172, which drives the travel hydraulic motor 2ML.

[0189] The operating device 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) may be an electric type that outputs an electric signal, as described later, instead of a hydraulic pilot type that outputs a pilot pressure (see, for example, FIG. 13). In this case, the control valves 171 to 176 in the control valve 17 may be electromagnetic solenoid spool valves.

[0190] The operating pressure sensor 29 includes operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0191] The operating pressure sensor 29LA detects the operator's forward / backward operation of the left operating lever 26L (for example, the direction and amount of operation) in the form of the pressure of hydraulic oil in the secondary pilot line of the left operating lever 26L (hereinafter referred to as "operating pressure").

[0192] The operating pressure sensor 29LB detects the left-right operation of the operator on the left operating lever 26L (for example, the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the left operating lever 26L.

[0193] The operation pressure sensor 29RA detects the operation content (for example, the operation direction and operation amount) of the right operation lever 26R in the forward / backward direction by the operator in the form of an operation pressure in a pilot line on the secondary side of the right operation lever 26R.

[0194] The operating pressure sensor 29RB detects the left-right operation of the operator on the right operating lever 26R (for example, the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the right operating lever 26R.

[0195] The operating pressure sensor 29DL detects the operation of the left traveling lever 26DL in the forward / backward direction by the operator (for example, the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the left traveling lever 26DL.

[0196] The operating pressure sensor 29DR detects the operation of the right travel lever 26DR in the forward / backward direction by the operator (for example, the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the right travel lever 26DR.

[0197] In addition, the operation of the operating device 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) may be detected by a sensor other than the operating pressure sensor 29 (for example, a potentiometer attached to the right operating lever 26R, left travel lever 26DL, and right travel lever 26DR).

[0198] As shown in FIG. 9, in the hydraulic system of the excavator 100, the hydraulic system portion of the drive train that drives the hydraulic actuator circulates hydraulic oil from the main pump 14 driven by the engine 11, through a center bypass line 40 and a parallel line 42, to a hydraulic oil tank.

[0199] The center bypass pipeline 40 includes center bypass pipelines 40L and 40R.

[0200] The center bypass pipe 40L starts from the main pump 14L, passes through the control valves 171, 173, 175L, and 176L arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0201] The center bypass pipe 40R starts from the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17 in this order, and reaches the hydraulic oil tank.

[0202] The control valve 171 is a spool valve that supplies hydraulic oil discharged from the main pump 14L to the traveling hydraulic motor 2ML and discharges hydraulic oil discharged from the traveling hydraulic motor 2ML to the hydraulic oil tank. That is, the control valve 171 corresponds to the control valve 151 of the above-mentioned example of the excavator 100.

[0203] The control valve 172 is a spool valve that supplies hydraulic oil discharged from the main pump 14R to the traveling hydraulic motor 2MR and discharges hydraulic oil discharged from the traveling hydraulic motor 2MR to the hydraulic oil tank. That is, the control valve 172 corresponds to the control valve 152 of the above-described example of the excavator 100.

[0204] The control valve 173 is a spool valve that supplies hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank. That is, the control valve 173 corresponds to the control valve 157 of the above-mentioned example of the excavator 100.

[0205] The control valve 174 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank. That is, the control valve 174 corresponds to the control valve 158 of the above-described example of the excavator 100.

[0206] The control valves 175L and 175R are spool valves that supply the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. That is, the control valves 175L and 175R correspond to the control valve 154 of the above-described example of the excavator 100.

[0207] The control valves 176L, 176R are spool valves that supply the hydraulic oil discharged from the main pumps 14L, 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. That is, the control valves 176L, 176R correspond to the control valve 155 of the above-described excavator 100, which is one example.

[0208] The control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of hydraulic oil supplied to or discharged from the hydraulic actuators and switch the flow direction, depending on the pilot pressure acting on the pilot port.

[0209] The parallel pipeline 42 includes parallel pipelines 42L and 42R.

[0210] The parallel conduit 42L supplies hydraulic oil for the main pump 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass conduit 40L. Specifically, the parallel conduit 42L branches off from the center bypass conduit 40L upstream of the control valve 171, and is configured to be able to supply hydraulic oil for the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176R. This allows the parallel conduit 42L to supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, and 175L.

[0211] The parallel conduit 42R supplies hydraulic oil for the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass conduit 40R. Specifically, the parallel conduit 42R branches off from the center bypass conduit 40R upstream of the control valve 172 and is configured to be able to supply hydraulic oil for the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. When the flow of hydraulic oil through the center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, and 175R, the parallel conduit 42R can supply hydraulic oil to a control valve further downstream.

[0212] The regulators 13L and 13R, under the control of the controller 30, adjust the tilt angles of the swash plates of the main pumps 14L and 14R, thereby adjusting the discharge amounts of the main pumps 14L and 14R.

[0213] The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and a detection signal corresponding to the detected discharge pressure is input to the controller 30. The same applies to the discharge pressure sensor 28R. This allows the controller 30 to control the regulators 13L, 13R in accordance with the discharge pressures of the main pumps 14L, 14R.

[0214] Negative control throttles (hereinafter referred to as "negative control throttles") 18L, 18R are provided in the center bypass pipes 40L, 40R between the hydraulic oil tank and the control valves 176L, 176R, which are located most downstream. As a result, the flow of hydraulic oil discharged by the main pumps 14L, 14R is restricted by the negative control throttles 18L, 18R. The negative control throttles 18L, 18R then generate a control pressure (hereinafter referred to as "negative control pressure") for controlling the regulators 13L, 13R.

[0215] The negative control pressure sensors 19L and 19R detect the negative control pressure, and the detection signal corresponding to the detected negative control pressure is input to the controller 30.

[0216] The controller 30 may control the regulators 13L, 13R in accordance with the discharge pressures of the main pumps 14L, 14R detected by the discharge pressure sensors 28L, 28R to adjust the discharge rates of the main pumps 14L, 14R. For example, the controller 30 may control the regulator 13L in accordance with an increase in the discharge pressure of the main pump 14L to adjust the swash plate tilt angle of the main pump 14L to reduce the discharge rate. The same applies to the regulator 13R. In this way, the controller 30 can perform total horsepower control of the main pumps 14L, 14R so that the absorption horsepower of the main pumps 14L, 14R, which is expressed as the product of the discharge pressure and the discharge rate, does not exceed the output horsepower of the engine 11.

[0217] The controller 30 may also adjust the discharge rates of the main pumps 14L, 14R by controlling the regulators 13L, 13R in accordance with the negative control pressure detected by the negative control pressure sensors 19L, 19R. For example, the controller 30 decreases the discharge rates of the main pumps 14L, 14R as the negative control pressure increases, and increases the discharge rates of the main pumps 14L, 14R as the negative control pressure decreases.

[0218] Specifically, when the excavator 100 is in a standby state (the state shown in FIG. 9 ) in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the main pumps 14L, 14R passes through the center bypass pipes 40L, 40R and reaches the negative control throttles 18L, 18R. The flow of the hydraulic oil discharged from the main pumps 14L, 14R increases the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 reduces the discharge rate of the main pumps 14L, 14R to the allowable minimum discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass pipes 40L, 40R.

[0219] On the other hand, when any of the hydraulic actuators is operated via the operating device 26, the hydraulic oil discharged from the main pumps 14L, 14R flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator. The flow of hydraulic oil discharged from the main pumps 14L, 14R reduces or eliminates the amount of hydraulic oil reaching the negative control throttles 18L, 18R, lowering the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 increases the discharge rate of the main pumps 14L, 14R, circulating sufficient hydraulic oil to the hydraulic actuator to be operated, thereby reliably driving the hydraulic actuator to be operated.

[0220] Also, as shown in Figures 9 and 10, in the hydraulic system of the excavator 100, the hydraulic system portion related to the operating system includes a pilot pump 15, an operating device 26 (left operating lever 26L, right operating lever 26R, left traveling lever 26DL, and right traveling lever 26DR), a proportional valve 31, a shuttle valve 32, and a pressure reducing proportional valve 33.

[0221] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the shuttle valve 32, and is configured so that its flow path area (cross-sectional area through which hydraulic oil can flow) can be changed. The proportional valve 31 operates in response to a control command input from the controller 30. As a result, even when the operating device 26 (specifically, the left operating lever 26L and the right operating lever 26R) is not being operated by an operator or the like, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves (specifically, the control valves 173 to 176) in the control valve 17 via the proportional valve 31 and the shuttle valve 32. The proportional valve 31 includes proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, and 31DR.

[0222] The shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic oil having a higher pilot pressure of the two pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the shuttle valve 32 is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. Therefore, the shuttle valve 32 can apply the higher of the pilot pressure generated by the operating device 26 or the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. In other words, by causing the proportional valve 31 to output a pilot pressure higher than the secondary pilot pressure output from the operating device 26, the controller 30 can control the corresponding control valve and control the operation of the undercarriage 1, the upper rotating body 3, and the attachment AT without depending on the operation of the operating device 26 by the operator. The shuttle valve 32 includes shuttle valves 32AL, 32AR, 32BL, 32BR, 32CL, 32CR, 32DL, and 32DR.

[0223] The pressure-reducing proportional valve 33 is provided in a pilot line connecting the operating device 26 and the shuttle valve 32 and is configured to change its flow path area. The pressure-reducing proportional valve 33 operates in response to a control command input from the controller 30. As a result, when the operating device 26 (specifically, the left operating lever 26L and the right operating lever 26R) is operated by the operator, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. Furthermore, for example, even when the operating device 26 is being operated, the controller 30 can reduce the pilot pressure output from the operating device 26 to make it lower than the pilot pressure output from the proportional valve 31. Therefore, by controlling the proportional valve 31 and the pressure-reducing proportional valve 33, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the control valve in the control valve 17, regardless of the operation of the operating device 26. The pressure reducing proportional valve 33 includes pressure reducing proportional valves 33AL, 33AR, 33BL, 33BR, 33CL, 33CR, 33DL, and 33DR.

[0224] 10A, the left operating lever 26L is used to operate the arm cylinder 8 corresponding to the arm 5 when the operator tilts it in the forward / backward direction. In other words, when the left operating lever 26L is tilted in the forward / backward direction, the operation target of the left operating lever 26L is the movement of the arm 5. The left operating lever 26L uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure to the secondary side according to the operation content in the forward / backward direction.

[0225] The shuttle valve 32AL has two inlet ports connected to the secondary pilot line of the left operating lever 26L, which corresponds to the operation of the arm 5 in the closing direction (hereinafter referred to as the "arm closing operation"), and the secondary pilot line of the proportional valve 31AL, and has outlet ports connected to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

[0226] The shuttle valve 32AR has two inlet ports connected to the secondary pilot line of the left operating lever 26L, which corresponds to the operation of the arm 5 in the opening direction (hereinafter referred to as "arm opening operation"), and the secondary pilot line of the proportional valve 31AR, and has outlet ports connected to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0227] In other words, the left operating lever 26L applies a pilot pressure corresponding to the operation amount in the forward / rearward direction to the pilot ports of the control valves 176L and 176R via the shuttle valves 32AL and 32AR. Specifically, when the left operating lever 26L is operated to close the arm, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32AL, and applies the pilot pressure to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the shuttle valve 32AL. Furthermore, when the left operating lever 26L is operated to open the arm, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32AR, and applies the pilot pressure to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the shuttle valve 32AR.

[0228] The proportional valve 31AL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31AL uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other pilot port of the shuttle valve 32AL. This allows the proportional valve 31AL to adjust the pilot pressure acting on the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the shuttle valve 32AL.

[0229] The proportional valve 31AR operates in response to a control current input from the controller 30. Specifically, the proportional valve 31AR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other pilot port of the shuttle valve 32AR. This allows the proportional valve 31AR to adjust the pilot pressure acting on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the shuttle valve 32AR.

[0230] That is, the proportional valves 31AL, 31AR can adjust the pilot pressure output to the secondary side so that the control valves 176L, 176R can be stopped at any valve position, regardless of the operating state of the left operating lever 26L.

[0231] The pressure-reducing proportional valve 33AL operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33AL outputs the pilot pressure corresponding to the arm closing operation of the left operating lever 26L to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33AL reduces the pilot pressure in the secondary pilot line corresponding to the arm closing operation of the left operating lever 26L to an extent corresponding to the control current and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32AL. As a result, even when the arm closing operation is being performed with the left operating lever 26L, the pressure-reducing proportional valve 33AL can forcibly suppress or stop the operation of the arm cylinder 8 corresponding to the arm closing operation, as necessary. Furthermore, even when the arm closing operation is being performed with the left operating lever 26L, the pressure-reducing proportional valve 33AL can lower the pilot pressure acting on one inlet port of the shuttle valve 32AL below the pilot pressure acting from the proportional valve 31AL to the other inlet port of the shuttle valve 32AL. Therefore, the controller 30 controls the proportional valve 31AL and the pressure-reducing proportional valve 33AL, and can reliably apply the desired pilot pressure to the arm-closing side pilot ports of the control valves 176L, 176R.

[0232] The pressure-reducing proportional valve 33AR operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33AR outputs the pilot pressure corresponding to the arm-opening operation of the left operating lever 26L to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33AR reduces the pilot pressure in the secondary pilot line corresponding to the arm-opening operation of the left operating lever 26L to an extent corresponding to the control current and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32AR. As a result, even when the arm-opening operation is being performed with the left operating lever 26L, the pressure-reducing proportional valve 33AR can forcibly suppress or stop the operation of the arm cylinder 8 corresponding to the arm-opening operation, as necessary. Furthermore, even when the arm-opening operation is being performed with the left operating lever 26L, the pressure-reducing proportional valve 33AR can lower the pilot pressure acting on one inlet port of the shuttle valve 32AR below the pilot pressure acting from the proportional valve 31AR to the other inlet port of the shuttle valve 32AR. Therefore, the controller 30 controls the proportional valve 31AR and the pressure-reducing proportional valve 33AR, and can reliably apply the desired pilot pressure to the pilot ports on the arm opening sides of the control valves 176L, 176R.

[0233] In this way, the pressure-reducing proportional valves 33AL, 33AR can forcibly suppress or stop the operation of the arm cylinder 8 corresponding to the operating state of the left operating lever 26L in the forward / backward direction. Furthermore, the pressure-reducing proportional valves 33AL, 33AR can reduce the pilot pressure acting on one inlet port of the shuttle valves 32AL, 32AR, and assist in ensuring that the pilot pressure of the proportional valves 31AL, 31AR acts on the pilot ports of the control valves 176L, 176R through the shuttle valves 32AL, 32AR.

[0234] Instead of controlling the pressure-reducing proportional valve 33AL, the controller 30 may control the proportional valve 31AR to forcibly suppress or stop the operation of the arm cylinder 8 corresponding to the arm closing operation of the left operating lever 26L. For example, when the arm closing operation is performed with the left operating lever 26L, the controller 30 may control the proportional valve 31AR to act on the arm-opening-side pilot ports of the control valves 176L, 176R from the proportional valve 31AR via the shuttle valve 32AR. This causes pilot pressure to act on the arm-opening-side pilot ports of the control valves 176L, 176R in opposition to the pilot pressure acting on the arm-closing-side pilot ports of the control valves 176L, 176R from the left operating lever 26L via the shuttle valve 32AL. Therefore, the controller 30 can forcibly move the control valves 176L, 176R closer to the neutral position to suppress or stop the operation of the arm cylinder 8 corresponding to the arm closing operation of the left operating lever 26L. Similarly, instead of controlling the pressure reducing proportional valve 33AR, the controller 30 may control the proportional valve 31AL to forcibly suppress or stop the operation of the arm cylinder 8 corresponding to the arm opening operation of the left operating lever 26L.

[0235] The operating pressure sensor 29LA detects the operation of the left operating lever 26L by the operator in the forward / backward direction in the form of pressure (operating pressure), and a detection signal corresponding to the detected pressure is input to the controller 30. This allows the controller 30 to grasp the operation of the left operating lever 26L in the forward / backward direction. The operation of the left operating lever 26L in the forward / backward direction to be detected may include, for example, the operation direction, the amount of operation (operation angle), etc. The same applies below to the operation of the left operating lever 26L in the left / right direction, and the operation of the right operating lever 26R in the forward / backward direction and left / right direction.

[0236] The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation of the left operating lever 26L by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR, regardless of the arm opening operation of the left operating lever 26L by the operator. In other words, the controller 30 can automatically control the opening and closing operation of the arm 5.

[0237] 10B, the left operating lever 26L is used to operate the swing hydraulic motor 2A corresponding to the upper rotating body 3 (swing mechanism 2) when the operator tilts it left or right. In other words, when the left operating lever 26L is tilted left or right, the operation target is the swing operation of the upper rotating body 3. The left operating lever 26L uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure to the secondary side according to the operation content in the left or right direction.

[0238] The shuttle valve 32BL has two inlet ports connected to the secondary pilot line of the left operating lever 26L corresponding to the left rotation operation of the upper rotating body 3 (hereinafter referred to as "left rotation operation") and the secondary pilot line of the proportional valve 31BL, and an outlet port connected to the left pilot port of the control valve 173.

[0239] The shuttle valve 32BR has two inlet ports connected to the secondary pilot line of the left operating lever 26L corresponding to the rightward rotation operation of the upper rotating body 3 (hereinafter referred to as "right rotation operation") and the secondary pilot line of the proportional valve 31BR, and an outlet port connected to the right pilot port of the control valve 173.

[0240] In other words, the left operating lever 26L applies a pilot pressure corresponding to the operation in the left or right direction to the pilot port of the control valve 173 via the shuttle valves 32BL, 32BR. Specifically, when the left operating lever 26L is operated to turn left, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32BL, and applies the pilot pressure to the left pilot port of the control valve 173 via the shuttle valve 32BL. Furthermore, when the left operating lever 26L is operated to turn right, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32BR, and applies the pilot pressure to the right pilot port of the control valve 173 via the shuttle valve 32BR.

[0241] The proportional valve 31BL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31BL uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other pilot port of the shuttle valve 32BL. This allows the proportional valve 31BL to adjust the pilot pressure acting on the left pilot port of the control valve 173 via the shuttle valve 32BL.

[0242] The proportional valve 31BR operates in response to the control current output by the controller 30. Specifically, the proportional valve 31BR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other pilot port of the shuttle valve 32BR. This allows the proportional valve 31BR to adjust the pilot pressure acting on the right pilot port of the control valve 173 via the shuttle valve 32BR.

[0243] That is, the proportional valves 31BL, 31BR can adjust the pilot pressure output to the secondary side so that the control valve 173 can be stopped at any valve position, regardless of the operating state of the left operating lever 26L.

[0244] The pressure-reducing proportional valve 33BL operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33BL outputs the pilot pressure corresponding to the left swing operation of the left operating lever 26L to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33BL reduces the pilot pressure in the secondary pilot line corresponding to the left swing operation of the left operating lever 26L to an extent corresponding to the control current, and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32BL. As a result, the pressure-reducing proportional valve 33BL can forcibly suppress or stop the operation of the swing hydraulic motor 2A corresponding to the left swing operation, as necessary, even when a left swing operation is being performed with the left operating lever 26L. Furthermore, even when the left operating lever 26L is operated for left rotation, the pressure-reducing proportional valve 33BL can make the pilot pressure acting on one inlet port of the shuttle valve 32BL lower than the pilot pressure acting from the proportional valve 31BL to the other inlet port of the shuttle valve 32BL. Therefore, the controller 30 controls the proportional valve 31BL and the pressure-reducing proportional valve 33BL to reliably apply the desired pilot pressure to the pilot port on the left rotation side of the control valve 173.

[0245] The pressure-reducing proportional valve 33BR operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33BR outputs the pilot pressure corresponding to the right swing operation of the left operating lever 26L to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33BR reduces the pilot pressure in the secondary pilot line corresponding to the right swing operation of the left operating lever 26L to an extent corresponding to the control current, and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32BR. As a result, the pressure-reducing proportional valve 33BR can forcibly suppress or stop the operation of the swing hydraulic motor 2A corresponding to the right swing operation, as necessary, even when a right swing operation is being performed with the left operating lever 26L. Furthermore, even when the left operating lever 26L is operated for right rotation, the pressure-reducing proportional valve 33BR can make the pilot pressure acting on one inlet port of the shuttle valve 32BR lower than the pilot pressure acting from the proportional valve 31BR to the other inlet port of the shuttle valve 32BR. Therefore, the controller 30 controls the proportional valve 31BR and the pressure-reducing proportional valve 33BR to reliably apply the desired pilot pressure to the pilot port on the right rotation side of the control valve 173.

[0246] In this way, the pressure-reducing proportional valves 33BL, 33BR can forcibly suppress or stop the operation of the swing hydraulic motor 2A corresponding to the left / right operating state of the left operating lever 26L. Also, the pressure-reducing proportional valves 33BL, 33BR can reduce the pilot pressure acting on one inlet port of the shuttle valves 32BL, 32BR, and assist in ensuring that the pilot pressure of the proportional valves 31BL, 31BR acts on the pilot port of the control valve 173 through the shuttle valves 32BL, 32BR.

[0247] Note that the controller 30 may forcibly suppress or stop the operation of the swing hydraulic motor 2A corresponding to the left swing operation of the left operating lever 26L by controlling the proportional valve 31BR instead of controlling the pressure-reducing proportional valve 33BL. For example, when a left swing operation is performed with the left operating lever 26L, the controller 30 may control the proportional valve 31BR to act on the right swing side pilot port of the control valve 173 from the proportional valve 31BR via the shuttle valve 32BR. This causes pilot pressure to act on the right swing side pilot port of the control valve 173 in a manner counter to the pilot pressure acting on the left swing side pilot port of the control valve 173 from the left operating lever 26L via the shuttle valve 32BL. Therefore, the controller 30 can forcibly move the control valve 173 closer to the neutral position to suppress or stop the operation of the swing hydraulic motor 2A corresponding to the left swing operation of the left operating lever 26L. Similarly, instead of controlling the pressure reducing proportional valve 33BR, the controller 30 may control the proportional valve 31BL to forcibly suppress or stop the operation of the swing hydraulic motor 2A corresponding to the right swing operation of the left operating lever 26L.

[0248] The operating pressure sensor 29LB detects the operating state of the left operating lever 26L by the operator as pressure, and a detection signal corresponding to the detected pressure is input to the controller 30. This allows the controller 30 to grasp the operation details of the left operating lever 26L in the left and right directions.

[0249] The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31BL and the shuttle valve 32BL, regardless of the left swing operation of the left operation lever 26L by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31BR and the shuttle valve 32BR, regardless of the right swing operation of the left operation lever 26L by the operator. In other words, the controller 30 can automatically control the swing operation of the upper swing body 3 in the left and right directions.

[0250] 10C, the right operating lever 26R is used to operate the boom cylinder 7 corresponding to the boom 4 when the operator tilts it in the forward / backward direction. In other words, when the right operating lever 26R is tilted in the forward / backward direction, the operation target of the right operating lever 26R is the movement of the boom 4. The right operating lever 26R uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure to the secondary side according to the operation in the forward / backward direction.

[0251] The shuttle valve 32CL has two inlet ports connected to the secondary pilot line of the right operating lever 26R, which corresponds to the operation of the boom 4 in the raising direction (hereinafter referred to as the "boom raising operation"), and the secondary pilot line of the proportional valve 31CL, and has an outlet port connected to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R.

[0252] The shuttle valve 32CR has two inlet ports connected to the secondary pilot line of the right operating lever 26R, which corresponds to the operation of lowering the boom 4 (hereinafter referred to as the "boom lowering operation"), and the secondary pilot line of the proportional valve 31CR, and an outlet port connected to the right pilot port of the control valve 175R.

[0253] In other words, the right operating lever 26R applies a pilot pressure corresponding to the operation in the forward / rearward direction to the pilot ports of the control valves 175L and 175R via the shuttle valves 32CL and 32CR. Specifically, when the right operating lever 26R is operated to raise the boom, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32CL, and applies the pilot pressure to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the shuttle valve 32CL. Furthermore, when the right operating lever 26R is operated to lower the boom, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32CR, and applies the pilot pressure to the right pilot port of the control valve 175R via the shuttle valve 32CR.

[0254] The proportional valve 31CL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31CL uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other inlet port of the shuttle valve 32CL. This allows the proportional valve 31CL to adjust the pilot pressure acting on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the shuttle valve 32CL.

[0255] The proportional valve 31CR operates in response to a control current input from the controller 30. Specifically, the proportional valve 31CR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other inlet port of the shuttle valve 32CR. This allows the proportional valve 31CR to adjust the pilot pressure acting on the right pilot port of the control valve 175R via the shuttle valve 32CR.

[0256] That is, the proportional valves 31CL, 31CR can adjust the pilot pressure output to the secondary side so that the control valves 175L, 175R can be stopped at any valve position, regardless of the operating state of the right operating lever 26R.

[0257] The pressure-reducing proportional valve 33CL operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33CL outputs the pilot pressure corresponding to the boom-raising operation of the right operating lever 26R to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33CL reduces the pilot pressure in the secondary pilot line corresponding to the boom-raising operation of the right operating lever 26R to an extent corresponding to the control current and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32CL. As a result, even when the boom-raising operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33CL can forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the boom-raising operation as necessary. Furthermore, even when the boom-raising operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33CL can lower the pilot pressure acting on one inlet port of the shuttle valve 32CL below the pilot pressure acting from the proportional valve 31CL to the other inlet port of the shuttle valve 32CL. Therefore, the controller 30 controls the proportional valve 31CL and the pressure-reducing proportional valve 33CL, and can reliably apply the desired pilot pressure to the boom-raising side pilot ports of the control valves 175L, 175R.

[0258] The pressure-reducing proportional valve 33CR operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33CR outputs the pilot pressure corresponding to the boom-lowering operation of the right operating lever 26R to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33CR reduces the pilot pressure in the secondary pilot line corresponding to the boom-lowering operation of the right operating lever 26R to an extent corresponding to the control current and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32CR. As a result, even when the boom-lowering operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33CR can forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the boom-lowering operation as necessary. Furthermore, even when the boom-lowering operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33CR can lower the pilot pressure acting on one inlet port of the shuttle valve 32CR below the pilot pressure acting from the proportional valve 31CR to the other inlet port of the shuttle valve 32CR. Therefore, the controller 30 controls the proportional valve 31CR and the pressure-reducing proportional valve 33CR, and can reliably apply the desired pilot pressure to the pilot ports on the boom-lowering side of the control valves 175L, 175R.

[0259] In this way, the pressure-reducing proportional valves 33CL, 33CR can forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the operating state of the right operating lever 26R in the forward / backward direction. Furthermore, the pressure-reducing proportional valves 33CL, 33CR can reduce the pilot pressure acting on one inlet port of the shuttle valves 32CL, 32CR, thereby assisting in ensuring that the pilot pressure of the proportional valves 31CL, 31CR acts on the pilot ports of the control valves 175L, 175R through the shuttle valves 32CL, 32CR.

[0260] Instead of controlling the pressure-reducing proportional valve 33CL, the controller 30 may control the proportional valve 31CR to forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the boom-raising operation of the right operating lever 26R. For example, when the boom-raising operation is performed with the right operating lever 26R, the controller 30 may control the proportional valve 31CR to apply pressure from the proportional valve 31CR to the boom-lowering pilot ports of the control valves 175L and 175R via the shuttle valve 32CR. This causes pilot pressure to act on the boom-lowering pilot ports of the control valves 175L and 175R in a manner that counteracts the pilot pressure acting on the boom-raising pilot ports of the control valves 175L and 175R from the right operating lever 26R via the shuttle valve 32CL. Therefore, the controller 30 can forcibly move the control valves 175L and 175R closer to the neutral position to suppress or stop the operation of the boom cylinder 7 corresponding to the boom-raising operation of the right operating lever 26R. Similarly, instead of controlling the pressure-reducing proportional valve 33CR, the controller 30 may control the proportional valve 31CL to forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the boom lowering operation of the right operating lever 26R.

[0261] The operating pressure sensor 29RA detects the operation of the right operating lever 26R by the operator in the forward / backward direction in the form of pressure (operating pressure), and a detection signal corresponding to the detected pressure is input to the controller 30. This allows the controller 30 to grasp the operation of the right operating lever 26R in the forward / backward direction.

[0262] The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31CL and the shuttle valve 32CL, regardless of the boom-raising operation of the right operating lever 26R by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31CR and the shuttle valve 32CR, regardless of the boom-lowering operation of the right operating lever 26R by the operator. In other words, the controller 30 can automatically control the raising and lowering operation of the boom 4.

[0263] As shown in Fig. 10D, the right operating lever 26R is used to operate the bucket cylinder 9 corresponding to the bucket 6 when the operator tilts it left or right. In other words, when the right operating lever 26R is tilted left or right, the operation of the bucket 6 is the object of operation. The right operating lever 26R uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure to the secondary side according to the operation in the left or right direction.

[0264] The shuttle valve 32DL has two inlet ports connected to the secondary pilot line of the right operating lever 26R, which corresponds to the operation in the closing direction of the bucket 6 (hereinafter referred to as the "bucket closing operation"), and the secondary pilot line of the proportional valve 31DL, and an outlet port connected to the left pilot port of the control valve 174.

[0265] The shuttle valve 32DR has two inlet ports connected to the secondary pilot line of the right operating lever 26R, which corresponds to the operation of the bucket 6 in the opening direction (hereinafter referred to as the "bucket opening operation"), and the secondary pilot line of the proportional valve 31DR, and an outlet port connected to the right pilot port of the control valve 174.

[0266] In other words, the right operating lever 26R applies a pilot pressure corresponding to the operation in the left or right direction to the pilot port of the control valve 174 via the shuttle valves 32DL, 32DR. Specifically, when the right operating lever 26R is operated to close the bucket, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32DL, and applies the pilot pressure to the left pilot port of the control valve 174 via the shuttle valve 32DL. Furthermore, when the right operating lever 26R is operated to open the bucket, it outputs a pilot pressure corresponding to the operation amount to one inlet port of the shuttle valve 32DR, and applies the pilot pressure to the right pilot port of the control valve 174 via the shuttle valve 32DR.

[0267] The proportional valve 31DL operates in response to a control current input from the controller 30. Specifically, the proportional valve 31DL uses hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other pilot port of the shuttle valve 32DL. This allows the proportional valve 31DL to adjust the pilot pressure acting on the left pilot port of the control valve 174 via the shuttle valve 32DL.

[0268] The proportional valve 31DR operates in response to the control current output by the controller 30. Specifically, the proportional valve 31DR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the other pilot port of the shuttle valve 32DR. This allows the proportional valve 31DR to adjust the pilot pressure acting on the right pilot port of the control valve 174 via the shuttle valve 32DR.

[0269] That is, the proportional valves 31DL, 31DR can adjust the pilot pressure output to the secondary side so that the control valve 174 can be stopped at any valve position, regardless of the operating state of the right operating lever 26R.

[0270] The pressure-reducing proportional valve 33DL operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33DL outputs the pilot pressure corresponding to the bucket closing operation of the right operating lever 26R to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33DL reduces the pilot pressure in the secondary pilot line corresponding to the bucket closing operation of the right operating lever 26R to an extent corresponding to the control current and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32DL. As a result, even when the bucket closing operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33DL can forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket closing operation, as necessary. Furthermore, even when the bucket closing operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33DL can lower the pilot pressure acting on one inlet port of the shuttle valve 32DL below the pilot pressure acting from the proportional valve 31DL to the other inlet port of the shuttle valve 32DL. Therefore, the controller 30 controls the proportional valve 31DL and the pressure-reducing proportional valve 33DL, and can reliably apply a desired pilot pressure to the pilot port of the control valve 174 on the bucket closing side.

[0271] The pressure-reducing proportional valve 33DR operates in response to a control current input from the controller 30. Specifically, when no control current is input from the controller 30, the pressure-reducing proportional valve 33DR outputs the pilot pressure corresponding to the bucket opening operation of the right operating lever 26R to the secondary side as is. On the other hand, when a control current is input from the controller 30, the pressure-reducing proportional valve 33DR reduces the pilot pressure in the secondary pilot line corresponding to the bucket opening operation of the right operating lever 26R to an extent corresponding to the control current and outputs the reduced pilot pressure to one inlet port of the shuttle valve 32DR. As a result, even when the bucket opening operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33DR can forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket opening operation, as necessary. Furthermore, even when the bucket opening operation is being performed with the right operating lever 26R, the pressure-reducing proportional valve 33DR can lower the pilot pressure acting on one inlet port of the shuttle valve 32DR below the pilot pressure acting from the proportional valve 31DR to the other inlet port of the shuttle valve 32DR. Therefore, the controller 30 controls the proportional valve 31DR and the pressure-reducing proportional valve 33DR, and can reliably apply a desired pilot pressure to the pilot port of the control valve 174 on the bucket opening side.

[0272] In this way, the pressure-reducing proportional valves 33DL, 33DR can forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the left / right operating state of the right operating lever 26R. Furthermore, the pressure-reducing proportional valves 33DL, 33DR can reduce the pilot pressure acting on one inlet port of the shuttle valves 32DL, 32DR, thereby assisting in ensuring that the pilot pressure of the proportional valves 31DL, 31DR acts on the pilot port of the control valve 174 via the shuttle valves 32DL, 32DR.

[0273] Note that instead of controlling the pressure-reducing proportional valve 33DL, the controller 30 may control the proportional valve 31DR to forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket closing operation of the right operating lever 26R. For example, when the bucket closing operation is performed with the right operating lever 26R, the controller 30 may control the proportional valve 31DR to act on the pilot port on the bucket opening side of the control valve 174 from the proportional valve 31DR via the shuttle valve 32DR. This causes pilot pressure to act on the pilot port on the bucket opening side of the control valve 174 in a manner that counteracts the pilot pressure acting on the pilot port on the bucket closing side of the control valve 174 from the right operating lever 26R via the shuttle valve 32DL. Therefore, the controller 30 can forcibly move the control valve 174 closer to the neutral position to suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket closing operation of the right operating lever 26R. Similarly, the controller 30 may forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket opening operation of the right operating lever 26R by controlling the proportional valve 31DL instead of controlling the pressure reducing proportional valve 33DR.

[0274] The operating pressure sensor 29RB detects the operation of the right operating lever 26R by the operator in the left and right direction in the form of pressure (operating pressure), and a detection signal corresponding to the detected pressure is input to the controller 30. This allows the controller 30 to grasp the operation of the right operating lever 26R in the left and right direction.

[0275] Controller 30 can supply hydraulic oil discharged from pilot pump 15 to the left pilot port of control valve 174 via proportional valve 31DL and shuttle valve 32DL, regardless of the bucket closing operation by the operator using right control lever 26R. Furthermore, controller 30 can supply hydraulic oil discharged from pilot pump 15 to the right pilot port of control valve 174 via proportional valve 31DR and shuttle valve 32DR, regardless of the bucket opening operation by the operator using right control lever 26R. In other words, controller 30 can automatically control the opening and closing operation of bucket 6.

[0276] Note that the lower traveling structure 1 may also be configured to be automatically controlled by the controller 30, similar to the boom 4, arm 5, bucket 6, and upper rotating structure 3. In this case, for example, a shuttle valve 32 may be installed in the secondary pilot line between each of the left traveling lever 26DL and the right traveling lever 26DR and the control valves 171, 172, and a proportional valve 31 connected to the shuttle valve 32 and controllable by the controller 30 may be installed. In this way, the controller 30 can automatically control the traveling operation of the lower traveling structure 1 by outputting a control current to the proportional valve 31.

[0277] The control system configuration of the shovel 100 in this example mainly includes a controller 30, an ECU 74, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a turning state sensor S5, a boom cylinder pressure sensor 7a, an object detection device 70, an imaging device 80, a display device D1, and an audio output device D2, similar to the example of the shovel 100 described above.

[0278] The controller 30 controls the shovel 100 in relation to a machine guidance function that guides the operator in manually operating the shovel 100 .

[0279] The controller 30 communicates work information, such as the distance between the target construction surface and the tip of the attachment AT (e.g., the tip of the bucket 6, the back of the bucket 6, etc.), to the operator via the display device D1, the audio output device D2, etc. Specifically, the controller 30 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the rotation state sensor S5, the object detection device 70, the imaging device 80, the positioning device, etc. Then, the controller 30 may, for example, calculate the distance between the bucket 6 and the target construction surface based on the acquired information and notify the operator of the calculated distance by an image displayed on the display device D1 or a sound output from the audio output device D2. In this way, the controller 30 can notify the operator of the work information via the display device D1, the audio output device D2, etc., and guide the operator in operating the excavator 100 via the operating device 26. The data regarding the target construction surface is expressed, for example, in a predetermined reference coordinate system, such as the World Geodetic System. The World Geodetic System is a three-dimensional Cartesian XYZ coordinate system with its origin at the center of gravity of the Earth, its X axis pointing toward the intersection of the Greenwich Meridian and the equator, its Y axis pointing toward 90 degrees east longitude, and its Z axis pointing toward the North Pole.

[0280] Furthermore, the controller 30 controls the shovel 100 in relation to a machine control function that, for example, assists an operator in manually operating the shovel 100 or causes the shovel 100 to operate automatically or autonomously. For example, the machine control function is enabled when the switch NS is pressed. That is, an operator or the like can use the machine control function to cause the shovel 100 to perform work by operating the operating device 26 with the switch NS pressed. Furthermore, for example, the machine control function may be enabled when the distance between the target construction surface and a predetermined portion of the attachment AT that is the control target (for example, the tip of the bucket 6; hereinafter, the "control target portion") is relatively close, that is, when the distance is below a predetermined threshold.

[0281] For example, when the machine control function is enabled and the operator is manually performing an excavation operation, leveling operation, or the like on the ground, the controller 30 calculates a target trajectory for the toe of the bucket 6 so that the toe of the bucket 6 does not cross the target construction surface. The controller 30 may then control the proportional valve 31 to move the bucket 6 along the calculated target trajectory, thereby autonomously operating the boom 4, arm 5, and bucket 6. This allows the operator, regardless of their level of skill, to easily cause the excavator 100 to perform an excavation operation, leveling operation, or the like so that the toe of the bucket 6, or the like, does not cross the target construction surface.

[0282] Furthermore, for example, when the machine control function is enabled and the operator operates the left operating lever 26L in the forward / backward direction, the controller 30 calculates a target trajectory of the toe of the bucket 6 so that the toe of the bucket 6 coincides with the target construction surface. The controller 30 may then control the proportional valve 31 to move the bucket 6 along the calculated target trajectory, thereby autonomously operating at least one of the boom 4, the arm 5, and the bucket 6. This allows the operator to cause the excavator 100 to perform excavation work, leveling work, and the like to achieve the target construction surface, simply by operating the left operating lever 26L in the forward / backward direction.

[0283] Furthermore, for example, when a combined operation of boom raising and swinging (hereinafter referred to as "boom raising and swinging operation") is performed via the operating device 26 with the machine control function enabled, the controller 30 calculates a target trajectory of the control target parts, such as the tip of the bucket 6, for moving the bucket 6 onto a predetermined target position for earth discharge (hereinafter referred to as "target earth discharge position"). The controller 30 may then control the proportional valve 31 so that the tip of the bucket 6, etc., moves along the target trajectory, and autonomously operate at least one of the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. This allows an operator, etc., regardless of their level of skill in operation, to easily move the bucket 6 to above a predetermined location (target earth discharge position) and discharge earth and sand stored in the bucket 6.

[0284] Furthermore, for example, with the machine control function enabled, the controller 30 may realize the boom-raising and swinging operation of the excavator 100 semi-automatically, that is, by operating only one of the boom-raising operation of the right operating lever 26R and the swing operation of the left operating lever 26L. In this case, the controller 30 may control the proportional valve 31 in response to either the boom-raising operation of the right operating lever 26R or the swing operation of the left operating lever 26L so that the tip of the bucket 6 and other parts move along a target trajectory calculated so as to point above a predetermined soil discharge target position, thereby autonomously operating at least one of the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. As a result, an operator or the like can cause the excavator 100 to perform the boom-raising and swinging operation and discharge earth and sand stored in the bucket 6 to a predetermined location simply by operating either the boom-raising operation of the right operating lever 26R or the swing operation of the left operating lever 26L.

[0285] <How to set the working area around the excavator> Next, a method for setting the working area around the excavator 100 by the controller 30 will be described with reference to FIG.

[0286] Fig. 11 is a diagram showing another example of the display contents of the display device D1 in the setting mode. Specifically, Fig. 11 is a diagram showing another example of a setting screen (setting screen 1100) related to the work area around the shovel 100. In this example, the setting screen 1100 is an operation screen for setting a target object in the work area (specifically, a target construction surface and a target position for earth removal) as a specific example of setting related to the work area, in response to an operation by an operator or the like on the operation input unit D1c. Then, the controller 30 sets the target object in response to the operation on the setting screen 1100.

[0287] As in the case of the example of the shovel 100 described above (FIG. 6), the display device D1 displays a setting screen 1100 on the image display unit D1b under the control of the display control unit D1a. Specifically, the setting screen 1100 displays an overhead image (hereinafter simply referred to as "overhead image") (an example of an image representing a work area) seen from directly above the shovel 100, which is generated by subjecting images captured by the front camera 80F, the rear camera 80B, the left camera 80L, and the right camera 80R to a known viewpoint conversion process and then combining the images. An image (CG) representing the shovel 100 (hereinafter referred to as "shovel image") is disposed in the center of the overhead image. In this example, the shovel 100 is disposed so that the attachment AT faces an already excavated trench GR in order to excavate a linear trench. Furthermore, sheet piles SP are installed on the wall surface of the already excavated trench GR in front of the shovel 100 (upper rotating body 3). Furthermore, to the left of the trench GR that has already been excavated and the trench portion that is yet to be excavated, road cones RC are lined up along the direction in which the trench GR that has already been excavated and the trench portion that is yet to be excavated extend.

[0288] As in the case of the above-described example of the shovel 100 (FIG. 6), the display control unit D1a displays the overhead image on the image display unit D1b (setting screen 1100) in a state in which coordinates defined in advance for the work area are associated with each pixel (an example of an image component) of the overhead image, based on the setting coordinate system. This allows, for example, an operator or the like to specify a pixel in the overhead image on the setting screen 1100 via the operation input unit D1c (for example, a touch panel), thereby specifying a part of the work area corresponding to the coordinates associated with that pixel, i.e., the part of the work area reflected in that pixel.

[0289] Furthermore, as in the case of the above-described example of the shovel 100 (FIG. 6), the display control unit D1a displays the overhead image on the image display unit D1b (setting screen 600) in a state in which the coordinates of the object (target) detected by the object detection device 70 in the work area, based on the setting coordinate system, are associated with pixels in the overhead image corresponding to the target (for example, pixels in an image portion including the target). This allows, for example, an operator or the like to specify a pixel in an image portion including (including) the target in the overhead image of the setting screen 1100 via the operation input unit D1c, thereby specifying the target located at the coordinates corresponding to the specified pixel.

[0290] In this example, as described above, the bird's-eye view image constituting the setting screen 1100 shows (includes) the already excavated trench GR in front of the excavator 100 (upper rotating body 3) and the sheet piles SP (an example of the target object) installed in three pieces on each of the left and right walls of the trench GR. Therefore, an operator or the like can specify the sheet piles SP as the reference for the target construction surface (which corresponds to the wall surface of the trench GR in this example) by specifying the pixels of the image portion including the sheet piles SP through the operation input unit D1c.

[0291] Specifically, when a pixel in an image portion including a sheet pile SP on the left side of the setting screen 1100 is specified, the display control unit D1a displays an icon 1101 surrounding the pixel group including the sheet pile SP on the setting screen 1100. Then, the display control unit D1a notifies that the sheet pile SP on the left wall of the already excavated trench GR has been specified. This allows the controller 30 to set the sheet pile SP on the left wall of the already excavated trench GR as a reference target for the target construction surface (the left wall of the trench GR to be excavated). Then, the controller 30 sets the target construction surface in a manner in which the back surface of the sheet pile SP extends in the front-to-back direction. In this case, the display control unit D1a displays an icon 1102 on the setting screen 1100 indicating that the target construction surface has been set in the extension direction of the three specified sheet piles SP on the left side.

[0292] In this example, three sheet piles SP on the left wall of the excavated trench GR are specified by operating the operation input unit D1c, but two or one sheet pile SP may be specified. The same applies to the case where a sheet pile SP on the right wall of the excavated trench GR is specified.

[0293] Similarly, when a pixel in an image portion including a sheet pile SP on the right side of the setting screen 1100 is specified, the display control unit D1a displays an icon 1103 surrounding the pixel group including the sheet pile SP on the setting screen 1100. Then, the display control unit D1a notifies that the sheet pile SP on the right wall of the already excavated trench GR has been specified. This allows the controller 30 to set the sheet pile SP on the right wall of the already excavated trench GR as the reference target for the target construction surface (the right wall of the trench GR to be excavated). Then, the controller 30 sets the target construction surface in a manner in which the back surface of the sheet pile SP extends in the front-to-back direction. In this case, the display control unit D1a displays an icon 1104 on the setting screen 1100 indicating that the target construction surface has been set in the extension direction of the three specified sheet piles SP on the right side.

[0294] The setting of the target construction surface by the controller 30 may be automatically performed based on the designation of the sheet pile SP on the setting screen 1100, or may be performed when a predetermined operation is performed through the operation input unit D1c after the designation of the sheet pile SP. The same applies to the setting of the target earth removal position described below.

[0295] Furthermore, in this example, an operator or the like specifies a ground portion adjacent to the right of the shovel image CG in the overhead image of the setting screen 1100 via the operation input unit D1c, and the display control unit D1a displays an icon 1105 indicating that the ground portion has been specified on that ground portion. Then, the display control unit D1a notifies the controller 30 that the ground portion to the right of the shovel 100 has been specified. This enables the controller 30 to set the ground portion to the right of the shovel 100 as the target earth removal position for the shovel 100 during excavation work.

[0296] <Example of settings for the work area around the excavator> Next, with reference to FIG. 12, a specific example of work by the shovel 100 based on the settings related to the work area around the shovel 100 will be described.

[0297] Fig. 12 is a diagram illustrating another example of the settings related to the work area around the shovel 100. Specifically, Fig. 12 is a perspective view of the shovel 100 showing the settings related to the work area around the shovel 100 set through the setting screen 1100 of Fig. 11, and more specifically, is a diagram illustrating the target construction surfaces VW11, VW12 and the target earth removal position PT set through the setting screen 1100 of Fig. 11. In the following, in this example, the explanation will proceed on the assumption that the machine guidance function and the machine control function are enabled.

[0298] As shown in Fig. 12, in this example, there is an already excavated trench GR in front of the excavator 100, and sheet piles SP (a sheet pile SP11 on the wall on the +Y side in the figure and a sheet pile SP12 on the wall on the -Y side in the figure) are installed on the left and right wall surfaces of the trench GR (the +Y side and the -Y side in the figure). Then, virtual walls VW (a target construction surface VW11 corresponding to the wall surface on the +Y side in the figure and a target construction surface VW12 corresponding to the wall surface on the -Y side in the figure) corresponding to the wall surfaces of the trench GR are set in such a manner that the back surfaces of the sheet piles SP on the left and right walls extend to the rear side (the -X side in the figure) based on the upper rotating body 3.

[0299] As in the case of the example of the shovel 100 described above (Figures 8A and 8B), the operator can confirm the settings regarding the work area including the virtual wall VW (target construction surfaces VW11, VW12) through the view mode confirmation screen displayed on the display device D1.

[0300] The controller 30 may notify the operator, etc., of the distance between the target construction surfaces VW11, VW12 corresponding to the left and right wall surfaces of the trench GR and the controlled parts such as the tip of the bucket 6 via the display device D1, the audio output device D2, etc. This allows the operator, etc., to perform excavation work in accordance with the notified information so as not to cause the tip of the bucket 6 to cross over. Therefore, as shown in FIG. 12, the operator, etc., can use the shovel 100 to further excavate from the position where the sheet pile SP was installed, and construct an excavation surface EP (an excavation surface EP11 on the +Y side and an excavation surface EP12 on the -Y side in the figure) (corresponding to the wall surfaces of the trench GR) that approximately coincides with the target construction surfaces VW11, VW12.

[0301] Furthermore, the controller 30 may operate the attachment AT in response to the operation of the operating device 26 by an operator or the like so that the toe of the bucket 6 moves along a target trajectory that does not cross the target construction surfaces VW11, VW12. This allows the operator or the like to use the shovel 100 to easily construct excavation surfaces EP11, EP12 that approximately coincide with the target construction surfaces VW11, VW12.

[0302] The controller 30 also controls the target earth removal position via the operation device 26. PT When a boom-raising swing operation is performed that involves a swing operation toward the target earth-discharge position PT (in this example, a swing operation toward the right), the upper swing body 3 and the attachment AT may be operated so that the controlled parts, such as the toe of the bucket 6, move along a target trajectory that moves the bucket 6 to above the target earth-discharge position PT. This allows the operator or the like to easily move the bucket 6 to above the target earth-discharge position PT and discharge the earth and sand that has been stored in the bucket 6 by the excavation work of the trench GR.

[0303] [Other examples of control devices] Next, another example of the operating device 26 of the shovel 100 will be described with reference to FIG.

[0304] Fig. 13 is a diagram showing another example of the operation device 26. Specifically, Fig. 13 is a diagram showing a specific example of a pilot circuit that applies pilot pressure to the control valve 17 (control valves 175L, 175R) that hydraulically controls the boom cylinder 7 based on the operation of the electric boom operation lever 26A.

[0305] The pilot circuits that hydraulically control the arm cylinder 8 and the bucket cylinder 9 are shown in the same manner as the pilot circuit in FIG. 13 that hydraulically controls the boom cylinder 7. The pilot circuits that hydraulically control the traveling hydraulic motors 1L, 1R that drive the lower traveling structure 1 (each of the left and right crawlers) are also shown in the same manner as in FIG. 13. The pilot circuit that hydraulically controls the swing hydraulic motor 2A that drives the upper swing structure 3 is also shown in the same manner as in FIG. 13. Therefore, illustration of these pilot circuits is omitted.

[0306] As shown in FIG. 13, the operating device 26 of at least one of the example and other examples of the shovel 100 described above may be an electric type that outputs an electric signal corresponding to the operation content.

[0307] The pilot circuit in this example includes a solenoid valve 60 for boom-up operation and a solenoid valve 62 for boom-down operation.

[0308] The solenoid valve 60 is configured to be able to adjust the pressure of the hydraulic oil in the oil passage (pilot line) connecting the pilot pump 15 and the pilot port on the boom-raising side of the pilot pressure-operated control valve 17 (specifically, control valves 175L, 175R (see Figure 9)).

[0309] The solenoid valve 62 is configured to be able to adjust the pressure of the hydraulic oil in the oil passage (pilot line) connecting the pilot pump 15 and the pilot port on the down-flow side of the control valve 17 (control valves 175L, 175R).

[0310] When the boom 4 (boom cylinder 7) is manually operated, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in accordance with an operation signal (electrical signal) output by the boom operation lever 26A (operation signal generating section). The operation signal (electrical signal) output from the boom operation lever 26A indicates the operation content (for example, the amount of operation and the direction of operation), and the boom-raising operation signal (electrical signal) and the boom-lowering operation signal (electrical signal) output by the operation signal generating section of the boom operation lever 26A change in accordance with the operation content (the amount of operation and the direction of operation) of the boom operation lever 26A.

[0311] 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 amount of operation to the solenoid valve 60. The solenoid valve 60 operates in response to the boom-raising operation signal (electrical signal) and controls the pilot pressure acting on the boom-raising pilot port of the control valve 175, i.e., the boom-raising operation signal (pressure signal). 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 amount of operation to the solenoid valve 62. The solenoid valve 62 operates in response to the boom-lowering operation signal (electrical signal) and controls the pilot pressure acting on the boom-lowering pilot port of the control valve 175, i.e., the boom-lowering operation signal (pressure signal). In this way, the control valve 17 can realize the operation of the boom cylinder 7 (boom 4) corresponding to the operation of the boom operation lever 26A.

[0312] On the other hand, when the boom 4 (boom cylinder 7) operates automatically based on the automatic operation function, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to a corrective operation signal (electrical signal), regardless of the operation signal (electrical signal) output by the operation signal generating unit of the boom operation lever 26A, for example. The corrective operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by a control device other than the controller 30. This allows the control valve 17 to realize the operation of the boom 4 (boom cylinder 7) in response to the corrective operation signal (electrical signal) corresponding to the automatic operation function.

[0313] Similarly, when the boom 4 (boom cylinder 7) is remotely operated, the controller 30 generates a boom-raising operation signal (electrical signal) or a boom-lowering operation signal (electrical signal) in response to a corrective operation signal (electrical signal), regardless of the operation signal (electrical signal) output by the operation signal generating section of the boom operation lever 26A. The corrective operation signal is generated based on a remote operation signal received from a predetermined external device (for example, the management device 300 described below), for example. This allows the control valve 17 to realize the operation of the boom 4 (boom cylinder 7) in accordance with the remote control signal.

[0314] In addition, the operation of the arm 5 (arm cylinder 8), bucket 6 (bucket cylinder 9), upper rotating body 3 (swing hydraulic motor 2A), and lower traveling body 1 (traveling hydraulic motors 1L, 1R) based on a similar pilot circuit may also be similar to the operation of the boom 4 (boom cylinder 7).

[0315] In this way, when an electric operating device 26 is employed, the controller 30 can more easily execute the automatic operation functions and remote control functions of the shovel 100 compared to when a hydraulic pilot type operating device 26 is employed.

[0316] [Excavator Management System] Next, the excavator management system SYS will be described with reference to FIG.

[0317] As shown in FIG. 14, the excavator 100 of the above example or other examples may be included in an excavator management system SYS.

[0318] The shovel management system SYS includes an shovel 100, a terminal device 200, and a management device 300. The shovel management system SYS may include one or more shovels 100. The shovel management system SYS may include one or more terminal devices 200.

[0319] The shovel 100 is equipped with a predetermined communication device and is communicatively connected to the management device 300 through a predetermined communication line NW. The shovel 100 may also be communicatively connected to the terminal device 200 through the communication line NW. The communication line NW may include, for example, a mobile communication network terminated at a base station. The communication line NW may also include, for example, a satellite communication network using a communication satellite. The communication line NW may also include, for example, the Internet network. The communication line NW may also include a short-range communication network such as Bluetooth (registered trademark) or WiFi.

[0320] The shovel 100 uploads various information acquired by the controller 30 (hereinafter referred to as "shovel information") to the management device 300 via the communication line NW. At this time, the shovel 100 may transmit the shovel information to the management device 300 together with information relating to the date and time when the shovel information is acquired (hereinafter referred to as "acquisition date and time information"). This allows the management device 300 to know the date and time when the shovel information was acquired. The shovel 100 may upload the shovel information to the management device 300 in response to a request received from the management device 300, or may upload the shovel information automatically and periodically at a predetermined timing.

[0321] The shovel information uploaded to the management device 300 may include outputs from various sensors (e.g., sensors S1 to S5, object detection device 70, imaging device 80, etc.) mounted on the shovel 100. The shovel information may also include information on the control status of various devices mounted on the shovel 100 (e.g., control commands output from the controller 30 to the proportional valve 31, etc.).

[0322] The terminal device 200 is used by a person involved with the shovel 100. A user of the terminal device 200 (a person involved with the shovel 100) is, for example, the owner of the shovel 100, the manager of the shovel 100, the site supervisor of the shovel 100, the operator of the shovel 100, etc. The terminal device 200 may be, for example, a mobile terminal such as a mobile phone, a smartphone, a tablet terminal, or a laptop computer terminal. The terminal device 200 may also be, for example, a fixed terminal such as a desktop computer terminal.

[0323] The terminal device 200 is communicably connected to the management device 300 via a communication line NW. The terminal device 200 may also be communicably connected to the shovel 100 via the communication line NW.

[0324] The terminal device 200 has a display device such as a liquid crystal display or an organic EL display, and a sound output device such as a speaker, and provides various types of information to the user. The terminal device 200 receives, for example, information about the shovel 100 distributed from the management device 300 (for example, the above-mentioned shovel information or processing information generated based on the shovel information), and provides the information to the user via the display device or sound output device. The terminal device 200 may also receive, for example, shovel information distributed directly from the shovel 100, and provide the information to the user via the display device or sound output device. The information distributed from the management device 300 or the shovel 100 may include, for example, image information from the imaging device 80 of the shovel 100 in approximately real time. This allows the user of the terminal device 200 to remotely grasp the situation at the site of the shovel 100.

[0325] Furthermore, the terminal device 200 may be configured to be able to remotely control the shovel 100. Specifically, the terminal device 200 may display image information from the imaging device 80 distributed from the management device 300 or the shovel 100 on a display device, and the user may remotely control the shovel 100 while viewing the image information. In this case, the user may use an operation input means (e.g., a touch panel, a touchpad, a joystick, etc.) that is mounted on the terminal device 200 or that is communicatively connected to the terminal device 200. The terminal device 200 transmits a remote operation signal including the content of the remote operation to the shovel 100 via the communication line NW directly or indirectly via the management device 300. As a result, the shovel 100 can operate in response to the remote operation signal from the terminal device 200 under the control of the controller 30, as described above. Furthermore, the terminal device 200 may display the same display contents as the setting screens (e.g., setting screens 600, 1100) and confirmation screens (e.g., setting confirmation images 820, 870, 880) corresponding to the setting mode and view mode, respectively, on the display device D1 described above. This allows the user to make settings related to the work area around the excavator 100 and confirm the setting contents through the terminal device 200.

[0326] The management device 300 is disposed outside the shovel 100 and, for example, manages various states of the shovel 100 (for example, the operating state, control state, presence or absence of abnormalities, etc.). The management device 300 is, for example, a server installed in a location different from the work site where the shovel 100 performs work. The server may be a cloud server or an edge server. The management device 300 may also be, for example, an edge server or a management terminal installed in the management office of the work site where the shovel 100 performs work. The management terminal may be, for example, a desktop computer terminal installed in the management office, or a portable terminal (for example, a tablet computer or laptop computer terminal) that can be carried by a manager or the like of the work site.

[0327] The management device 300 receives shovel information transmitted (uploaded) from the shovel 100 and accumulates the information in a non-volatile storage device in a manner that allows extraction for each shovel 100 in chronological order. The storage device may be an internal storage device of the management device 300, or may be an external storage device communicatively connected.

[0328] The management device 300 manages various states of the shovel 100 based on, for example, the shovel information. Furthermore, the management device 300 generates control information for the shovel 100 based on, for example, the latest shovel information, and transmits the control information to the shovel 100 via the communication line NW. Furthermore, the management device 300 provides the shovel information or processing information generated from the shovel information to the terminal device 200 via, for example, the communication line NW.

[0329] Furthermore, the management device 300 may be configured to be able to remotely control the shovel 100. Specifically, the management device 300 may display image information from the imaging device 80 transmitted from the shovel 100 on a display device such as a liquid crystal display or an organic EL display, and the remote operator may remotely control the shovel 100 while viewing the image information. In this case, the remote operator may use an operation input means for remote operation provided in the management device 300 (for example, a general-purpose operation device such as a touch panel, touch pad, or joystick, or a dedicated operation device simulating the operation device 26). The management device 300 transmits a remote operation signal including the content of the remote operation to the shovel 100 via the communication line NW. As a result, the shovel 100 can operate in response to the remote operation signal from the management device 300 under the control of the controller 30, as described above. Furthermore, the management device 300 may display the same display contents as the setting screens (e.g., setting screens 600, 1100) and confirmation screens (e.g., setting confirmation images 820, 870, 880) corresponding to the setting mode and view mode, respectively, on the display device D1 described above. This allows the remote operator to make settings related to the work area around the excavator 100 and confirm the setting contents through the management device 300.

[0330] [Effect] Next, the operation of the shovel 100 according to the present embodiment described above will be generally described.

[0331] In this embodiment, the shovel 100 is equipped with a display device D1 that displays an image (hereinafter referred to as a "work area image") representing the work area around the shovel 100. In this case, the work area image is, for example, an image captured by the imaging device 80, or a converted image obtained by performing a predetermined conversion process on the captured image. The display device D1 then displays the work area image in a state in which coordinates defined in advance for the work area are associated with image components (for example, pixels) included in the work area image.

[0332] As a result, for example, an operator or the like can specify a portion of the work area corresponding to the coordinates associated with that pixel, i.e., the portion of the work area reflected in that pixel, by performing an operation to specify a pixel in the captured image on the setting screen 600. Therefore, the operator or the like can specify an arbitrary position in the work area around the shovel 100 to the controller 30 without performing additional work such as attaching an identification mark or the like to an object around the shovel 100 and having the shovel 100 recognize it, and the controller 30 can perform settings related to the work area based on the specified position. Therefore, the controller 30 can perform settings related to the work area while taking workability into consideration.

[0333] The work area image may not be the output (captured image) of the imaging device 80, but may be an image based on the output of another sensor. For example, the work area image may be a distance image based on the output of a LIDAR, millimeter wave radar, or the like included in the object detection device 70. The image components may be in units larger than pixels, for example, image component segments each consisting of a predetermined number of pixels. In this case, the sizes of the image component segments may all be the same, or at least some may be different.

[0334] In addition, in this embodiment, the controller 30 may perform settings related to a part of the work area corresponding to coordinates associated with an image component part designated by an operation input related to the work area image displayed on the display device D1.

[0335] This allows the controller 30 to specifically specify a part of the work area corresponding to an image component of the specified work area image in response to an operation by an operator or the like, and to perform settings related to that part of the work area.

[0336] In addition, in this embodiment, the display device D1 may display a work area image in a state in which coordinates corresponding to the position of a specified object (e.g., a road cone RC) detected in the work area around the shovel 100 are associated with image components of the work area image corresponding to the object.

[0337] As a result, for example, an operator or the like can specify an object located at coordinates corresponding to the specified pixels by performing an operation of specifying pixels in an image portion in which the object is captured (included) in the captured image on the setting screen 600. Therefore, the operator or the like can instruct the controller 30 on the position of a predetermined object in the work area around the shovel 100 without performing additional work such as attaching an identification mark or the like to the object around the shovel 100 and having the shovel 100 recognize it, and the controller 30 can perform settings related to the work area based on the position of the instructed object. Therefore, the controller 30 can perform settings related to the work area while taking workability into consideration.

[0338] In this embodiment, the controller 30 may also perform settings relating to an object corresponding to coordinates associated with an image component designated by an operation input relating to the work area image displayed on the display device D1.

[0339] This allows the controller 30 to set, for example, an object corresponding to an image component specified in response to an operation by an operator, etc., as an object to be avoided or a target object when the shovel 100 is operating.

[0340] In this embodiment, the controller 30 may also set, as a target for the work, a portion of the work area specified by coordinates associated with an image component designated by an operation input related to the work area image.

[0341] This allows the controller 30 to set, for example, the ground portion or the like of the work area corresponding to the image component portion designated in response to an operation by the operator or the like, as the target earth removal position or the like.

[0342] In addition, in this embodiment, the controller 30 may set an object located at coordinates corresponding to an image component specified by an operational input regarding the work area image as a work goal, or may set a work goal based on the object.

[0343] Thereby, the controller 30 can set, for example, an object corresponding to an image component designated in response to an operation by an operator, etc. as a target for work (for example, a dump truck as a target for loading unloaded soil). Also, the controller 30 can set, for example, a target for work based on an object corresponding to an image component designated in response to an operation by an operator, etc. (for example, a target construction surface can be set based on a designated sheet pile).

[0344] In addition, in this embodiment, the controller 30 may set an object located at coordinates corresponding to an image component specified by an operation input related to the work area image as an object to be avoided in relation to work, or may set an object to be avoided in relation to work based on the object.

[0345] Thereby, the controller 30 can set, for example, an object (for example, a road cone RC or a utility pole) corresponding to an image component designated in response to an operation by an operator, etc., as an object to be avoided in relation to work. Furthermore, the controller 30 can set, for example, an object (for example, a road cone or a utility pole) corresponding to an image component designated in response to an operation by an operator, etc., as an object to be avoided in relation to work (for example, a virtual wall that does not actually exist).

[0346] Furthermore, in this embodiment, when an operation (e.g., a pinch-in operation, a pinch-out operation, a flick operation, a swipe operation, etc.) is performed to change the area of the work area image (e.g., an image captured by the imaging device 80) to be displayed on the display device D1, the correspondence between the coordinates predefined for the work area and the image components included in the work area image is changed in accordance with the change in the area of the work area image displayed on the display device D1.

[0347] This allows the operator or the like to appropriately instruct (specify) any position in the work area around the shovel 100 to the controller 30, even if the area of the work area image displayed on the display device D1 is changed.

[0348] In this embodiment, the controller 30 may set an avoidance target section (for example, a virtual wall VW) in accordance with coordinates associated with an image component specified by an operation input. Then, the display device D1 may display the distance from the shovel to the avoidance target section (for example, distance notification images 876, 877).

[0349] This allows the operator to operate the shovel 100 while more specifically understanding the distance relationship between the shovel and the avoidance target section displayed on the display device D1.

[0350] Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the present invention as set forth in the claims.

[0351] Finally, this application claims priority based on Japanese Patent Application No. 2018-197615, filed on October 19, 2018, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0352] 1 Undercarriage 2A hydraulic swing motor 2M, 2ML, 2MR Travel Hydraulic Motor 3 Upper rotating body 4. Boom 5 Arm 6 buckets 7 Boom cylinder 8 Arm Cylinder 9 Bucket cylinder 10 Cabins 11 Engine 13 Regulator 14 Main pump 15 Pilot pump 17 Control valve 26 Operating device 26A Boom operation lever 26B Swivel control lever 26D Travel lever 26DL left travel lever 26DR Right Travel Lever 26L Left operating lever 26R Right operating lever 30 Controller (setting section) 31, 31AL~31DL, 31AR~31DR Proportional valve 32, 32AL~32DL, 32AR~32DR Shuttle valve 50, 50L, 50R pressure reducing valve 70 Object detection device 70B Rear sensor 70F Front sensor 70L Left sensor 70R Right sensor 80 Imaging device 80B Rear Camera 80F Front Camera 80L Left camera 80R Right camera 100 Shovel AT Attachment D1 display device D1a Display control unit D1b Image display section D1c Operation input section D2 Audio output device NS Switch RC road cone (target object) SP Sheet Pile (Object) VW Virtual Wall (Avoidance Target, Avoidance Target Section) VW11,VW12 Target construction surface (target)

Claims

1. An attachment; a display device for displaying an image representing a work area around the excavator; a setting unit that, when a portion of pixels in the image is designated by a user's operation input for the image displayed on the display device, designates a portion of the work area corresponding to a range consisting of a plurality of pixels including the designated portion of pixels, and sets, based on the designated portion of the work area, an object to be considered in work performed by the shovel in the work area in a manner that adds the object, without operating the attachment, Shovel.

2. the setting unit sets a part of the work area corresponding to a pixel in the image displayed on the display device, which is specified by the operation input, as a target for the work. The shovel according to claim 1.

3. the setting unit sets an avoidance target section in the work based on a part of the work area that corresponds to a pixel in the image displayed on the display device, the part being specified by the operation input. The shovel according to claim 1 or 2.

4. the display device displays the distance from the shovel to the avoidance target section. The shovel according to claim 3.

5. An attachment; a display device for displaying an image representing a work area around the excavator; a detection unit that acquires information about objects around the shovel and detects the objects around the shovel; a setting unit that, when a pixel in the image displayed on the display device that includes an object of a predetermined type detected by the detection unit is designated by a user's operation input for the image displayed on the display device, designates the object, and sets an object to be considered in work performed by the shovel in a manner that adds the object based on the designated object, without operating the attachment. Shovel.

6. The object is detected based on a pattern recognition model or a machine learning model. The shovel according to claim 5.

7. the setting unit sets the object specified by the operation input and included in pixels in the image displayed on the display device as a goal in the work, or sets the goal in the work based on the object. The shovel according to claim 5 or 6.

8. the setting unit sets the object included in pixels in the image displayed on the display device, which is specified by the operation input, as an object to be avoided in the work, or sets the object to be avoided in the work based on the object. The shovel according to claim 5 or 6.

9. An imaging device for imaging the area around the shovel, the image is a captured image of the imaging device or a viewpoint conversion image generated based on the captured image; A shovel according to any one of claims 1 to 8.

Images