Shovel

Abstract

An excavator (100) includes a lower traveling body (1), an upper revolving body (3) mounted on the lower traveling body (1) in such a way as to be capable of revolving, and a controller (30) provided in the upper revolving body (3). The controller (30) is configured to recognize a position to be subjected to a backfill operation, and to generate a target position relating to the backfill operation. The controller (30) may change the target position in accordance with the shape of earth and sand at the position to be subjected to the backfill operation.

Description

[Technical Field]

[0001] This disclosure relates to a shovel. [Background technology]

[0002] Conventionally, hydraulic excavators equipped with a semi-autonomous excavation control system are known (see Patent Document 1). This excavation control system is configured to perform autonomous boom raising and slewing operations when predetermined conditions are met. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Special Publication No. 2011-514456 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] However, the aforementioned excavation control system is not configured to perform autonomous backfilling operations. Therefore, the aforementioned excavation control system cannot improve the efficiency of backfilling work.

[0005] Therefore, it is desirable to provide an excavator that can improve the efficiency of backfilling work. [Means for solving the problem]

[0006] An embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and a control device mounted on the upper rotating body. An object detection device attached to the upper rotating body, The control device is configured to recognize the location of the target of the backfilling operation and generate a target location for the backfilling operation, and the target location is to be backfilled. one Set above the hole, one The hole is filled in by multiple backfilling operations. The control device recognizes the variation in depth of each part of the hole to be backfilled based on the output of the object detection device, and sets the target position based on the variation in depth. The aforementioned oneThe first target position for the first backfilling operation, which is one of the multiple backfilling operations for filling the hole, is the one set at a position different from the second target position of the second backfilling operation, which is another one of the multiple backfilling operations for filling the hole. The depth is the depth relative to the surrounding surface, which is the ground around the hole.

Advantages of the Invention

[0007] The above means can improve the efficiency of the backfilling work.

Brief Description of the Drawings

[0008] [Figure 1A] It is a side view of an excavator according to an embodiment of the present invention. [Figure 1B] It is a top view of an excavator according to an embodiment of the present invention. [Figure 2] It is a diagram showing a configuration example of a hydraulic system mounted on an excavator. [Figure 3A] It is a partial view of a hydraulic system related to the operation of an arm cylinder. [Figure 3B] It is a partial view of a hydraulic system related to the operation of a swing hydraulic motor. [Figure 3C] It is a partial view of a hydraulic system related to the operation of a boom cylinder. [Figure 3D] It is a partial view of a hydraulic system related to the operation of a bucket cylinder. [Figure 4] It is a functional block diagram of a controller. [Figure 5] It is a block diagram of an autonomous control function. [Figure 6] It is a block diagram of an autonomous control function. [Figure 7A] It is a top view of an excavator performing a backfilling operation. [Figure 7B] It is a top view of an excavator performing a backfilling operation. [Figure 7C] It is a top view of an excavator performing a backfilling operation. [Figure 8A] It is a cross-sectional view of a hole targeted for a backfilling operation.​ [Figure 8B] It is a cross-sectional view of the hole targeted for the backfilling operation. [Figure 8C] It is a cross-sectional view of the hole targeted for the backfilling operation. [Figure 9A] It is a cross-sectional view of the backfilled hole. [Figure 9B] It is a cross-sectional view of the backfilled hole. [Figure 10A] It is a top view of a shovel that performs another backfilling operation. [Figure 10B] It is a cross-sectional view of the hole targeted for another backfilling operation. [Figure 11] It is a top view of a shovel that performs yet another backfilling operation. [Figure 12A] It is a cross-sectional view of the hole targeted for yet another backfilling operation. [Figure 12B] It is a cross-sectional view of the hole targeted for yet another backfilling operation. [Figure 12C] It is a cross-sectional view of the hole targeted for yet another backfilling operation.

Mode for Carrying Out the Invention

[0009] First, referring to FIGS. 1A and 1B, a shovel 100 as an excavator according to an embodiment of the present invention will be described. FIG. 1A is a side view of the shovel 100, and FIG. 1B is a top view of the shovel 100.

[0010] In this embodiment, the lower traveling body 1 of the shovel 100 includes crawlers 1C. The crawlers 1C are driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.

[0011] An upper rotating body 3 is mounted on the lower traveling body 1 via a rotating mechanism 2 so as to be able to rotate. The rotating mechanism 2 is driven by a rotating hydraulic motor 2A mounted on the upper rotating body 3. However, the rotating hydraulic motor 2A may be a rotating motor generator acting as an electric actuator.

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

[0013] The boom 4 is supported so as to be able to rotate up and down relative to the upper slewing body 3. A boom angle sensor S1 is attached to the boom 4. The boom angle sensor S1 can detect the boom angle β1, which is the rotation angle of the boom 4. The boom angle β1 is, for example, the angle of rise from the lowest position of the boom 4. Therefore, the boom angle β1 is at its maximum when the boom 4 is raised to its highest position.

[0014] Arm 5 is rotatably supported relative to boom 4. An arm angle sensor S2 is attached to arm 5. The arm angle sensor S2 can detect the arm angle β2, which is the rotation angle of arm 5. The arm angle β2 is, for example, the opening angle from the most closed position of arm 5. Therefore, the arm angle β2 is maximum when arm 5 is fully open.

[0015] Bucket 6 is rotatably supported on arm 5. A bucket angle sensor S3 is attached to bucket 6. The bucket angle sensor S3 can detect the bucket angle β3, which is the rotation angle of bucket 6. The bucket angle β3 is the opening angle from the most closed position of bucket 6. Therefore, the bucket angle β3 is maximum when bucket 6 is fully open.

[0016] In the embodiments shown in Figures 1A and 1B, the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are each composed of a combination of an acceleration sensor and a gyro sensor. However, the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be composed of an acceleration sensor alone. Furthermore, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, or it may be a rotary encoder, potentiometer, or inertial measuring device, etc. The same applies to the arm angle sensor S2 and bucket angle sensor S3.

[0017] The upper slewing body 3 is equipped with a cabin 10 as an operator's cab and is fitted with one or more power sources. In this embodiment, the upper slewing body 3 is fitted with an engine 11 as a power source. The upper slewing body 3 is also fitted with an object detection device 70, an imaging device 80, a machine tilt sensor S4, and a slewing angular velocity sensor S5, etc. Inside the cabin 10 are an operating device 26, a controller 30, a display device D1, and a sound output device D2, etc. For convenience, in this document, the side of the upper slewing body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

[0018] The object detection device 70 is configured to detect objects present around the shovel 100. These objects may include, for example, people, animals, vehicles, construction machinery, buildings, walls, fences, or holes. The object detection device 70 may include, for example, an ultrasonic sensor, millimeter-wave radar, stereo camera, LiDAR, distance image sensor, or infrared sensor. In this embodiment, the object detection device 70 includes a front sensor 70F mounted on the front upper surface of the cabin 10, a rear sensor 70B mounted on the rear upper surface of the upper rotating body 3, a left sensor 70L mounted on the left upper surface of the upper rotating body 3, and a right sensor 70R mounted on the right upper surface of the upper rotating body 3. Each sensor is configured as a LiDAR.

[0019] Furthermore, the object detection device 70 may be independent of the shovel 100. In this case, the controller 30 may acquire the image of the work site around the shovel output by the object detection device 70 via a communication device. Specifically, the object detection device 70 may be attached to an aerial multicopter, or to a steel tower or utility pole installed at the work site. The controller 30 may then acquire information about the work site based on the image of the work site viewed from above.

[0020] The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100. That is, the object detection device 70 may be configured to identify the type of object. For example, the object detection device 70 may be configured to distinguish between people and non-human objects (such as dump trucks, utility poles, fences, holes, or topographical features like mounds of earth). The object detection device 70 may be configured to calculate the distance from the object detection device 70 or the shovel 100 to the recognized object. As a result, if the object to be recognized is topographical feature, the object detection device 70 can recognize the distance from the object detection device 70 or the shovel 100 to each measurement point on the topographical feature being measured, and can also recognize the uneven shape of the topographical feature being measured. If there is a hole in the topographical feature being measured, the object detection device 70 can also recognize the shape (area, depth, etc.) and location of the hole.

[0021] The imaging device 80 is configured to image the area around the shovel 100. In this embodiment, the imaging device 80 includes a rear camera 80B mounted on the rear end of the upper surface of the upper rotating body 3, a front camera 80F mounted on the front end of the upper surface of the cabin 10, a left camera 80L mounted on the left end of the upper surface of the upper rotating body 3, and a right camera 80R mounted on the right end of the upper surface of the upper rotating body 3.

[0022] The rear camera 80B is positioned adjacent to the rear sensor 70B, the front camera 80F is positioned adjacent to the front sensor 70F, the left camera 80L is positioned adjacent to the left sensor 70L, and the right camera 80R is positioned adjacent to the right sensor 70R.

[0023] The images captured by the imaging device 80 are displayed on the display device D1. The imaging device 80 may be configured to display viewpoint-converted images, such as overhead images, on the display device D1. The overhead image is generated, for example, by combining the images output by the rear camera 80B, the left camera 80L, and the right camera 80R.

[0024] The imaging device 80 may also be used as an object detection device 70. In this case, the object detection device 70 may be omitted.

[0025] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 around the longitudinal axis and the tilt angle around the left-right axis with respect to a virtual horizontal plane. The longitudinal axis and left-right axis of the upper rotating body 3 are, for example, orthogonal to each other and pass through the shovel center point, which is a point on the rotation axis of the shovel 100.

[0026] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver or a rotary encoder, etc. The rotational angular velocity sensor S5 may also detect the rotational speed. The rotational speed may be calculated from the rotational angular velocity.

[0027] In the following, the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine tilt sensor S4, and slewing angular velocity sensor S5 will also be referred to as attitude detection devices.

[0028] Display device D1 is a device that displays information. Sound output device D2 is a device that outputs sound. Operating device 26 is a device used by the operator to operate the actuator.

[0029] The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is composed of a computer equipped with a CPU, a volatile memory device, and a non-volatile memory device. The controller 30 reads programs corresponding to each function from the non-volatile memory device and loads them into the volatile memory device, causing the CPU to execute the corresponding processing. Each function includes, for example, a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100.

[0030] Next, with reference to Figure 2, an example of the configuration of the hydraulic system installed in the excavator 100 will be described. Figure 2 is a diagram showing an example of the configuration of the hydraulic system installed in the excavator 100. In Figure 2, the mechanical power transmission line, hydraulic fluid line, pilot line, and electrical control line are shown with double lines, solid lines, dashed lines, and dotted lines, respectively.

[0031] The hydraulic system of the Shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, and a controller 30, etc.

[0032] In Figure 2, the hydraulic system circulates hydraulic fluid from the main pump 14, driven by the engine 11, through the center bypass pipeline 40 or the parallel pipeline 42 to the hydraulic fluid tank.

[0033] Engine 11 is the power source for the shovel 100. In this embodiment, engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0034] The main pump 14 is configured to supply hydraulic fluid to the control valve unit 17 via a hydraulic fluid line. In this embodiment, the main pump 14 is a swashplate type variable displacement hydraulic pump.

[0035] The regulator 13 is configured to control the discharge volume (displacement volume) of the main pump 14. In this embodiment, the regulator 13 controls the discharge volume (displacement volume) of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0036] The pilot pump 15 is configured to supply hydraulic fluid to the hydraulic control equipment, including the operating device 26, via a pilot line. In this embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function that the pilot pump 15 performed may be realized by the main pump 14. That is, the main pump 14 may have a function to supply hydraulic fluid to the operating device 26, etc., after reducing the pressure of the hydraulic fluid by throttling or the like, in addition to the function of supplying hydraulic fluid to the control valve unit 17.

[0037] The control valve unit 17 is configured to control the flow of hydraulic fluid in the hydraulic system. In this embodiment, the control valve unit 17 includes control valves 171 to 176. Control valve 175 includes control valves 175L and 175R, and control valve 176 includes control valves 176L and 176R. The control valve unit 17 can selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through control valves 171 to 176. Control valves 171 to 176 control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-travel hydraulic motor 2ML, a right-travel hydraulic motor 2MR, and a slewing hydraulic motor 2A.

[0038] The operating device 26 is a device used by the operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via a pilot line. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is corresponding to the operating direction and amount of the lever or pedal (not shown) of the operating device 26 corresponding to each hydraulic actuator. However, the operating device 26 may be an electric operating device instead of a hydraulic operating device as described above. In this case, the control valve in the control valve unit 17 may be an electromagnetic spool valve.

[0039] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0040] The operating pressure sensor 29 is configured to detect the operation of the operating device 26 by the operator. In this embodiment, the operating pressure sensor 29 detects the operating direction and amount of operation of the operating device 26 corresponding to each actuator in the form of pressure (operating pressure), and outputs the detected value as operation data to the controller 30. The operation of the operating device 26 may also be detected using other sensors besides the operating pressure sensor.

[0041] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L is configured to circulate hydraulic fluid to the hydraulic fluid tank via the left center bypass pipeline 40L or the left parallel pipeline 42L. The right main pump 14R is configured to circulate hydraulic fluid to the hydraulic fluid tank via the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0042] The left center bypass pipeline 40L is a hydraulic fluid line that passes through control valves 171, 173, 175L, and 176L located within the control valve unit 17. The right center bypass pipeline 40R is a hydraulic fluid line that passes through control valves 172, 174, 175R, and 176R located within the control valve unit 17.

[0043] The control valve 171 is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and to discharge the hydraulic fluid discharged by the left travel hydraulic motor 2ML to the hydraulic fluid tank.

[0044] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the right travel hydraulic motor 2MR, and also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right travel hydraulic motor 2MR to the hydraulic fluid tank.

[0045] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the swing hydraulic motor 2A, and also switches the flow of the hydraulic fluid discharged by the swing hydraulic motor 2A to the hydraulic fluid tank.

[0046] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0047] Control valve 175L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7. Control valve 175R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the boom cylinder 7 and also switches the flow of hydraulic fluid to discharge the hydraulic fluid inside the boom cylinder 7 to the hydraulic fluid tank.

[0048] The control valve 176L is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8, and also switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0049] The control valve 176R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0050] The left parallel pipeline 42L is a hydraulic fluid line running parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, or 175L. The right parallel pipeline 42R is a hydraulic fluid line running parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the right center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, or 175R.

[0051] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge volume by adjusting the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the absorption power of the main pump 14 (e.g., absorption horsepower), which is expressed as the product of the discharge pressure and the discharge volume, does not exceed the output power of the engine 11 (e.g., output horsepower).

[0052] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0053] The left operating lever 26L is one of the operating levers and is used for slewing and operating the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to apply a control pressure corresponding to the lever operation amount to the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to apply a control pressure corresponding to the lever operation amount to the pilot port of the control valve 173.

[0054] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic fluid into the right pilot port of control valve 176L and into the left pilot port of control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic fluid into the left pilot port of control valve 176L and into the right pilot port of control valve 176R. Furthermore, when the left operating lever 26L is operated in the left rotation direction, it introduces hydraulic fluid into the left pilot port of control valve 173, and when operated in the right rotation direction, it introduces hydraulic fluid into the right pilot port of control valve 173.

[0055] The right operating lever 26R is one of the operating levers and is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to apply a control pressure corresponding to the lever operation amount to the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to apply a control pressure corresponding to the lever operation amount to the pilot port of the control valve 174.

[0056] Specifically, when the right operating lever 26R is operated in the boom lowering direction, it introduces hydraulic fluid into the right pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom raising direction, it introduces hydraulic fluid into the right pilot port of the control valve 175L and into the left pilot port of the control valve 175R. Furthermore, when the right operating lever 26R is operated in the bucket closing direction, it introduces hydraulic fluid into the left pilot port of the control valve 174, and when it is operated in the bucket opening direction, it introduces hydraulic fluid into the right pilot port of the control valve 174.

[0057] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. The left travel lever 26DL may be configured to be linked with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to apply a control pressure corresponding to the lever operation amount to the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. The right travel lever 26DR may be configured to be linked with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to apply a control pressure corresponding to the lever operation amount to the pilot port of the control valve 172.

[0058] The discharge pressure sensor 28 includes discharge pressure sensors 28L and 28R. Discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to discharge pressure sensor 28R.

[0059] The operating pressure sensor 29 includes operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operating pressure sensor 29LA detects the operator's forward and backward movement of the left operating lever 26L in the form of pressure and outputs the detected value to the controller 30. The operation details include, for example, the lever operation direction and the amount of lever operation (lever operation angle).

[0060] Similarly, the operating pressure sensor 29LB detects the operator's left-right operation of the left operating lever 26L in the form of pressure and outputs the detected value to the controller 30. The operating pressure sensor 29RA detects the operator's forward-backward operation of the right operating lever 26R in the form of pressure and outputs the detected value to the controller 30. The operating pressure sensor 29RB detects the operator's left-right operation of the right operating lever 26R in the form of pressure and outputs the detected value to the controller 30. The operating pressure sensor 29DL detects the operator's forward-backward operation of the left travel lever 26DL in the form of pressure and outputs the detected value to the controller 30. The operating pressure sensor 29DR detects the operator's forward-backward operation of the right travel lever 26DR in the form of pressure and outputs the detected value to the controller 30.

[0061] The controller 30 receives the output of the operating pressure sensor 29 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 located upstream of the throttle 18 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0062] In the left center bypass pipeline 40L, a left throttle 18L is located between the control valve 176L, the downstreammost control valve, and the hydraulic fluid tank. Therefore, the flow of hydraulic fluid discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates a control pressure to control the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same way.

[0063] Specifically, as shown in Figure 2, when none of the hydraulic actuators in the shovel 100 are operated and the system is in standby mode, the hydraulic fluid discharged from the left main pump 14L passes through the left center bypass pipe 40L to the left constrictor 18L. The flow of hydraulic fluid discharged from the left main pump 14L increases the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing the pressure loss (pumping loss) as the hydraulic fluid discharged from the left main pump 14L passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators are operated, the hydraulic fluid discharged from the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that actuator. The flow of hydraulic fluid discharged from the left main pump 14L reduces or eliminates the amount reaching the left constrictor 18L, lowering the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, ensuring sufficient hydraulic fluid flows into the hydraulic actuator being operated, thereby guaranteeing the operation of the hydraulic actuator. The controller 30 also controls the discharge volume of the right main pump 14R in the same manner.

[0064] With the configuration described above, the hydraulic system in Figure 2 can suppress unnecessary energy consumption related to the main pump 14 in the standby state. Unnecessary energy consumption includes pumping losses caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipeline 40. Furthermore, when operating a hydraulic actuator, the hydraulic system in Figure 2 can reliably supply the necessary and sufficient hydraulic fluid from the main pump 14 to the hydraulic actuator being operated.

[0065] Next, referring to Figures 3A to 3D, the configuration for the controller 30 to operate the actuators by machine control function will be described. Figures 3A to 3D are diagrams showing parts of the hydraulic system. Specifically, Figure 3A is a diagram showing the hydraulic system part related to the operation of the arm cylinder 8, Figure 3B is a diagram showing the hydraulic system part related to the operation of the boom cylinder 7, Figure 3C is a diagram showing the hydraulic system part related to the operation of the bucket cylinder 9, and Figure 3D is a diagram showing the hydraulic system part related to the operation of the slewing hydraulic motor 2A.

[0066] As shown in Figures 3A to 3D, the hydraulic system includes proportional valves 31. Proportional valves 31 include proportional valves 31AL to 31DL and 31AR to 31DR.

[0067] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is located in a pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In this embodiment, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, independently of the operator's operation of the operating device 26. The controller 30 can then apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0068] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that device. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to a specific operating device 26 even when an operation is being performed on that device.

[0069] For example, as shown in Figure 3A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 176 in accordance with the operation in the forward and backward directions. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Also, when the left operating lever 26L is operated in the arm opening direction (forward direction), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0070] A switch NS is provided on the left operating lever 26L. In this embodiment, switch NS is a push-button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing switch NS. Switch NS may also be provided on the right operating lever 26R, or at any other location within the cabin 10.

[0071] The operating pressure sensor 29LA detects the operator's movement of the left operating lever 26L in the forward and backward directions, and outputs the detected value to the controller 30.

[0072] The proportional valve 31AL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of control valve 176L and the left pilot port of control valve 176R via the proportional valve 31AL. The proportional valve 31AR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of control valve 176L and the right pilot port of control valve 176R via the proportional valve 31AR. The proportional valve 31AL can adjust the pilot pressure so that control valves 176L and 176R can be stopped at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that control valves 176L and 176R can be stopped at any valve position.

[0073] With this configuration, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL in response to the arm closing operation by the operator. In addition, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the arm closing operation by the operator. In other words, the controller 30 can close the arm 5 in response to the arm closing operation by the operator, or independently of the arm closing operation by the operator.

[0074] Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR in response to the arm opening operation by the operator. In addition, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR, regardless of the arm opening operation by the operator. In other words, the controller 30 can open the arm 5 in response to the arm opening operation by the operator, or independently of the arm opening operation by the operator.

[0075] Furthermore, with this configuration, even when the operator is performing an arm closing operation, the controller 30 can, if necessary, reduce the pilot pressure acting on the closing pilot ports of the control valve 176 (the left pilot port of control valve 176L and the right pilot port of control valve 176R) and forcibly stop the closing operation of the arm 5. The same applies when the operator is performing an arm opening operation and it is necessary to forcibly stop the opening operation of the arm 5.

[0076] Alternatively, even when the operator is performing an arm closing operation, the controller 30 may, if necessary, control the proportional valve 31AR to increase the pilot pressure acting on the pilot port on the opening side of the control valve 176 (the right pilot port of control valve 176L and the left pilot port of control valve 176R), which is opposite the pilot port on the closing side of the control valve 176, thereby forcibly stopping the closing operation of the arm 5 by forcibly returning the control valve 176 to the neutral position. The same applies when the operator is performing an arm opening operation and the opening operation of the arm 5 is to be forcibly stopped.

[0077] Furthermore, although we will omit the explanation with reference to Figures 3B to 3D below, the same applies when the operation of boom 4 is forcibly stopped when the operator is raising or lowering the boom, when the operation of bucket 6 is forcibly stopped when the operator is closing or opening the bucket, and when the rotational movement of the upper slewing body 3 is forcibly stopped when the operator is performing a slewing operation. The same also applies when the travel movement of the lower traveling body 1 is forcibly stopped when the operator is performing a travel operation.

[0078] Furthermore, as shown in Figure 3B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 175 in accordance with the operation in the forward and backward directions. More specifically, when the right operating lever 26R is operated in the boom-raising direction (rearward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the right operating lever 26R is operated in the boom-lower direction (forward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175R.

[0079] The operating pressure sensor 29RA detects the operator's movement of the right operating lever 26R in the forward and backward directions, and outputs the detected value to the controller 30.

[0080] The proportional valve 31BL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position. The proportional valve 31BR can also adjust the pilot pressure so that the control valve 175R can be stopped at any valve position.

[0081] With this configuration, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL in response to the boom raising operation by the operator. In addition, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL, independently of the boom raising operation by the operator. In other words, the controller 30 can raise the boom 4 in response to the boom raising operation by the operator, or independently of the boom raising operation by the operator.

[0082] Furthermore, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR in response to the boom lowering operation by the operator. In addition, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR, independently of the boom lowering operation by the operator. In other words, the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator, or independently of the boom lowering operation by the operator.

[0083] Furthermore, as shown in Figure 3C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 in accordance with the operation in the left or right direction. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Also, when the right operating lever 26R is operated in the bucket opening direction (rightward), it applies pilot pressure to the right pilot port of the control valve 174 in accordance with the amount of operation.

[0084] The operating pressure sensor 29RB detects the operation performed by the operator on the right operating lever 26R in the left-right direction and outputs the detected value to the controller 30.

[0085] The proportional valve 31CL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

[0086] With this configuration, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in response to the operator's bucket closing operation. Furthermore, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL, independently of the operator's bucket closing operation. In other words, the controller 30 can close the bucket 6 in response to the operator's bucket closing operation, or independently of the operator's bucket closing operation.

[0087] Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 174 via the proportional valve 31CR in response to the bucket opening operation by the operator. In addition, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 174 via the proportional valve 31CR, independently of the bucket opening operation by the operator. In other words, the controller 30 can open the bucket 6 in response to the bucket opening operation by the operator, or independently of the bucket opening operation by the operator.

[0088] Furthermore, as shown in Figure 3D, the left operating lever 26L is also used to operate the slewing mechanism 2. Specifically, the left operating lever 26L uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 in accordance with the operation in the left or right direction. More specifically, when the left operating lever 26L is operated in the left slewing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 173 in accordance with the amount of operation. Also, when the left operating lever 26L is operated in the right slewing direction (rightward), it applies pilot pressure to the right pilot port of the control valve 173 in accordance with the amount of operation.

[0089] The operating pressure sensor 29LB detects the operation performed by the operator on the left operating lever 26L in the left-right direction and outputs the detected value to the controller 30.

[0090] The proportional valve 31DL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0091] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL in response to a leftward rotation operation by the operator. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL, independently of a leftward rotation operation by the operator. In other words, the controller 30 can rotate the rotation mechanism 2 to the left in response to a leftward rotation operation by the operator, or independently of a leftward rotation operation by the operator.

[0092] Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR in response to a rightward rotation operation by the operator. In addition, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR, independently of a rightward rotation operation by the operator. In other words, the controller 30 can rotate the rotation mechanism 2 to the right in response to a rightward rotation operation by the operator, or independently of a rightward rotation operation by the operator.

[0093] The shovel 100 may be configured to automatically move the lower travel body 1 forward and backward. In this case, the hydraulic system portion for operating the left travel hydraulic motor 2ML and the hydraulic system portion for operating the right travel hydraulic motor 2MR may be configured in the same way as the hydraulic system portion for operating the boom cylinder 7, etc.

[0094] Furthermore, although the description of the operating device 26 is based on an electric operating lever, a hydraulic operating lever may also be used instead. In this case, the amount of lever operation of the hydraulic operating lever may be detected in the form of pressure by a pressure sensor and input to the controller 30. Also, a solenoid valve may be placed between the operating device 26 as a hydraulic operating lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the operating device 26 as a hydraulic operating lever, the operating device 26 can move each control valve by increasing or decreasing the pilot pressure according to the amount of lever operation. Also, each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 corresponding to the amount of lever operation of the electric operating lever.

[0095] Next, the functions of the controller 30 will be described with reference to Figure 4. Figure 4 is a functional block diagram of the controller 30. In the example in Figure 4, the controller 30 is configured to receive signals output from the attitude detection device, operating device 26, object detection device 70, imaging device 80, and switch NS, perform various calculations, and output control commands to the proportional valve 31, display device D1, and sound output device D2, etc. The attitude detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine tilt sensor S4, and a slewing angular velocity sensor S5. The controller 30 has a trajectory generation unit 30A and an autonomous control unit 30B as functional blocks. Each functional block may be composed of hardware or software.

[0096] The trajectory generation unit 30A is configured to generate a target trajectory, which is the trajectory traced by a predetermined part of the shovel 100 when the shovel 100 is operated autonomously. The predetermined part is, for example, the tip of the bucket 6, or a predetermined point on the back of the bucket 6. In this embodiment, the trajectory generation unit 30A generates a target trajectory that is used when the autonomous control unit 30B operates the shovel 100 autonomously. Specifically, the trajectory generation unit 30A generates a target trajectory based on the output of at least one of the object detection device 70 and the imaging device 80.

[0097] The autonomous control unit 30B is configured to operate the shovel 100 autonomously. In this embodiment, the autonomous control unit 30B is configured to move a predetermined part of the shovel 100 along a target trajectory generated by the trajectory generation unit 30A when predetermined starting conditions are met. Specifically, the autonomous control unit 30B autonomously operates the shovel 100 so that a predetermined part of the shovel 100 moves along the target trajectory when the operating device 26 is operated while the switch NS is pressed. For example, the autonomous control unit 30B autonomously operates the excavation attachment AT so that the claws of the bucket 6 move along the target trajectory when the left operating lever 26L is operated in the arm opening direction while the switch NS is pressed. The autonomous control unit 30B may also autonomously operate the shovel 100 so that a predetermined part of the shovel 100 moves along the target trajectory when the switch NS is pressed, regardless of whether the operating device 26 is operated or not.

[0098] Next, with reference to Figures 5 and 6, an example of the function by which the controller 30 autonomously controls the movement of the attachment (hereinafter referred to as the "autonomous control function") will be described. Figures 5 and 6 are block diagrams of the autonomous control function.

[0099] First, the controller 30 determines the target travel speed and target travel direction based on the operating tendency, as shown in Figure 5. The operating tendency is determined, for example, based on the lever operation amount. The target travel speed is the target value of the travel speed at the control reference point, and the target travel direction is the target value of the travel direction at the control reference point. The control reference point is, for example, a predetermined point on the tip of the bucket 6 or on the back of the bucket 6. The control reference point is, for example, the boom angle β 1、 Arm angle β 2、 It is calculated based on the bucket angle β3 and the slewing angle α1.

[0100] Subsequently, the controller 30 calculates the three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after a unit of time has elapsed, based on the target movement speed, the target movement direction, and the three-dimensional coordinates (Xe, Yer, Ze) of the control reference point. The three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after a unit of time are, for example, coordinates on the target trajectory. The unit of time is, for example, a time corresponding to an integer multiple of the control period.

[0101] The target trajectory may be, for example, a target trajectory for backfilling operations performed in backfilling work, which is the process of filling a hole. Backfilling operations include actions such as releasing soil and sand taken into the bucket 6 into the hole, and pushing soil and sand around the hole with the bucket 6 and dropping it into the hole. Typically, backfilling operations are a combined operation including bucket opening operations and arm opening operations. In this case, the target trajectory may be calculated based on at least one of the following: for example, the shape of the hole opening, the depth of the hole, the volume of soil and sand already released into the hole, and the volume of soil and sand taken into the bucket 6. The shape of the hole, the depth of the hole, the volume of soil and sand already released into the hole, and the volume of soil and sand taken into the bucket 6 may be derived, for example, based on the output of at least one of the object detection device 70 and the imaging device 80. The target trajectory may be set, for example, so that the variation in depth of different parts of the hole does not become significantly large. That is, the target trajectory may be set so that only a part of the hole is backfilled in a concentrated manner. Conversely, the target trajectory may be set so that only a portion of the hole is concentrated and filled in.

[0102] The target trajectory is typically calculated before the filling-back operation is started and is not changed until the filling-back operation ends. However, the target trajectory may be changed during the execution of the filling-back operation. That is, the content of the filling-back operation may be changed.

[0103] Thereafter, based on the calculated three-dimensional coordinates (Xer, Yer, Zer), the controller 30 determines command values β 1r , β 2r , and β 3r for the rotation of the boom 4, the arm 5, and the bucket 6, and a command value α 1r for the rotation of the upper swing body 3. The command value β 1r represents, for example, the boom angle β1 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer). Similarly, the command value β 2r represents the arm angle β2 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer), the command value β 3r represents the bucket angle β3 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer), and the command value α 1r represents the swing angle α1 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer).

[0104] The command value β 3r for the rotation of the bucket 6 may be changed during the execution of the filling-back operation. For example, the command value β 3r may be adjusted to a smaller value when the depth of the hole in the portion where the filling-back has been performed is smaller than the desired depth. That is, the command value β 3r is typically controlled by open-loop control, but may be feedback-controlled according to the depth of the hole in the portion where the filling-back has been performed.

[0105] Subsequently, as shown in Figure 6, the controller 30 operates the boom cylinder 7, arm cylinder 8, bucket cylinder 9, and slewing hydraulic motor 2A so that the boom angle β1, arm angle β2, bucket angle β3, and slewing angle α1 become the generated command values ​​β1r, β2r, β3r, and α1r, respectively. The slewing angle α1 is calculated, for example, based on the output of the slewing angular velocity sensor S5.

[0106] Specifically, the controller 30 generates a boom cylinder pilot pressure command corresponding to the difference Δβ1 between the current value of the boom angle β1 and the command value β1r. It then outputs a control current corresponding to the boom cylinder pilot pressure command to the boom control mechanism 31B. The boom control mechanism 31B is configured to apply a pilot pressure corresponding to the control current corresponding to the boom cylinder pilot pressure command to the control valve 175, which acts as a boom control valve. The boom control mechanism 31B may be, for example, proportional valve 31BL and proportional valve 31BR as shown in Figure 3B.

[0107] Subsequently, the control valve 175, upon receiving the pilot pressure generated by the boom control mechanism 31B, causes the hydraulic fluid discharged by the main pump 14 to flow into the boom cylinder 7 in a flow direction and flow rate corresponding to the pilot pressure.

[0108] In this case, the controller 30 may generate a boom spool control command based on the amount of spool displacement of the control valve 175 detected by the boom spool displacement sensor S7. The boom spool displacement sensor S7 is a sensor that detects the amount of displacement of the spool that constitutes the control valve 175. The controller 30 may also output a control current corresponding to the boom spool control command to the boom control mechanism 31B. In this case, the boom control mechanism 31B applies a pilot pressure to the control valve 175 corresponding to the control current corresponding to the boom spool control command.

[0109] The boom cylinder 7 extends and retracts due to the hydraulic fluid supplied via the control valve 175. The boom angle sensor S1 detects the boom angle β1 of the boom 4 moved by the extending and retracting boom cylinder 7.

[0110] Subsequently, the controller 30 feeds back the boom angle β1 detected by the boom angle sensor S1 as the current value of the boom angle β1 used when generating the boom cylinder pilot pressure command.

[0111] The above description relates to the operation of the boom 4 based on the command value β1r, but it also applies similarly to the operation of the arm 5 based on the command value β2r, the operation of the bucket 6 based on the command value β3r, and the slewing operation of the upper slewing body 3 based on the command value α1r. The arm control mechanism 31A is configured to apply a pilot pressure corresponding to the control current corresponding to the arm cylinder pilot pressure command to the control valve 176, which acts as an arm control valve. The arm control mechanism 31A may be, for example, the proportional valve 31AL and proportional valve 31AR in Figure 3A. The bucket control mechanism 31C is configured to apply a pilot pressure corresponding to the control current corresponding to the bucket cylinder pilot pressure command to the control valve 174, which acts as a bucket control valve. The bucket control mechanism 31C may be, for example, the proportional valve 31CL and proportional valve 31CR in Figure 3C. The slewing control mechanism 31D is configured to apply a pilot pressure corresponding to the control current corresponding to the slewing hydraulic motor pilot pressure command to the control valve 173, which acts as a slewing control valve. The swivel control mechanism 31D may be, for example, the proportional valve 31DL and proportional valve 31DR in Figure 3D. The arm spool displacement sensor S8 is a sensor that detects the amount of displacement of the spool constituting the control valve 176, the bucket spool displacement sensor S9 is a sensor that detects the amount of displacement of the spool constituting the control valve 174, and the swivel spool displacement sensor S6 is a sensor that detects the amount of displacement of the spool constituting the control valve 173.

[0112] As shown in Figure 5, the controller 30 may use pump discharge rate derivation units CP1, CP2, CP3, and CP4 to derive the pump discharge rate from the command values ​​β1r, β2r, β3r, and α1r. In this embodiment, the pump discharge rate derivation units CP1, CP2, CP3, and CP4 derive the pump discharge rate from the command values ​​β1r, β2r, β3r, and α1r using a pre-registered reference table or the like. The pump discharge rates derived by the pump discharge rate derivation units CP1, CP2, CP3, and CP4 are summed up and input to the pump flow rate calculation unit as the total pump discharge rate. The pump flow rate calculation unit controls the discharge rate of the main pump 14 based on the input total pump discharge rate. In this embodiment, the pump flow rate calculation unit controls the discharge rate of the main pump 14 by changing the swash plate tilt angle of the main pump 14 according to the total pump discharge rate.

[0113] In this way, the controller 30 can simultaneously control the opening of each of the control valves: the control valve 175 as a boom control valve, the control valve 176 as an arm control valve, the control valve 174 as a bucket control valve, and the control valve 173 as a slewing control valve, as well as control the discharge volume of the main pump 14. Therefore, the controller 30 can supply an appropriate amount of hydraulic fluid to each of the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the slewing hydraulic motor 2A.

[0114] Furthermore, the controller 30 calculates the three-dimensional coordinates (Xer, Yer, Zer) and the command value β. 1r , β 2r , β 3r , and α 1rThe generation of the fluid and the determination of the discharge amount of the main pump 14 constitute one control cycle, and autonomous control is performed by repeating this control cycle. Furthermore, the controller 30 can improve the accuracy of autonomous control by feedback control of the control reference point based on the outputs of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, and slewing angular velocity sensor S5. Specifically, the controller 30 can improve the accuracy of autonomous control by feedback control of the flow rate of the hydraulic fluid flowing into the boom cylinder 7, arm cylinder 8, bucket cylinder 9, and slewing hydraulic motor 2A.

[0115] Furthermore, when the controller 30 performs autonomous control related to backfilling operations, it may be configured to monitor the distance between the bucket 6 and surrounding obstacles to prevent contact between the bucket 6 and surrounding obstacles. For example, the controller 30 may stop the movement of the excavation attachment AT if it determines, based on the output of the attitude detection device and the object detection device 70, that the distance between each of one or more predetermined points on the bucket 6 and surrounding obstacles falls below a predetermined value.

[0116] Next, an example of autonomous control related to backfilling will be described with reference to Figures 7A to 7C and Figures 8A to 8C. Figures 7A to 7C are top views of the excavator 100 that performs the backfilling operation and the hole HL that is the target of the backfilling operation. Figures 8A to 8C are cross-sectional views of the hole HL. The controller 30 recognizes the position of the hole HL as the target of the backfilling operation (backfill target position) and generates a target trajectory from the soil pile (excavation completion position) to the hole HL.

[0117] The excavation completion position may be set to the position of bucket 6 when soil and sand have been collected into bucket 6. Alternatively, the excavation completion position may be set to the position of bucket 6 when bucket 6 has been raised by a predetermined height from the position of bucket 6 when soil and sand have been collected into bucket 6.

[0118] Furthermore, the controller 30 may recognize the shape of the hole HL (opening area or depth, etc.) or the location of the hole HL based on the output of the object detection device 70, and set a target position for backfilling. Alternatively, the controller 30 may recognize the uneven shape of the terrain based on the output of the object detection device 70 and display the recognized uneven shape on the display device D1. In this case, the controller 30 may display a frame or marker on the image of the hole HL or uneven shape, etc. (hereinafter referred to as "hole HL, etc.") displayed on the display device D1 so that the operator of the shovel 100 can recognize it. The image of the hole HL, etc. is included in the captured image output by the imaging device 80 (object detection device 70). Subsequently, by the operator setting (selecting) the hole HL, etc. to be recognized, the controller 30 can set a target position for the hole HL, etc. Alternatively, the operator may select an image of the hole HL, etc. to be backfilled from the captured image displayed on the display device D1 and set it as the target position. In this case, the actual position in the terrain area displayed on the display device D1 is associated with the position of that image in the display area of ​​the display device D1. Therefore, by the operator selecting a predetermined location in the display area of ​​the display device D1, the controller 30 can recognize the actual position of the hole HL relative to the shovel 100 and set the target position for backfilling.

[0119] In this way, the controller 30 generates a trajectory to the set target position as the target trajectory. Typically, the target position is set above the bottom surface of hole HL. Also, typically, the target position is set inside the contour of hole HL.

[0120] Specifically, Figures 7A and 8A show the state after the first backfilling operation by autonomous control is completed. The dashed line in Figure 7A represents the state of the shovel 100 after the first excavation operation by manual operation is completed and before the first backfilling operation is started. The soil R1 represents the soil discharged into the hole HL by the first backfilling operation. The soil R1 is discharged, for example, to the part of the hole HL furthest from the shovel 100. In the state shown in Figures 7A and 8A, the controller 30 generates a target trajectory between the soil pile and the position of the furthest part of the hole HL. The controller 30 may change the target position each time a backfilling operation is performed. As a result, the target position and target trajectory will be changed in the second, third, and subsequent backfilling operations. The timing of the changes to the target position and target trajectory may be changed according to the shape of the hole HL (size or depth, etc.).

[0121] Figures 7B and 8B show the state after the second backfilling operation by autonomous control is completed. The dashed line in Figure 7B represents the state of shovel 100 after the second excavation operation by manual operation is completed and before the second backfilling operation is started. Soil R2 represents the soil discharged into hole HL by the second backfilling operation. Soil R2 is discharged, for example, in a part of hole HL that is closer to shovel 100 than soil R1, adjacent to soil R1. In the state shown in Figures 7B and 8B, the controller 30 updates the target trajectory that was generated in the state shown in Figures 7A and 8A.

[0122] Figures 7C and 8C show the state after the third backfilling operation by autonomous control is completed. The dashed line in Figure 7C represents the state of the shovel 100 after the third excavation operation by manual operation is completed and before the third backfilling operation is started. Soil R3 represents the soil released into the hole HL by the third backfilling operation. Soil R3 is released, for example, in the part of the hole HL that is closer to the shovel 100 than soil R2, adjacent to soil R2. In the state shown in Figures 7C and 8C, the controller 30 updates the target trajectory that was updated in the state shown in Figures 7B and 8B. The controller 30 may also recognize the shape of the soil dropped into the hole HL based on the output from the imaging device 80 (object detection device 70). For example, the controller 30 may estimate the shape of the soil dropped into the hole HL based on the shape of the hole HL, soil characteristics, and the drop location. In this way, the controller 30 can change the target position for the next backfilling operation by understanding the shape of the soil and sediment that has fallen into the hole HL.

[0123] The operator of the shovel 100 presses switch NS to perform the first backfilling operation autonomously when the state of the shovel 100 is as shown by the dashed line in Figure 7A, before initiating the first backfilling operation. In the examples shown in Figures 7A to 7C and Figures 8A to 8C, the shovel 100 is configured to perform the backfilling operation when switch NS is pressed, but it may also be configured to perform the backfilling operation when the left operating lever 26L is operated in the rightward rotation direction while switch NS is pressed.

[0124] In the example shown in Figure 7A, the target trajectory for the first backfilling operation is generated based on the current position AP1 of the bucket 6's tip and the position BP1 of the bucket 6's tip when the first backfilling operation is completed. Position BP1 is set, for example, so that the tip of the bucket 6 is directly above the center point of the soil R1. The soil R1 is the soil that is to be placed into the hole HL by the first backfilling operation.

[0125] Subsequently, the controller 30 uses the calculated target trajectory to perform the first backfilling operation under autonomous control. Specifically, the controller 30 automatically rotates the upper slewing body 3 to the right and automatically extends and retracts the excavation attachment AT so that the trajectory traced by the tip of the bucket 6 follows the target trajectory.

[0126] After the first backfilling operation is completed under autonomous control, the operator of the shovel 100 performs an intermediate operation, including a manual left turn, to bring the bucket 6 closer to the pile of soil F1 shown in Figure 7A. This intermediate operation, which moves the tip of the bucket 6 from the position where the backfilling operation was completed to the position where the next excavation operation will begin, may be performed autonomously without manual operation by the operator, or it may be performed semi-autonomously to assist the operator's manual operation. If this intermediate operation is performed autonomously, the target trajectory for this intermediate operation is generated based on the current position BP1 of the tip of the bucket 6 and the position DP1 of the tip of the bucket 6 when the second excavation operation will begin. Position DP1 is set, for example, to be directly above the center point of the pile of soil F1. Note that semi-autonomous operation differs from autonomous operation in that it is performed in response to manual operation of the control lever by the operator, but it is similar in that it moves the tip of the bucket 6 along a target trajectory.

[0127] Subsequently, the operator manually excavates the soil constituting the soil mound F1 into the bucket 6. Then, after the excavation operation is completed, that is, when the state of the shovel 100 is as shown by the dashed line in Figure 7B, the operator presses switch NS to execute a second backfilling operation under autonomous control.

[0128] In the example shown in Figure 7B, the target trajectory for the second backfilling operation is generated based on the current position AP2 of the bucket 6's tip and the position BP2 of the bucket 6's tip when the second backfilling operation is completed. Position BP2 is set, for example, so that the tip of the bucket 6 is directly above the center point of the soil R2. The soil R2 is the soil that is to be placed into the hole HL by the second backfilling operation.

[0129] Subsequently, the controller 30 uses the calculated target trajectory to perform a second backfilling operation under autonomous control. Specifically, the controller 30 automatically rotates the upper rotating body 3 to the right and automatically extends and retracts the excavation attachment AT so that the trajectory traced by the tip of the bucket 6 follows the target trajectory.

[0130] After the second backfilling operation is completed under autonomous control, the operator of the shovel 100 performs an intermediate operation, including a manually operated left turn, to bring the bucket 6 closer to the pile of soil F2 shown in Figure 7B. This intermediate operation may be performed autonomously without manual operation by the operator, or it may be performed semi-autonomously to assist the operator's manual operation. If this intermediate operation is performed autonomously, the target trajectory for this intermediate operation is generated based on the current position BP2 of the bucket 6's toe and the position DP2 of the bucket 6's toe when the third excavation operation begins. Position DP2 is set, for example, to be directly above the center point of the pile of soil F2.

[0131] Subsequently, the operator manually excavates the soil constituting the soil mound F2 into the bucket 6. Then, after the excavation operation is completed, that is, when the state of the shovel 100 is as shown by the dashed line in Figure 7C, the operator presses switch NS to execute the third backfilling operation under autonomous control.

[0132] In this way, the controller 30 can reduce the burden on the operator regarding manual backfilling operations by autonomously performing the backfilling operation. In the above embodiment, the intermediate operation and the excavation operation are performed in response to the operator's manual operation, but at least one of the intermediate operation and the excavation operation may be performed autonomously or semi-autonomously by the controller 30, similar to the backfilling operation.

[0133] Next, with reference to Figures 9A and 9B, an example of leveling work performed after hole HL has been backfilled will be described. Figures 9A and 9B are cross-sectional views of the backfilled hole HL and correspond to Figures 8A to 8C. Specifically, Figures 9A and 9B show the state of the soil backfilled into hole HL by multiple backfilling operations. More specifically, Figure 9A shows the state of the soil in hole HL before the leveling operation, and Figure 9B shows the state of the soil in hole HL after the leveling operation. In addition, for clarity, in Figures 9A and 9B, the ground surrounding hole HL is marked with a diagonal line pattern, and the soil backfilled into hole HL is marked with a dot pattern.

[0134] In this embodiment, the controller 30 is configured to set the height of the target surface TS before the backfilling work is performed. The target surface TS is a virtual surface corresponding to the ground formed when the hole HL to be backfilled is backfilled with soil, and is typically a virtual horizontal plane. The controller 30 detects the hole HL and the surrounding surface CS, which is the ground around the hole HL, based on the output of the object detection device 70, for example. The controller 30 then sets the height of the target surface TS based on the detected height of the surrounding surface CS. The height of the target surface TS is typically set to be the same as the height of the surrounding surface CS. The dashed line shown in Figures 9A and 9B represents the target surface TS.

[0135] Subsequently, the controller 30 determines, for example, whether the hole HL has been backfilled with soil based on the output of the object detection device 70. In the example shown in Figures 9A and 9B, the controller 30 determines that the hole HL has been backfilled with soil when the entire target surface TS is buried in soil. When the controller 30 determines that the hole HL has been backfilled with soil, it performs an autonomous leveling operation. The backfilling operation, which is performed prior to the leveling operation, is performed so that the height of the soil backfilled in the hole HL is slightly higher than the height of the target surface TS.

[0136] When the controller determines that the hole HL has been backfilled with soil, it generates a target trajectory along the target surface TS and performs a leveling operation by automatically moving the tip of the bucket 6 away from the shovel 100 along that target trajectory. In this case, the leveling operation is a compound operation that includes an arm opening operation. Figure 9A shows the position of the bucket 6 when the leveling operation starts, and Figure 9B shows the position of the bucket 6 when the leveling operation is completed. The controller 30 may set the target surface TS based on the height of the terrain adjacent to the hole HL. Alternatively, the controller 30 may set the target surface TS based on the height of the soil backfilled into the hole HL, or the shape of the soil. Alternatively, the controller 30 may set the target surface TS based on the construction plan drawing (design data).

[0137] With this configuration, the controller 30 can level the surface of the soil backfilled in the hole HL, making the surface of the soil backfilled in the hole HL smooth and free of irregularities. In addition, the controller 30 can make the height of the surface of the soil backfilled in the hole HL approximately the same as the height of the surrounding surface CS.

[0138] Next, with reference to Figures 10A and 10B, another example of autonomous control related to backfilling operations will be described. Figure 10A is a top view of the excavator 100 and the hole HL that is the target of the backfilling operation when the backfilling operation is performed, and corresponds to Figures 7A to 7C. Figure 10B is a cross-sectional view of the hole HL, and corresponds to Figures 8A to 8C.

[0139] In the examples shown in Figures 10A and 10B, the controller 30 is configured to push the soil into hole HL by pushing it away with the bucket 6, rather than lifting it, when the soil to be backfilled into hole HL is within a predetermined distance from hole HL. In the examples shown in Figures 10A and 10B, the controller 30 autonomously performs a pushing operation using the back surface BF of the bucket 6 to push the soil constituting the soil pile F10, which is within a predetermined distance from hole HL, into hole HL. In Figure 10A, the predetermined distance is the area Z1 enclosed by the dashed line.

[0140] Specifically, as shown in Figure 10B, the controller 30 autonomously operates the excavation attachment AT to push the soil constituting the soil mound F10 into the hole HL through two backfilling operations (pushing operations).

[0141] For example, the controller 30 recognizes the position and shape of the soil pile F10 based on the output of the object detection device 70. Then, based on the recognized position and shape of the soil pile F10, the controller 30 generates a target trajectory TL for pushing the soil constituting the soil pile F10 into the hole HL. At this time, the controller 30 may calculate the volume or weight of the soil constituting the soil pile F10. This is because there is a limit to the volume or weight of soil that can be pushed aside in a single pushing operation, and the controller 30 is designed to generate a target trajectory that does not exceed this limit.

[0142] Figure 10B shows target trajectory TL1, which is part of the target trajectory TL for the first pushing operation, as a dashed line, and target trajectory TL2, which is part of the target trajectory TL for the second pushing operation, as a double dashed line. Figures 10A and 10B also show the state of bucket 6 when the first pushing operation is completed with a solid line, and the state of bucket 6 when the first pushing operation is started with a dashed bucket shape 6A. Furthermore, Figure 10B shows the soil F10T that was pushed into the hole HL by the first pushing operation as part of the soil pile F10 as a solid line, and the portion F10T1 corresponding to soil F10T in the soil pile F10 before the start of the first pushing operation as a dashed line.

[0143] Of the soil that made up the soil pile F10, the soil F10B that remained after the first pushing operation was performed was pushed into the hole HL by the second pushing operation, that is, by moving the tip of the bucket 6 along the target trajectory TL2 from the side closer to the shovel 100 to the side further away.

[0144] By performing the pushing operation described above, the controller 30 can push soil that is relatively close to the hole HL into the hole HL. In the example above, the controller 30 is configured to perform the pushing operation to drop soil into the hole HL using the back surface BF of the bucket 6, but it may also be configured to perform the pushing operation to drop soil into the hole HL using the front surface or side surface of the bucket 6. For example, when the controller 30 wants to drop soil constituting the soil pile F11 located on the +X side (farther from the shovel 100) of the hole HL within range Z1 into the hole HL, it may be configured to perform the pushing operation to drop soil into the hole HL using the front surface of the bucket 6.

[0145] Furthermore, if the soil to be backfilled into the hole HL is outside a predetermined distance range from the hole HL, the controller 30 may be configured to discharge the soil taken into and lifted by the excavation operation into the hole HL, as explained with reference to Figures 7A to 7C and 8A to 8C. Specifically, with respect to the soil pile F12 located outside the range Z1, the controller 30 may be configured to discharge the soil constituting the soil pile F12, which has been taken into and lifted by the excavation operation into the bucket 6, into the hole HL by an autonomous backfilling operation.

[0146] Furthermore, in the examples shown in Figures 10A and 10B, the controller 30 is configured to perform a push-away operation when switch NS is pressed, but it may also be configured to perform a push-away operation when the left operating lever 26L is operated in the arm opening direction while switch NS is pressed.

[0147] Next, referring to Figure 11, we will explain the backfilling operation (pushing operation) for dropping soil into hole HL using the side of bucket 6. Figure 11 is a top view of the shovel 100 and hole HL, which is the target of the backfilling operation (pushing operation), when the backfilling operation (pushing operation) is performed, and corresponds to Figure 10A.

[0148] In the example shown in Figure 11, the controller 30 is configured to push the soil into the hole HL by pushing it away with the bucket 6, without lifting it, when the soil to be backfilled into the hole HL is within a predetermined distance from the hole HL, similar to the examples shown in Figures 10A and 10B. Furthermore, if the soil to be backfilled into the hole HL is outside the predetermined distance from the hole HL, the controller 30 is configured to take the soil into the bucket 6 and lift it up through an excavation operation, as explained with reference to Figures 7A to 7C and 8A to 8C, and then release the soil taken into the bucket 6 into the hole HL.

[0149] In the example shown in Figure 11, the controller 30 autonomously performs a pushing operation to push the soil constituting the soil pile F13, which is within a predetermined distance from the hole HL, into the hole HL, using the side SF (left side LSF) of the bucket 6. In Figure 11, the predetermined distance is the area Z1 enclosed by the dashed line.

[0150] Specifically, as shown in Figure 11, the controller 30 is configured to autonomously rotate the upper rotating body 3 to the left so that the soil constituting the soil mound F13 is pushed into the hole HL by two backfilling operations (pushing operations).

[0151] For example, the controller 30 recognizes the position and shape of the soil pile F13 based on the output of the object detection device 70. Then, based on the recognized position and shape of the soil pile F13, the controller 30 generates a target trajectory TL for pushing the soil constituting the soil pile F13 into the hole HL. At this time, the controller 30 may calculate the volume or weight of the soil constituting the soil pile F13. This is because there is a limit to the volume or weight of soil that can be pushed aside in a single pushing operation, and the controller 30 generates the target trajectory TL so as not to exceed this limit.

[0152] Figure 11 shows the target trajectory TL3, which is part of the target trajectory TL for the first pushing operation, as a dashed line. Also in Figure 11, the state of bucket 6 when the first pushing operation is completed is shown as a solid line, and the position of bucket 6 when the first pushing operation starts is shown as a dashed line bucket shape 6B. Furthermore, Figure 11 shows the soil F13T that was pushed into the hole HL by the first pushing operation from the soil pile F13, and the soil F13B that remained after the first pushing operation from the soil pile F10 is shown as a solid line.

[0153] The soil F13T is pushed into the hole HL by the first pushing motion, that is, by moving the tip of the bucket 6 from right to left along the target trajectory TL3.

[0154] The soil F13B is pushed into the hole HL by a second pushing motion, that is, by moving the tip of the bucket 6 from right to left along a target trajectory (not shown) for the second pushing motion.

[0155] By performing a pushing motion that includes the rotational motion described above, the controller 30 can push soil that is relatively close to the hole HL into the hole HL. In the example above, the controller 30 is configured to perform a pushing motion to drop soil into the hole HL using the left side LSF of the bucket 6, but it may also be configured to perform a pushing motion to drop soil into the hole HL using the right side of the bucket 6. For example, when the controller 30 is dropping soil that constitutes a pile of soil on the +Y side of the hole HL within the range Z1 into the hole HL, it may be configured to perform a pushing motion to drop soil into the hole HL using the right side of the bucket 6.

[0156] Next, with reference to Figures 12A to 12C, another example of autonomous control related to backfilling operations will be described. Figures 12A to 12C are cross-sectional views of hole HL and correspond to Figures 9A and 9B. Specifically, Figures 12A to 12C show the state of the soil GR backfilled into hole HL by multiple backfilling operations. More specifically, Figure 12A shows the state of the soil GR in hole HL before the second-to-last backfilling operation (pushing operation), Figure 12B shows the state of the soil in hole HL after the second-to-last backfilling operation (pushing operation), and Figure 12C shows the state of the soil in hole HL after the final backfilling operation (pushing operation).

[0157] In the example shown in Figures 12A to 12C, the controller 30 is configured to set the height of the target surface TS before the backfilling work is carried out. The target surface TS is a virtual surface that corresponds to the ground formed when the hole HL to be backfilled is backfilled with soil, and is typically a virtual horizontal plane. The controller 30 detects the hole HL and the surrounding surface CS, which is the ground around the hole HL, based on the output of the object detection device 70, for example. The controller 30 then sets the height of the target surface TS based on the detected height of the surrounding surface CS. The height of the target surface TS is typically set to be the same as the height of the surrounding surface CS. The lower dashed line shown in Figure 12A represents the target surface TS.

[0158] Furthermore, the controller 30 determines, for example, whether a pile of soil exists within a predetermined distance from the hole HL, based on the output of the object detection device 70. If a pile of soil exists within a predetermined distance from the hole HL, the controller 30 calculates, for example, the volume of soil constituting that pile, based on the output of the object detection device 70. A pile of soil that exists within a predetermined distance from the hole HL is a pile of soil whose constituent soil is pushed into the hole HL by a pushing motion, and is hereinafter referred to as an "adjacent pile of soil." In the example shown in Figures 12A to 12C, the controller 30 recognizes that a pile of soil F14 exists as an adjacent pile of soil on the -X side of the hole HL (the side closer to the shovel 100). Therefore, the controller 30 calculates the volume of soil constituting the pile of soil F14.

[0159] Furthermore, the controller 30 calculates the volume of soil (required volume) needed to completely backfill hole HL based on the output of the object detection device 70, for example, each time the backfilling operation is completed. The required volume corresponds to the volume of the space located below the target surface TS within hole HL (excluding the volume of the portion already backfilled with soil). The controller 30 then determines whether the volume of soil constituting the adjacent soil pile (soil pile F14) is equal to or greater than the required volume. Typically, the controller 30 is configured to adjust the volume of soil backfilled into hole HL by the preceding backfilling operation so that the required volume is approximately equal to the volume of the adjacent soil pile.

[0160] If the controller 30 determines that the volume of soil constituting the adjacent soil mound (soil mound F14) is greater than or equal to the required volume, it will perform an autonomous pushing operation as an autonomous backfilling operation.

[0161] Specifically, the controller 30 generates a target trajectory TL for pushing the soil constituting the soil pile F14 into the hole HL, based on the position and shape of the soil pile F14. In this case, the controller 30 may set a target position relative to the hole HL and generate the target trajectory TL.

[0162] Figures 12A and 12B show target trajectory TL4, which is part of the target trajectory TL for the second-to-last push-away motion, represented by a dashed line. Figures 12B and 12C show target trajectory TL5, which is part of the target trajectory TL for the final push-away motion, represented by a double-dashed line.

[0163] Figure 12A shows the state of bucket 6 with a solid line when the second-to-last pushing operation begins. Figure 12B shows the state of bucket 6 with a solid line when the final pushing operation begins, and also shows the soil F14T, which was part of the soil pile F14 that was pushed into the hole HL by the second-to-last pushing operation, with a coarse dot pattern. Figure 12C shows the state of bucket 6 with a solid line when the final pushing operation is completed. For clarity, in Figures 12A to 12C, the soil GR and soil pile F14 (excluding soil F14T) are marked with a fine dot pattern, and the ground around the hole HL is marked with a diagonal line pattern.

[0164] As shown in Figure 12B, the remaining soil F14B that made up the soil pile F14 after the second-to-last pushing operation is performed is pushed into the hole HL by the final pushing operation, that is, by moving the tip of the bucket 6 along the target trajectory TL5 from the side closer to the shovel 100 to the side further away, as shown in Figure 12C.

[0165] By performing the pushing operation described above, the controller 30 pushes the soil relatively close to the hole HL into the hole HL, while simultaneously leveling the surface of the soil backfilled into the hole HL, making the surface of the soil backfilled into the hole HL smooth and free of irregularities. Furthermore, the controller 30 can make the height of the surface of the soil backfilled into the hole HL approximately the same as the height of the surrounding surface CS. In the example shown in Figures 12A to 12C, the controller 30 is configured to perform a pushing operation to drop the soil into the hole HL using the back surface BF of the bucket 6, and a leveling operation simultaneously. However, it may also be configured to perform a pushing operation to drop the soil into the hole HL using the front or side surface of the bucket 6, and a leveling operation simultaneously.

[0166] In this way, the controller 30 autonomously and simultaneously performs backfilling and leveling operations, thereby reducing the burden on operators who would otherwise have to manually operate the backfilling and leveling operations. Furthermore, the controller 30 can improve the efficiency of backfilling work compared to when backfilling and leveling operations are performed separately.

[0167] As described above, the excavator 100 according to the embodiment of the present invention comprises a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and a controller 30 as a control device provided on the upper rotating body 3. The controller 30 is configured to initiate autonomous backfilling operations by the excavator 100 when predetermined conditions are met.

[0168] The predetermined conditions are, for example, that a predetermined switch has been operated, or that an operating lever has been operated in a predetermined direction in a predetermined operating mode.

[0169] The predetermined switch is, for example, switch NS provided on the operating lever. The predetermined operating mode is, for example, backfilling mode. The operator of the shovel 100 can switch the operating mode of the shovel 100 between normal mode and backfilling mode by, for example, operating switch NS. When the operating mode of the shovel 100 is backfilling mode, the operator can, for example, operate the left operating lever 26L in the leftward rotation direction to perform an autonomous backfilling operation as shown in Figures 7A to 7C, or operate the left operating lever 26L in the arm opening direction to perform an autonomous backfilling operation (pushing back operation) as shown in Figures 10A and 10B.

[0170] This configuration can improve the efficiency of backfilling compared to backfilling performed manually using an operating lever. Furthermore, this configuration can reduce the burden on the operator of the shovel 100 during backfilling operations.

[0171] The backfilling operation may include at least one of the operation of the excavation attachment AT attached to the upper slewing body 3 and the rotation operation of the upper slewing body 3. Specifically, the backfilling operation may include at least one of the following, as shown in Figures 7A to 7C: boom raising operation, boom lowering operation, arm opening operation, arm closing operation, bucket opening operation, bucket closing operation, left rotation operation, and right rotation operation. Alternatively, the backfilling operation may not include the rotation operation, as shown in Figures 10A and 10B. Alternatively, the backfilling operation may not include the operation of the excavation attachment AT. Furthermore, the backfilling operation may include at least one of the following: pushing soil with the front of the bucket 6, pushing soil with the side SF of the bucket 6, and pushing soil with the back BF of the bucket 6.

[0172] This configuration can further improve the efficiency of backfilling work by enabling the autonomous execution of appropriate backfilling operations according to the positional relationship between the hole to be backfilled and the pile of soil to be backfilled.

[0173] The controller 30 may be configured to identify the location of the geological features to be backfilled based on the output of the object detection device 70. The geological features to be backfilled include, for example, holes to be backfilled and piles of soil to be backfilled. For example, the controller 30 may be configured to identify the location of the geological features to be backfilled based on images captured by the imaging device 80. Alternatively, the controller 30 may be configured to identify the location of the geological features to be backfilled based on distance information measured by the LIDAR. In this case, the controller 30 may be configured to recognize at least one of the following based on the output of the object detection device 70: the shape, depth, and volume of the holes to be backfilled, the shape, height, and volume of the piles of soil to be backfilled, and the progress of the backfilling work.

[0174] Preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above, nor is it limited to the examples given below. Various modifications or substitutions can be applied to the embodiments described above without departing from the scope of the present invention. Furthermore, features described separately can be combined as long as no technical inconsistencies arise.

[0175] For example, in the above-described embodiment, the controller 30 is configured to reduce the burden on the operator seated in the driver's seat inside the cabin 10 by autonomously or semi-autonomously performing backfilling operations, etc. However, autonomous or semi-autonomous operation by the controller 30 may also be applied to a remotely operated excavator. In this case, the controller 30 can reduce the burden on the remote operator seated in the driver's seat of a remote control room connected to the excavator 100 via wireless communication by autonomously or semi-autonomously performing backfilling operations, etc.

[0176] Furthermore, the controller 30 may be configured to recognize the positional relationship between the shovel 100 and the hole HL based on the output of the object detection device 70. In this case, the controller 30 may determine the position of the hole HL based on the output of a positioning device (GNSS, etc.) mounted on the shovel 100. Also, the controller 30 may be configured to recognize the positional relationship between the shovel 100 and the pile of soil based on the output of the object detection device 70. In this case, the controller 30 may determine the position of the pile of soil based on the output of a positioning device mounted on the shovel 100.

[0177] Furthermore, if the location or shape of the hole to be backfilled is predetermined in the construction plan drawing (design data), the controller 30 may be configured to recognize the location of the hole HL based on the construction plan drawing input via communication or the like. Similarly, if the location of the pile of soil to be backfilled is predetermined in the construction plan drawing (design data), the controller 30 may be configured to recognize the location of the pile of soil based on the construction plan drawing input via communication or the like. As a result, the controller 30 can control the position of the bucket 6 by comparing the control reference point calculated based on the output of a positioning device (GNSS, etc.) or attitude sensor mounted on the shovel 100 with the location of the pile of soil or hole HL (target position) on the construction plan drawing.

[0178] This application claims priority based on Japanese Patent Application No. 2021-044182, filed on 17 March 2021, and the entire contents of that Japanese Patent Application are incorporated herein by reference. [Explanation of symbols]

[0179] 1. Lower running gear 1C. Crawler 1CL. Left crawler 1CR. Right crawler 2. Swivel mechanism 2A. Hydraulic motor for swivel 2M. Hydraulic motor for travel 2ML. Hydraulic motor for left travel 2MR. Hydraulic motor for right travel 3. Upper swivel gear 4. Boom 5. Arm 6. Bucket 7. Boom cylinder 8. Arm cylinder 9. Bucket cylinder 10. Cabin 11. Engine 13. Regulator 14. Main pump 15. Pilot pump 17. Control valve unit 18. Throttle 19. Control pressure sensor 26. Operating device 26D. Travel lever 26DL. Left travel lever 26DR. Right travel lever 26L. Left operating lever 26R...Right operating lever 28, 28L, 28R...Discharge pressure sensor 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB...Operating pressure sensor 30...Controller 30A...Trajectory generation unit 30B...Autonomous control unit 31, 31AL~31DL, 31AR~31DR...Proportional valve 40...Center bypass pipeline 42...Parallel pipeline 70...Object detection device 70F...Front sensor 70B...Rear sensor 70L...Left sensor 70R...Right sensor 80...Imaging device 80B...Rear camera 80F...Front camera 80L...Left camera 80R...Right camera 100...Shovel 171~176...Control valve AT...Drilling attachment D1...Display device D2...Sound output device F1, F2, F10~F14...Soil pile NS...Switch S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine tilt sensor S5...Slewing angular velocity sensor S6...Slewing spool displacement sensor S7...Boom spool displacement sensor S8...Arm spool displacement sensor S9...Bucket spool displacement sensor TL, TL1~TL5...Target trajectory

Claims

1. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, A control device provided on the upper rotating body, It has an object detection device attached to the upper rotating body, The control device is configured to recognize the location of the target of the backfilling operation and generate a target location related to the backfilling operation. The aforementioned target position is set above one of the holes to be backfilled. The aforementioned hole is filled in by the aforementioned backfilling operation multiple times. The control device recognizes the variation in depth of each part of the hole to be backfilled based on the output of the object detection device, and sets the target position based on the variation in depth. The first target position for a first backfilling operation, which is one of the multiple backfilling operations for backfilling the aforementioned hole, is set to a position different from the second target position for a second backfilling operation, which is another of the multiple backfilling operations for backfilling the aforementioned hole. The aforementioned depth is the depth relative to the surrounding surface, which is the ground around the one hole. Shovel.

2. The control device changes the target position according to the shape of the soil at the target location. The shovel according to claim 1.

3. The control device changes its operation according to the height of the soil at the location of the target. The shovel according to claim 1.

4. The control device is configured to initiate the autonomous backfilling operation by the shovel when predetermined conditions are met. The aforementioned predetermined conditions are that a predetermined switch has been operated, or that the operating lever has been operated in a predetermined direction in a predetermined operating mode. The shovel according to claim 1.

5. The aforementioned backfilling operation includes a pushing operation, which is an operation in which the bucket pushes away the soil without lifting it with the bucket. The aforementioned pushing operation includes at least one of the following: a pushing operation that pushes soil and sand with the front of the bucket, a pushing operation that pushes soil and sand with the side of the bucket, and a pushing operation that pushes soil and sand with the back of the bucket. The shovel according to claim 1.

6. The control device is configured to identify the location of the object to be backfilled based on the output of the object detection device. The shovel according to claim 1.

7. The control device performs a leveling operation to level the surface of the soil when the hole is backfilled. The shovel according to claim 1.

8. The control device performs the pushing operation and the leveling operation simultaneously. The shovel according to claim 5.

9. The control device sets a virtual surface corresponding to the ground formed when the hole is backfilled as the target surface, generates a target trajectory along the target surface, and performs a leveling operation by moving the bucket along the target trajectory. The shovel according to claim 1.

10. The height of the target surface is set based on the height of the ground around the hole. The shovel according to claim 9.

11. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, The control device provided on the upper rotating body, The control device is configured to recognize the location of the target of the backfilling operation and generate a target location related to the backfilling operation. The aforementioned backfilling operation includes a pushing operation, which is an operation in which the bucket pushes away the soil without lifting it with the bucket. The aforementioned pushing operation includes at least one of the following: a pushing operation that pushes soil and sand with the front of the bucket, a pushing operation that pushes soil and sand with the side of the bucket, and a pushing operation that pushes soil and sand with the back of the bucket. The control device executes the pushing operation when the object is within a predetermined distance from the hole to be backfilled, and executes the backfilling operation, including the excavation operation, when the object is outside the predetermined distance from the hole to be backfilled. Shovel.

12. The control device, when the object is within a predetermined distance from the hole to be backfilled, backfills the object into the hole by performing the pushing operation multiple times. The shovel according to claim 5.

13. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, The control device provided on the upper rotating body, The control device is configured to recognize the location of the target of the backfilling operation and generate a target location related to the backfilling operation. The aforementioned backfilling operation includes a pushing operation, which is an operation in which the bucket pushes away the soil without lifting it with the bucket. The aforementioned pushing operation includes at least one of the following: a pushing operation that pushes soil and sand with the front of the bucket, a pushing operation that pushes soil and sand with the side of the bucket, and a pushing operation that pushes soil and sand with the back of the bucket. The control device generates a target trajectory for the pushing operation based on a limit on the volume or weight of soil that can be pushed aside in a single pushing operation. Shovel.

14. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, The control device provided on the upper rotating body, The control device is configured to recognize the location of the target of the backfilling operation and generate a target location related to the backfilling operation. The aforementioned backfilling operation includes a pushing operation, which is an operation in which the bucket pushes away the soil without lifting it with the bucket. The aforementioned pushing operation includes at least one of the following: a pushing operation that pushes soil and sand with the front of the bucket, a pushing operation that pushes soil and sand with the side of the bucket, and a pushing operation that pushes soil and sand with the back of the bucket. The object detection device is further attached to the upper rotating body, The control device calculates the volume of the object located within a predetermined distance from the hole based on the output of the object detection device, and calculates the required volume of soil needed to backfill the hole. If the volume of the object is less than the required volume, it performs the backfilling operation, including the excavation operation. If the volume of the object is equal to or greater than the required volume, it performs the pushing operation. Shovel.

15. The control device recognizes the opening area of ​​the hole to be backfilled based on the output of the object detection device, and sets the target position based on the opening area. The shovel according to claim 1.

Images