Shovel, control device

Abstract

To provide a technology capable of correcting a direction of a lower structure changed due to slippage of the lower structure in a shovel.SOLUTION: A shovel 100 comprises: a lower structure 1 including a pair of right and left crawlers 1C; and an upper structure 3 mounted on the lower structure 1 so as to freely revolve. When a direction of the lower structure 1 is changed without a travel operation of the lower structure 1, the shovel 100 notifies the user, or corrects the direction of the lower structure 1 by reversing the pair of right and left crawlers 1C to each other.SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present disclosure relates to a shovel or the like.

Background Art

[0002] For example, a shovel that works on uneven ground or the like is known (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the operation of a shovel on uneven ground or the like, when the lower traveling body stops running, only the lower traveling body may slip (hereinafter, "slip turning") and turn due to the influence of the reaction force of the external force acting on the upper slewing body, and the direction of the lower traveling body may change.

[0005] Therefore, in view of the above problems, an object of the present disclosure is to provide a technology capable of correcting the direction of the lower traveling body changed by the slip of the lower traveling body in a shovel.

Means for Solving the Problems

[0006] To achieve the above object, in one embodiment of the present disclosure, a lower traveling body including a pair of left and right crawlers, and an upper slewing body that is rotatably mounted on the lower traveling body, are provided, when a condition indicating that the direction of the lower traveling body has changed without the lower traveling body performing a traveling operation is satisfied during an excavation operation, the user is In contrast, it is reported that slippage occurred, causing a change in the orientation of the lower traveling body. informed, a shovel is provided. Also, in another embodiment of the present disclosure, The lower running body includes a pair of left and right crawlers, The lower traveling body is equipped with an upper rotating body that is rotatably mounted on it, If the orientation of the lower traveling body changes without the lower traveling body performing any movement, the orientation of the lower traveling body is corrected by reversing the left and right pair of crawlers relative to each other without correcting the movement of the attachment. A shovel will be provided.

[0007] In other embodiments of this disclosure, A control device for controlling an excavator having a lower traveling body including a pair of left and right crawlers, and an upper rotating body that is rotatably mounted on the lower traveling body, When the excavation operation of the shovel is performed, if the conditions are met that indicate the orientation of the lower traveling body has changed without the lower traveling body performing any traveling motion, the user will be informed. In contrast, it is reported that slippage occurred, causing a change in the orientation of the lower traveling body. To know, A control device is provided. [Effects of the Invention]

[0008] According to the above-described embodiment, in the excavator, it is possible to correct the orientation of the lower traveling body that has changed due to slippage of the lower traveling body. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing an example of an excavator management system. [Figure 2] This block diagram shows an example of the configuration of a shovel management system. [Figure 3] This block diagram shows another example of the configuration of a shovel management system. [Figure 4] This is a top view illustrating an example of excavation work performed by a shovel. [Figure 5] This is a top view showing the state of the shovel when a slip-swing occurs. [Figure 6]It is a flowchart schematically showing an example of preprocessing for transitioning to the slip turning corresponding mode. [Figure 7] It is a flowchart schematically showing the first example of the switching process of enabling (starting) / disabling (ending) the slip turning corresponding mode. [Figure 8] It is a flowchart schematically showing the second example of the switching process of enabling (starting) / disabling (ending) the slip turning corresponding mode. [Figure 9] It is a flowchart schematically showing another example of preprocessing for transitioning to the slip turning corresponding mode. [Figure 10] It is a flowchart schematically showing the third example of the switching process of enabling (starting) / disabling (ending) the slip turning corresponding mode. [Figure 11] It is a flowchart schematically showing the first example of slip turning corresponding control. [Figure 12] It is a sub - flowchart schematically showing an example of the determination process for the presence or absence of the occurrence of slip turning. [Figure 13] It is a flowchart schematically showing the second example of slip turning corresponding control. [Figure 14] It is a sub - flowchart schematically showing an example of the correction process for the direction of the lower traveling body. [Figure 15] It is a flowchart schematically showing the third example of slip turning corresponding control. [Figure 16] It is a flowchart schematically showing the fourth example of slip turning corresponding control. [Figure 17] It is a flowchart schematically showing the fifth example of slip turning corresponding control. [Embodiment for Implementing the Invention]

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] [Overview of the Excavator Management System] First, referring to FIG. 1, the overview of the excavator management system SYS according to this embodiment will be described.

[0012] Figure 1 is a schematic diagram showing an example of the excavator management system SYS according to this embodiment.

[0013] As shown in Figure 1, the shovel management system SYS includes a shovel 100 and a control device 200.

[0014] The shovel management system SYS may include one shovel 100 or multiple shovels. Similarly, the shovel management system SYS may include multiple control devices 200. That is, multiple control devices 200 may distribute the processing related to the shovel management system SYS. For example, each of the multiple control devices 200 may communicate with a portion of the shovels 100 it is responsible for among all the shovels 100 included in the shovel management system SYS and execute processing targeting that portion of the shovels 100.

[0015] The shovel management system SYS, for example, in the management device 200, collects information from the shovel 100 and monitors various conditions of the shovel 100 (for example, whether there are any abnormalities in the various equipment mounted on the shovel 100).

[0016] Furthermore, the shovel management system SYS may, for example, support the remote operation of the shovel 100 in the management device 200.

[0017] Furthermore, as described later, when the shovel 100 operates fully automatically, the shovel management system SYS may, for example, support remote monitoring of the fully automatic operation of the shovel 100 in the management device 200.

[0018] <Overview of an excavator> As shown in Figure 1, the shovel 100 according to this embodiment comprises a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be rotatable via a slewing mechanism 2, an attachment AT for performing various tasks, and a cabin 10. Hereinafter, the front of the shovel 100 (upper rotating body 3) corresponds to the direction in which the attachment to the upper rotating body 3 extends when the shovel 100 is viewed from directly above in a plan view (top view) along the rotation axis of the upper rotating body 3. Also, the left and right sides of the shovel 100 (upper rotating body 3) correspond to the left and right sides as viewed from the perspective of an operator seated in the cockpit inside the cabin 10, respectively.

[0019] Furthermore, if the shovel 100 is remotely controlled or operates by fully automated means, the cabin 10 may be omitted.

[0020] The lower travel unit 1 includes, for example, a pair of left and right crawlers 1C. The lower travel unit 1 moves the shovel 100 by hydraulically driving each crawler 1C with a left-side travel hydraulic motor 1ML and a right-side travel hydraulic motor 1MR (see Figures 2 and 3).

[0021] The upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by the rotating hydraulic motor 2A.

[0022] The attachment AT (an example of a working device) includes a boom 4, an arm 5, and a bucket 6.

[0023] The boom 4 is mounted to the front center of the upper slewing body 3 so as to be able to be tilted up and down, the arm 5 is mounted to the tip of the boom 4 so as to be able to rotate up and down, and the bucket 6 is mounted to the tip of the arm 5 so as to be able to rotate up and down.

[0024] Bucket 6 is an example of an end attachment. Bucket 6 is used, for example, for excavation work. Depending on the work content, other end attachments may be attached to the tip of arm 5 instead of bucket 6. Other end attachments may be other types of buckets, such as large buckets, slope buckets, or dredging buckets. Other end attachments may also be types of end attachments other than buckets, such as agitators, breakers, or grapples.

[0025] The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively, which act as hydraulic actuators.

[0026] Cabin 10 is the cockpit where the operator sits and is mounted on the front left side of the upper rotating body 3.

[0027] The excavator 100 is equipped with a communication device 60 and can communicate with the management device 200 via a predetermined communication line NW. This allows the excavator 100 to transmit (upload) various types of information to the management device 200 and to receive various types of signals (e.g., information signals and control signals) from the management device 200.

[0028] The communication line NW may include, for example, a wide area network (WAN). The wide area network may include, for example, a mobile communication network with base stations as its endpoints. The wide area network may also include, for example, a satellite communication network utilizing communication satellites orbiting above the shovel 100. The wide area network may also include, for example, the Internet network. The communication line NW may also include, for example, a local area network (LAN) of a facility where the management device 200 is installed. The local network may be a wireless line, a wired line, or a line that includes both. The communication line NW may also include, for example, a short-range communication line based on a predetermined wireless communication method such as WiFi or Bluetooth®.

[0029] The shovel 100 operates actuators (e.g., hydraulic actuators) in response to the operation of an operator seated in the cabin 10, driving the moving elements (hereinafter referred to as "driven elements") such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0030] Furthermore, instead of being configured to be operable by an operator in the cabin 10, or in addition to being configured to be operable by an operator in the cabin 10, the shovel 100 may also be configured to be remotely operated from outside the shovel 100. When the shovel 100 is remotely operated, the inside of the cabin 10 may be unoccupied. The following explanation will proceed on the premise that operator operation includes at least one of operation of the control device 26 by an operator in the cabin 10 and remote operation by an external operator.

[0031] Remote operation includes, for example, a mode in which the shovel 100 is operated by input from a user (operator) regarding the actuator of the shovel 100, which is performed by a predetermined external device (e.g., a control device 200). In this case, the shovel 100 may, for example, transmit image information of the area around the shovel 100 (hereinafter referred to as "surrounding image") based on the output of the imaging device S6 described later to the external device, and the image information may be displayed on a display device (hereinafter referred to as "remote operation display device") provided on the external device. Similarly, various information images (information screens) displayed on the output device 50 inside the cabin 10 of the shovel 100 may also be displayed on the remote operation display device of the external device. This allows the operator of the external device to remotely operate the shovel 100 while checking the displayed content, such as the surrounding image and various information images showing the area around the shovel 100, which are displayed on the remote operation display device. The shovel 100 may then operate actuators in response to remote control signals received from an external device, which represent the content of the remote control operation, thereby driving driven elements such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0032] Furthermore, remote operation may include, for example, a mode in which the shovel 100 is operated by external voice input or gesture input from people (e.g., workers) in the vicinity of the shovel 100. Specifically, the shovel 100 recognizes voices spoken by surrounding workers or gestures made by workers through a voice input device (e.g., microphone) or imaging device mounted on the shovel 100 (itself). Then, the shovel 100 may operate actuators according to the content of the recognized voices or gestures to drive driven elements such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6.

[0033] Furthermore, the shovel 100 may operate its actuators automatically, regardless of the operator's actions. This enables the shovel 100 to automatically operate at least some of its driven elements, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, thus realizing a so-called "automatic driving function" or "machine control (MC) function."

[0034] The automatic driving function may include a function that automatically operates driven elements (actuators) other than the target driven element (actuator) in response to the operator's operation device 26 or remote operation, i.e., a so-called "semi-automatic driving function" or "operation-assist type MC function". The automatic driving function may also include a function that automatically operates at least some of the multiple driven elements (hydraulic actuators) on the premise that there is no operation of the operator's operation device 26 or remote operation, i.e., a so-called "fully automatic driving function" or "fully automatic type MC function". In the case of the excavator 100, when the fully automatic driving function is enabled, the interior of the cabin 10 may be unoccupied. Furthermore, the semi-automatic driving function and fully automatic driving function may include a mode in which the operation content of the driven elements (actuators) that are the target of automatic driving is automatically determined according to predetermined rules. Furthermore, semi-autonomous driving functions and fully autonomous driving functions may include a mode in which the shovel 100 autonomously makes various decisions, and the operation of the driven elements (hydraulic actuators) of the autonomous driving target is determined autonomously in accordance with the results of those decisions (so-called "autonomous driving function").

[0035] <Overview of the control device> The control device 200 performs management related to the shovel 100, such as managing (monitoring) the status of the shovel 100 and managing (monitoring) the work performed by the shovel 100.

[0036] The management device 200 may be, for example, an on-premise server or cloud server installed in a management center outside the work site where the excavator 100 is operating. Alternatively, the management device 200 may be an edge server located within the work site where the excavator 100 is operating, or in a location relatively close to the work site (for example, a telecommunications carrier's building or base station). Furthermore, the management device 200 may be a stationary terminal device or a portable terminal device (mobile terminal) located in a management office within the work site of the excavator 100. Stationary terminal devices may include, for example, desktop computer terminals. Portable terminal devices may include, for example, smartphones, tablet devices, laptop computer terminals, etc.

[0037] The management device 200 has, for example, a communication device 220 (see Figures 2 and 3) and communicates with the shovel 100 via a communication line NW as described above. This allows the management device 200 to receive various information uploaded from the shovel 100 and to transmit various signals to the shovel 100. Therefore, users of the management device 200 can check various information about the shovel 100 through the output device 240 (see Figures 2 and 3). In addition, the management device 200 can, for example, transmit information signals to the shovel 100 to provide information necessary for work, or transmit control signals to control the shovel 100. Users of the management device 200 may include, for example, the owner of the shovel 100, the manager of the shovel 100, a technician from the manufacturer of the shovel 100, the operator of the shovel 100, the manager, supervisor, and workers at the shovel 100 work site.

[0038] Furthermore, the control device 200 may be configured to support the remote operation of the shovel 100. For example, the control device 200 may have an input device for the operator to perform remote operation (hereinafter referred to as the "remote operation device" for convenience) and a remote operation display device that displays image information (surrounding image) of the area around the shovel 100. Signals input from the remote operation device are transmitted to the shovel 100 as remote operation signals. This allows the user (operator) of the control device 200 to remotely operate the shovel 100 using the remote operation device while checking the area around the shovel 100 on the remote operation display device.

[0039] Furthermore, the control device 200 may be configured to support remote monitoring of the shovel 100, which operates in fully automated mode. For example, the control device 200 may have a display device (hereinafter referred to as the "monitoring display device") that displays image information (surrounding image) of the area around the shovel 100. This allows the user (monitor) of the control device 200 to monitor the operation of the shovel 100 using the monitoring display device. Also, for example, the control device 200 may have an input device (hereinafter referred to as the "intervention operation device") for intervening in the operation of the shovel 100 by its automated operation function. The intervention operation device may include, for example, an input device for emergency stopping the shovel 100. The intervention operation device may also include the remote control device described above. This allows the user (monitor) of the control device 200 to emergency stop the shovel 100 or perform remote operations to make the shovel 100 perform appropriate operations if an abnormality occurs in the shovel 100 or if the operation of the shovel 100 is inappropriate.

[0040] Figures 2 and 3 are block diagrams showing an example and another example of the configuration of the shovel management system SYS according to this embodiment. In Figures 2 and 3, the paths through which mechanical power is transmitted are shown by double lines, the paths through which high-pressure hydraulic fluid that drives the hydraulic actuators are shown by solid lines, the paths through which pilot pressure is transmitted are shown by dashed lines, and the paths through which electrical signals are transmitted are shown by dotted lines. Figures 2 and 3 differ only in the configuration of the shovel 100 among the shovel 100 and the management device 200.

[0041] <Shovel configuration> The shovel 100 includes various components such as a hydraulic drive system for hydraulically driving the driven element, an operating system for operating the driven element, a user interface system for exchanging information with the user, a communication system for communication with the outside, and a control system for various types of control.

[0042] <<Hydraulic drive system>> As shown in Figures 2 and 3, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators that hydraulically drive each of the driven elements, such as the lower traveling body 1 (left and right crawlers 1C), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, as described above. The hydraulic actuators include travel hydraulic motors 1ML, 1MR, slewing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0043] Engine 11 is the prime mover and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, at the rear of the upper slewing body 3. Under direct or indirect control by the controller 30, which will be described later, Engine 11 rotates at a constant speed at a preset target speed and drives the main pump 14 and the pilot pump 15.

[0044] The regulator 13 controls (adjusts) the discharge rate of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilt angle") in response to a control command from the controller 30.

[0045] The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The main pump 14 is driven by the engine 11, as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate (discharge pressure).

[0046] The control valve 17 is a hydraulic control device that controls the hydraulic actuators in accordance with the operator's operation of the operating device 26, the content of remote operation, or operation commands related to the automatic operation function output from the controller 30. The control valve 17 is mounted, for example, in the center of the upper slewing body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line and selectively supplies hydraulic fluid supplied from the main pump 14 to each hydraulic actuator in accordance with the operator's operation or operation commands output from the controller 30. Specifically, the control valve 17 includes a plurality of control valves (also called "direction control valves") 17A to 17F that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each hydraulic actuator. Hereinafter, the control valves 17A to 17F may be collectively referred to as "control valve 17X," or any one of the control valves 17A to 17F may be referred to individually as "control valve 17X."

[0047] The control valve 17A is configured to supply hydraulic fluid to the travel hydraulic motor 1ML and to discharge the hydraulic fluid from the travel hydraulic motor 1ML and return it to the tank. As a result, the control valve 17B can drive the travel hydraulic motor 1ML by pilot pressure supplied from the operating device 26 or the hydraulic control valve 31.

[0048] The control valve 17B is configured to supply hydraulic fluid to the travel hydraulic motor 1MR and to discharge the hydraulic fluid from the travel hydraulic motor 1MR and return it to the tank. As a result, the control valve 17B can drive the travel hydraulic motor 1MR by pilot pressure supplied from the operating device 26 or the hydraulic control valve 31.

[0049] The control valve 17C is configured to supply hydraulic fluid to the swing hydraulic motor 2A and to discharge the hydraulic fluid from the swing hydraulic motor 2A and return it to the tank. As a result, the control valve 17C can drive the swing hydraulic motor 2A by pilot pressure supplied from the operating device 26 or the hydraulic control valve 31.

[0050] The control valve 17D is configured to supply hydraulic fluid to the boom cylinder 7 and to discharge the hydraulic fluid from the boom cylinder 7 and return it to the tank. As a result, the control valve 17D can drive the boom cylinder 7 in accordance with the pilot pressure supplied from the operating device 26 or the hydraulic control valve 31.

[0051] The control valve 17E is configured to supply hydraulic fluid to the arm cylinder 8 and to discharge the hydraulic fluid from the arm cylinder 8 and return it to the tank. As a result, the control valve 17E can drive the arm cylinder 8 by pilot pressure supplied from the operating device 26 or the hydraulic control valve 31.

[0052] The control valve 17F is configured to supply hydraulic fluid to the bucket cylinder 9 and to discharge the hydraulic fluid from the bucket cylinder 9 and return it to the tank. As a result, the control valve 17F can drive the bucket cylinder 9 in accordance with the pilot pressure supplied from the operating device 26 or the hydraulic control valve 31.

[0053] The control valve 17X is, for example, a spool valve having two ports to which pilot pressure is supplied. The control valve 17X incorporates an axially movable spool, which is biased toward the opposite end by spring members also provided at both ends thereof, so as to balance at a predetermined neutral position.

[0054] When hydraulic fluid is supplied to one port of the control valve 17X, its pressure (pilot pressure) acts on one axial end of the spool, causing the spool to move axially toward the other end relative to its neutral position. As a result, the control valve 17X, along with the movement of the spool, connects a path that supplies hydraulic fluid to one of the two hydraulic fluid supply and discharge ports of the hydraulic actuator and discharges it from the other, thereby driving the hydraulic actuator in one direction.

[0055] On the other hand, when hydraulic fluid is supplied to the other port of the control valve 17X, the pressure (pilot pressure) acts on the other axial end of the spool, causing the spool to move axially toward one end relative to its neutral position. As a result, the control valve 17X, along with the movement of the spool, connects a path to supply hydraulic fluid to the other of the two hydraulic fluid supply and discharge ports of the hydraulic actuator and discharge hydraulic fluid from the other, thereby enabling the hydraulic actuator to be driven in the other direction.

[0056] <<Operation system>> As shown in Figures 2 and 3, the operating system of the excavator 100 according to this embodiment includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31. Also, as shown in Figure 2, if the operating device 26 is hydraulically pilot-operated, the operating system of the excavator 100 according to this embodiment includes a shuttle valve 32 and a hydraulic control valve 33.

[0057] The pilot pump 15 supplies pilot pressure to various hydraulic devices via the pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump and is driven by the engine 11 as described above.

[0058] The pilot pump 15 may be omitted. In this case, the relatively high-pressure hydraulic fluid discharged from the main pump 14 is reduced in pressure by a predetermined pressure reducing valve, and the resulting relatively low-pressure hydraulic fluid is supplied to various hydraulic devices as pilot pressure.

[0059] The operating device 26 is located near the cockpit of the cabin 10 and is used by the operator to operate various driven elements (lower traveling body 1, upper slewing body 3, boom 4, arm 5, bucket 6, etc.). In other words, the operating device 26 is used by the operator to operate the hydraulic actuators that drive each of the driven elements (i.e., travel hydraulic motors 1ML, 1MR, slewing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, etc.). The operating device 26 includes, for example, lever devices for operating the boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), bucket 6 (bucket cylinder 9), and upper slewing body 3 (slewing hydraulic motor 2A). The operating device 26 also includes, for example, pedal devices or lever devices for operating the left and right crawlers (travel hydraulic motors 1ML, 1MR) of the lower traveling body 1.

[0060] For example, as shown in Figure 2, the operating device 26 is hydraulically pilot operated. Specifically, the operating device 26 uses hydraulic fluid supplied from the pilot pump 15 through the pilot line 25 and the pilot line 25A branched therefrom, and outputs a pilot pressure corresponding to the operation to the secondary pilot line 27A. The pilot line 27A is connected to one inlet port of the shuttle valve 32 and, via the pilot line 27 connected to the outlet port of the shuttle valve 32, is connected to the control valve 17. As a result, the control valve 17 can receive a pilot pressure via the shuttle valve 32 corresponding to the operation of various driven elements (hydraulic actuators) in the operating device 26. Therefore, the control valve 17 can drive each hydraulic actuator according to the operation of the operating device 26 by an operator or other person.

[0061] Furthermore, as shown in Figure 3, for example, the operating device 26 is electrically operated. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as "operating signal") corresponding to the operation content, and the operating signal is received by the controller 30. The controller 30 then outputs a control command corresponding to the content of the operating signal, that is, a control signal corresponding to the operation content of the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator according to the operation content of the operating device 26.

[0062] Furthermore, the control valves 17X (directional control valves) built into the control valve 17 that drive each hydraulic actuator may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the control valve 17, i.e., to the electromagnetic solenoid type control valve 17X.

[0063] A hydraulic control valve 31 is provided for each driven element (hydraulic actuator) that is operated by the operating device 26. That is, a hydraulic control valve 31 is provided for each, for example, the left crawler (travel hydraulic motor 1ML), the right crawler (travel hydraulic motor 1MR), the upper slewing body 3 (slewing hydraulic motor 2A), the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9). The hydraulic control valve 31 is provided, for example, in the pilot line 25B between the pilot pump 15 and the control valve 17, and may be configured to change its flow area (i.e., the cross-sectional area through which hydraulic fluid can flow). As a result, the hydraulic control valve 31 can use the hydraulic fluid from the pilot pump 15 supplied through the pilot line 25B to output a predetermined pilot pressure to the secondary pilot line 27B. Therefore, as shown in Figure 2, the hydraulic control valve 31 can indirectly apply a predetermined pilot pressure to the control valve 17 in accordance with the control signal from the controller 30 through the shuttle valve 32 between the pilot line 27B and the pilot line 27. Furthermore, as shown in Figure 3, the hydraulic control valve 31 can directly apply a predetermined pilot pressure to the control valve 17 in accordance with the control signal from the controller 30 via the pilot line 27B and pilot line 27. Therefore, the controller 30 can have the hydraulic control valve 31 supply pilot pressure to the control valve 17 in accordance with the operation of the electric operating device 26, thereby realizing the operation of the shovel 100 based on the operator's operation.

[0064] Furthermore, the controller 30 may, for example, control the hydraulic control valve 31 to realize an automatic operation function. Specifically, the controller 30 outputs a control signal to the hydraulic control valve 31 corresponding to an operation command related to the automatic operation function, regardless of whether the operating device 26 is operated or not. As a result, the controller 30 causes the hydraulic control valve 31 to supply pilot pressure corresponding to the operation command related to the automatic operation function to the control valve 17, thereby realizing the operation of the shovel 100 based on the automatic operation function.

[0065] Furthermore, the controller 30 may, for example, control the hydraulic control valve 31 to enable remote operation of the shovel 100. Specifically, the controller 30 outputs a control signal to the hydraulic control valve 31 via the communication device 60 that corresponds to the content of the remote operation specified by the remote operation signal received from the management device 200. As a result, the controller 30 causes the hydraulic control valve 31 to supply pilot pressure corresponding to the content of the remote operation to the control valve 17, thereby enabling operation of the shovel 100 based on the operator's remote operation.

[0066] As shown in Figure 2, the shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic fluid with the higher of the two pilot pressures input to the two inlet ports to the outlet port. A shuttle valve 32 is provided for each driven element (hydraulic actuator) that is operated by the operating device 26. That is, for example, a shuttle valve 32 is provided for the left crawler (travel hydraulic motor 1ML), the right crawler (travel hydraulic motor 1MR), the upper slewing body 3 (slewing hydraulic motor 2A), the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9). One of the two inlet ports of the shuttle valve 32 is connected to the pilot line 27A on the secondary side of the operating device 26 (specifically, the lever device or pedal device included in the operating device 26), and the other is connected to the pilot line 27B on the secondary side of the hydraulic control valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve of the control valve 17 through the pilot line 27. The corresponding control valve is a control valve that drives the hydraulic actuator, which is the target of the lever device or pedal device mentioned above, connected to one inlet port of the shuttle valve 32. Therefore, each of these shuttle valves 32 can apply the higher of the pilot pressure of the pilot line 27A on the secondary side of the operating device 26 and the pilot pressure of the pilot line 27B on the secondary side of the hydraulic control valve 31 to the pilot port of the corresponding control valve. In other words, the controller 30 can control the corresponding control valve regardless of the operator's operation of the operating device 26 by outputting a pilot pressure from the hydraulic control valve 31 that is higher than the pilot pressure on the secondary side of the operating device 26. Thus, the controller 30 can control the operation of the driven elements (lower traveling body 1, upper rotating body 3, attachment AT) regardless of the operator's operation of the operating device 26, and realize an automatic driving function.

[0067] As shown in Figure 2, the hydraulic control valve 33 is provided in the pilot line 27A connecting the operating device 26 and the shuttle valve 32. The hydraulic control valve 33 is configured, for example, to allow the flow path area to be changed. The hydraulic control valve 33 operates in response to a control signal input from the controller 30. This allows the controller 30 to forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by an operator. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. In addition, the controller 30 can reduce the pilot pressure output from the operating device 26, for example, even when the operating device 26 is being operated, to a level lower than the pilot pressure output from the hydraulic control valve 31. Therefore, by controlling the hydraulic control valves 31 and 33, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the control valve in the control valve 17, for example, regardless of the operation of the operating device 26. Therefore, the controller 30 can more effectively realize the automatic operation function and remote control function of the excavator 100 by controlling, for example, the hydraulic control valve 33 in addition to the hydraulic control valve 31.

[0068] <<User Interface System>> As shown in Figures 2 and 3, the user interface system of the shovel 100 according to this embodiment includes an operating device 26, an output device 50, and an input device 52.

[0069] The output device 50 outputs various information to the user (operator) of the shovel 100 inside the cabin 10.

[0070] For example, the output device 50 is located in a place easily visible to a seated operator inside the cabin 10 and includes indoor lighting equipment and display devices that output various information in a visual manner. The lighting equipment is, for example, a warning light. The display device is, for example, a liquid crystal display or an organic EL (electroluminescence) display.

[0071] Furthermore, for example, the output device 50 includes a sound output device that outputs various types of information in an auditory manner. The sound output device includes, for example, a buzzer or a speaker.

[0072] Furthermore, for example, the output device 50 includes a device that outputs various types of information through tactile means such as vibrations in the cockpit.

[0073] The input device 52 is located within close proximity to the seated operator inside the cabin 10 and receives various inputs from the operator. The signals corresponding to the received inputs are then taken up by the controller 30.

[0074] For example, the input device 52 is an operation input device that accepts operation input. The operation input device may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), etc.

[0075] Furthermore, for example, the input device 52 may be a voice input device that accepts voice input from an operator. The voice input device may include, for example, a microphone.

[0076] Furthermore, for example, the input device 52 may be a gesture input device that accepts gesture input from an operator. The gesture input device may include, for example, an imaging device (indoor camera) installed inside the cabin 10.

[0077] <<Communications System>> As shown in Figures 2 and 3, the communication system of the shovel 100 according to this embodiment includes a communication device 60.

[0078] The communication device 60 connects to a communication line NW and communicates with a device (for example, a management device 200) that is provided separately from the shovel 100. The device provided separately from the shovel 100 may include not only devices located outside the shovel 100, but also portable terminal devices brought into the cabin 10 by the user of the shovel 100. The communication device 60 uses, for example, 4G (4 th Generation) and 5G (5 th The communication device 60 may include a mobile communication module that conforms to standards such as Generation. Furthermore, the communication device 60 may include, for example, a satellite communication module. Additionally, the communication device 60 may include, for example, a WiFi communication module or a Bluetooth® communication module.

[0079] <<Control System>> As shown in Figures 2 and 3, the control system of the excavator 100 according to this embodiment includes a controller 30. The control system of the excavator 100 according to this embodiment also includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine attitude sensor S4, a slewing angle sensor S5, and an imaging device S6. Furthermore, as shown in Figure 2, if the operating device 26 is hydraulic pilot type, the control system of the excavator 100 according to this embodiment includes an operating pressure sensor 29.

[0080] The controller 30 performs various controls on the shovel 100. The functions of the controller 30 may be realized by any hardware, or any combination of hardware and software. For example, the controller 30 is mainly composed of a computer including a CPU (Central Processing Unit), memory devices such as RAM (Random Access Memory), non-volatile auxiliary storage devices such as ROM (Read Only Memory), and various input / output interface devices. The controller 30 realizes various functions by, for example, loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

[0081] The controller 30 controls, for example, the operation of the hydraulic actuator (driven element) of the excavator 100, with the hydraulic control valve 31 as the control target.

[0082] Specifically, the controller 30 may control the operation of the hydraulic actuator (driven element) of the shovel 100 based on the operation of the operating device 26, with the hydraulic control valve 31 as the control target.

[0083] Furthermore, the controller 30 may control the hydraulic actuator (driven element) of the shovel 100 with the hydraulic control valve 31 as the control target. In other words, the operation of the hydraulic actuator (driven element) of the shovel 100 may include remote operation of the hydraulic actuator from outside the shovel 100.

[0084] Furthermore, the controller 30 may control the hydraulic control valve 31 as the control target and perform control related to the automatic operation function of the excavator 100. That is, the operation of the hydraulic actuator of the excavator 100 may include operation commands for the hydraulic actuator of the excavator 100 that are output based on the automatic operation function.

[0085] Furthermore, the controller 30 performs control to respond to slippage of the lower vehicle 1 during turns on uneven terrain, for example (hereinafter referred to as "slip-turn response control"). The controller 30 includes a mode switching unit 301, a slip-turn determination unit 302, a slip-turn response control unit 303, a log recording unit 304, and a storage unit 305 as functional units related to slip-turn response control. The functions of the mode switching unit 301, the slip-turn determination unit 302, the slip-turn response control unit 303, and the log recording unit 304 are realized, for example, by loading a program installed in an auxiliary storage device into a memory device and executing it with the CPU. The function of the storage unit 305 is realized, for example, by a storage area defined in an auxiliary storage device, etc.

[0086] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a distributed manner by multiple controllers.

[0087] As shown in Figure 2, the operating pressure sensor 29 detects the pilot pressure on the secondary side (pilot line 27A) of the hydraulic pilot-operated operating device 26, that is, the pilot pressure corresponding to the operating state of each driven element (hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure corresponding to the operating state of the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6, etc. in the operating device 26, detected by the operating pressure sensor 29, is received by the controller 30.

[0088] The boom angle sensor S1 acquires detection information regarding the attitude angle of the boom 4 (hereinafter referred to as "boom angle") with respect to a predetermined reference (for example, the horizontal plane or the state of either end of the movable angle range of the boom 4). The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a cylinder sensor capable of detecting the extension and retraction position of the boom cylinder 7.

[0089] The arm angle sensor S2 acquires detection information regarding the attitude angle of the arm 5 (hereinafter referred to as "arm angle") relative to a predetermined reference (for example, a straight line connecting the connection points at both ends of the boom 4, or the state of either end of the movable angle range of the arm 5). The arm angle sensor S2 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The arm angle sensor S2 may also include a cylinder sensor capable of detecting the extension and retraction position of the arm cylinder 8.

[0090] The bucket angle sensor S3 acquires detection information regarding the attitude angle of the bucket 6 (hereinafter referred to as "bucket angle") with respect to a predetermined reference (for example, a straight line connecting the connection points at both ends of the arm 5, or the state of either end of the movable angle range of the bucket 6). The bucket angle sensor S3 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The bucket angle sensor S3 may also include a cylinder sensor capable of detecting the extension and retraction position of the bucket cylinder 9.

[0091] The aircraft attitude sensor S4 (an example of the first acquisition device) acquires detection information regarding the attitude state of the aircraft, including the lower traveling body 1 and the upper rotating body 3. The aircraft attitude state includes the tilt state of the aircraft. The tilt state of the aircraft includes, for example, the tilt state in the longitudinal direction, which corresponds to the attitude state of the upper rotating body 3 around the left-right axis, and the tilt state in the left-right direction, which corresponds to the attitude state of the upper rotating body 3 around the longitudinal axis. The aircraft attitude state also includes the rotation state of the upper rotating body 3, which corresponds to the attitude state of the upper rotating body 3 around its rotation axis. The aircraft attitude sensor S4 is mounted on the upper rotating body 3, for example, and acquires (outputs) detection data regarding the attitude angles of the upper rotating body 3 around the longitudinal axis, left-right axis, and rotation axis (hereinafter referred to as "longitudinal tilt angle" and "left-right tilt angle"). As a result, the aircraft attitude sensor S4 can acquire detection information regarding the orientation of the upper rotating body 3 with respect to the ground (rotation attitude around the rotation axis). The orientation of the upper rotating body 3 means, for example, the direction in which the attachment AT extends when viewed from above, that is, the forward direction as seen from the upper rotating body 3. The aircraft attitude sensor S4 may include, for example, an acceleration sensor (tilt sensor), an angular velocity sensor, a six-axis sensor, an IMU, etc.

[0092] Furthermore, information regarding the orientation of the upper rotating body 3 relative to the ground may be obtained from other devices instead of, or in addition to, the aircraft attitude sensor S4. For example, a geomagnetic sensor (first acquisition device) may be mounted on the upper rotating body 3. In this case, the controller 30 can obtain information regarding the orientation of the upper rotating body 3 relative to the ground from the geomagnetic sensor. Alternatively, for example, the controller 30 may determine the orientation of the upper rotating body 3 relative to the ground by determining the direction of surrounding objects (especially fixed objects such as utility poles and trees) that are visible in the image, based on the output (imported image) of the imaging device S6 (an example of the first acquisition device). In other words, information regarding the orientation of the upper rotating body 3 relative to the ground may be obtained from the imaging device S6.

[0093] The swivel angle sensor S5 (an example of a second acquisition device) acquires detection information regarding the relative swivel angle of the upper swivel body 3 with respect to the lower traveling body 1. Thus, the swivel angle sensor S5 and the lower traveling body 1 acquire detection information regarding the swivel angle of the upper swivel body 3 with respect to a predetermined reference (for example, a state where the forward direction of the lower traveling body 1 coincides with the forward direction of the upper swivel body 3). The swivel angle sensor S5 includes, for example, a potentiometer, rotary encoder, resolver, etc.

[0094] Furthermore, information regarding the orientation of the upper rotating body 3 relative to the lower traveling body 1 may be obtained from another device instead of, or in addition to, the rotation angle sensor S5. For example, a geomagnetic sensor (an example of a second acquisition device) may be mounted on both the lower traveling body 1 and the upper rotating body 3. In this case, the controller 30 can obtain information regarding the orientation of the upper rotating body 3 relative to the lower traveling body 1 based on the output of the geomagnetic sensor on the lower traveling body 1 and the output of the geomagnetic sensor on the upper rotating body 3. Alternatively, for example, the controller 30 may use the output (imported image) of the imaging device S6 (an example of a second acquisition device) to determine the orientation of the upper rotating body 3 relative to the lower traveling body 1 from the position of the lower traveling body 1 in the image of the imaging device. In other words, information regarding the orientation of the upper rotating body 3 relative to the lower traveling body 1 may be obtained from the imaging device S6. Furthermore, instead of, or in addition to, information regarding the orientation of the lower vehicle 1 relative to the ground and the lower vehicle 1, information regarding the orientation of the lower vehicle 1 relative to the ground may be obtained. The orientation of the lower vehicle 1 means, for example, the direction along the longitudinal axis of the lower vehicle 1, that is, the direction along the longitudinal axis of the crawler 1C. For example, an IMU or a geomagnetic sensor may be mounted on the lower vehicle 1.

[0095] Furthermore, for example, the shovel 100 may be equipped with a positioning device capable of determining its absolute position. The positioning device may be, for example, a GNSS (Global Navigation Satellite System) sensor. This can improve the accuracy of estimating the attitude state of the shovel 100.

[0096] The imaging device S6 captures images of the area around the shovel 100 and outputs the captured images. The captured images output from the imaging device S6 are taken in by the controller 30.

[0097] The imaging device S6 may include, for example, a monocular camera, a stereo camera, a depth camera, etc. The imaging device S6 may also acquire three-dimensional data (for example, point cloud data or surface data) representing the position and outline of objects around the shovel 100 within a predetermined imaging range (angle of view) based on the captured image.

[0098] Furthermore, instead of, or in addition to, the imaging device S6, a distance sensor (an example of an acquisition device) such as a LIDAR (Light Detecting and Ranging), millimeter-wave radar, ultrasonic sensor, infrared sensor, or depth image sensor may be mounted on the shovel 100. The distance sensor may acquire three-dimensional data (e.g., point cloud data) representing the position and shape of objects around the shovel 100 within a predetermined detection range.

[0099] As shown in Figure 1, the imaging device S6 is mounted, for example, on the front end of the upper surface of the cabin 10 and acquires an image of the area in front of the upper slewing body 3, including the working range of the end attachment (bucket 6). This allows the controller 30 to recognize the situation in front of the shovel 100 based on the output of the imaging device S6. The controller 30 can also recognize the position of the shovel 100 and the slewing state of the upper slewing body 3 based on the position and changes in the appearance of objects around the shovel 100 recognized from the output (image) of the imaging device S6. The imaging range of the imaging device S6 includes the boom 4, arm 5, and end attachment (bucket 6), i.e., the attachment. This allows the controller 30 to recognize the attitude state of the attachment (for example, at least one attitude angle of the boom 4, arm 5, and bucket 6) based on the output of the imaging device S6. Therefore, when the shovel 100 is remotely operated, the controller 30 can transmit information regarding the surrounding images and recognition results based on the imaging device S6 to the management device 200, etc., and provide an external operator with information regarding the shovel 100 (its own machine) and its surroundings. Furthermore, when the shovel 100 operates with a fully automatic operation function, the control device related to the fully automatic operation function (for example, the controller 30) can output operation commands for the hydraulic actuators while understanding the surrounding conditions of the shovel 100 and the attitude state of the machine itself. Also, when the shovel 100 operates with a fully automatic operation function, the controller 30 can transmit information regarding the surrounding images and recognition results based on the imaging device S6 to the management device 200, etc., and provide an external user (monitor) who monitors the work with information regarding the shovel 100 (its own machine) and its surroundings.

[0100] Furthermore, the imaging device S6 may be configured to acquire images relating to at least one of the left, right, and rear of the upper rotating body 3. Specifically, in addition to a camera capable of imaging the front of the upper rotating body 3, the imaging device S6 may include at least one camera capable of imaging the left, right, and rear of the upper rotating body 3. This allows the controller 30 to recognize the situation not only in front of the shovel 100 (upper rotating body 3), but also to the left, right, and rear of the shovel 100 (upper rotating body 3).

[0101] The mode switching unit 301 switches between enabling and disabling specific control modes of the excavator 100 that are predetermined. For example, the mode switching unit 301 switches between enabling and disabling a control mode that performs slip-rotation-compatible control (hereinafter referred to as the "slip-rotation-compatible mode").

[0102] For example, the mode switching unit 301 switches the slip-turn response mode on and off in response to a predetermined input from the user via the input device 52 (an example of an input unit) or the input device 230 (hereinafter referred to as "mode switching input"). For example, the input device 52 or the input device 230 may include dedicated input devices for starting or ending slip-turn response control, that is, for mode switching input to switch the slip-turn response mode on and off. The mode switching input may also be realized, for example, by a predetermined input to a predetermined operation screen displayed on the output device 50 (display device) or the output device 240 (display device) via the input device 52 or the input device 230. When the mode switching input is received via the input device 230, the control device 210 sends a signal to the excavator 100 via the communication device 220 indicating that the mode switching input has been received. As a result, the mode switching unit 301 can switch the slip turning mode on and off in response to a mode switching input from the user via the input device 230.

[0103] Furthermore, for example, the mode switching unit 301 may automatically switch the slip-turn response mode on and off. Specifically, the mode switching unit 301 may determine that the slip-turn response mode is on when the lower traveling body 1 is stopped, and determine that the slip-turn response mode is on when the lower traveling body 1 is moving. The mode switching unit 301 may also determine whether or not the conditions are such that slip-turns are likely to occur when the lower traveling body 1 is stopped. If the mode switching unit 301 determines that the conditions are such that slip-turns are likely to occur, it may enable the slip-turn response mode, and if it determines that the conditions are not such that slip-turns are likely to occur, it may disable the slip-turn response mode. Whether or not slip-turns are likely to occur may be determined, for example, depending on the condition of the ground at the work site of the shovel 100 or the nature of the work performed by the shovel 100. For example, the mode switching unit 301 may recognize the ground conditions at the work site based on the image captured by the imaging device S6 and determine whether or not slip turns are likely to occur. Alternatively, the mode switching unit 301 may determine that slip turns are likely to occur when a specific operation or a specific action within a specific operation, which is predetermined to be prone to slip turns, is being performed, and activate the slip turn-resistant mode.

[0104] The slip turn determination unit 302 determines whether or not the lower vehicle 1 is slip turning when the lower vehicle 1 is stopped, for example, based on the outputs of the vehicle attitude sensor S4 and the turn angle sensor S5. The slip turn determination unit 302 may perform this determination only when the slip turn response mode is enabled, or it may perform this determination when the lower vehicle 1 is stopped, regardless of whether the slip turn response mode is enabled or disabled. Specifically, the slip turn determination unit 302 may determine whether or not the orientation of the lower vehicle 1 has changed without the lower vehicle 1 performing any driving motion, based on the operating state of the lower vehicle 1 and information regarding the orientation of the upper turn body 3 with respect to the ground and the lower vehicle 1, respectively. More specifically, the slip turn determination unit 302 may determine that a slip turn of the lower vehicle 1 has occurred when the lower vehicle 1 stops moving and a difference of a predetermined standard or more occurs between the amount of change in the orientation of the upper turn body 3 with respect to the ground and the lower vehicle 1, respectively. Furthermore, the slip-turn determination unit 302 may determine whether the orientation of the lower vehicle 1 has changed without the vehicle 1 performing any driving motion, based on the operating state of the lower vehicle 1 and information regarding the orientation of the lower vehicle 1 relative to the ground. More specifically, the slip-turn determination unit 302 may determine that a slip-turn of the lower vehicle 1 has occurred if, when the lower vehicle 1 stops moving, the orientation of the lower vehicle 1 relative to the ground has changed by more than a predetermined standard.

[0105] When the slip-turn response control unit 303 is active and the slip-turn response mode is enabled, if the slip-turn determination unit 302 determines that a slip-turn has occurred, the slip-turn response control unit 303 performs slip-turn response control to correct the orientation of the lower traveling body 1 that has changed due to the slip-turn. Correcting the orientation of the lower traveling body 1 includes correcting the orientation of the lower traveling body 1 to approach or match the orientation of the lower traveling body 1 before it changed due to the slip-turn. Correcting the orientation of the lower traveling body 1 also includes correcting the orientation of the lower traveling body 1 to a predetermined orientation. The predetermined orientation may be, for example, the same as the digging direction when the shovel 100 is performing digging work, as seen from above.

[0106] For example, if the slip turn detection unit 302 determines that a slip turn has occurred, the slip turn detection unit 303 notifies the user of the occurrence of the slip turn.

[0107] Specifically, when the shovel 100 is operated via the control device 26, the slip-turn response control unit 303 may notify the operator of the occurrence of a slip-turn via an output device 50 such as a display device or a sound output device. This allows the operator to operate the control device 26 and reverse the left and right crawlers 1C of the lower vehicle 1 at approximately the same speed, thereby causing the lower vehicle 1 to perform a pivot turn and correct the orientation of the lower vehicle 1.

[0108] Furthermore, when the shovel 100 is remotely controlled or operating in fully automated mode, the slip-turn response control unit 303 may notify the operator or supervisor of the occurrence of a slip-turn through the output device 240 of the management device 200, such as a remote control display device, a monitoring display device, or a sound output device. More specifically, the slip-turn response control unit 303 may control the output device 240 by transmitting a control signal to the management device 200 via the communication device 60 to activate the notification function, thereby realizing the notification function for the user of the management device 200. As a result, the operator or supervisor can operate the remote control device or intervention device to reverse the left and right crawlers 1C of the lower vehicle 1 at approximately the same speed, thereby causing the lower vehicle 1 to perform a pivot turn (spin turn) and correct the orientation of the lower vehicle 1.

[0109] Furthermore, for example, if the slip-turn response control unit 303 determines that a slip-turn has occurred by the slip-turn determination unit 302, it may correct the orientation of the lower traveling body 1 by automatically reversing the left and right crawlers 1C of the lower traveling body 1 at approximately the same speed. Specifically, the slip-turn response control unit 303 controls the hydraulic control valves 31 corresponding to the travel hydraulic motors 1ML and 1MR, respectively, to automatically reverse the left and right crawlers 1C of the lower traveling body 1 at approximately the same speed.

[0110] The log recording unit 304 records logs (hereinafter simply referred to as "logs") relating to various states of the shovel 100 in the storage unit 305 or an externally connected storage device that is capable of communication. The logs may include, for example, data indicating that a predetermined operation has been performed on the shovel 100. The logs may also include, for example, data indicating that a predetermined operation or task has been performed on the shovel 100. Furthermore, the logs may include, for example, data indicating that the shovel 100 has entered a predetermined statically or dynamically unstable posture state. In addition, the logs may include, for example, data indicating the occurrence of a slip turn.

[0111] The memory unit 305 records (stores) logs related to various states of the shovel 100.

[0112] The log information from the storage unit 305 may be transmitted to the management device 200. This allows the user of the management device 200 to check various logs for one or more excavators 100.

[0113] <Configuration of the control device> As shown in Figures 2 and 3, the management device 200 includes a control device 210, a communication device 220, an input device 230, and an output device 240.

[0114] The control device 210 performs various controls related to the management device 200. The functions of the control device 210 are realized by arbitrary hardware, or any combination of hardware and software. The control device 210 is mainly composed of a computer including, for example, a CPU, memory devices such as RAM, non-volatile auxiliary storage devices such as ROM, and interface devices for various inputs and outputs. The control device 210 realizes various functions by, for example, executing a program installed in the auxiliary storage device on the CPU.

[0115] For example, the control device 210 may acquire information received from the shovel 100 via the communication device 220, build a database, or perform predetermined processing to generate processing information.

[0116] Furthermore, for example, the control device 210 performs control related to the remote operation of the shovel 100. The control device 210 may receive input signals related to the remote operation of the shovel 100 received by the remote operation device and transmit the content of the operation input, i.e., the content of the remote operation of the shovel 100, to the shovel 100 using the communication device 220.

[0117] The communication device 220 connects to the communication line NW and communicates with an external entity (for example, the shovel 100) of the management device 200.

[0118] The input device 230 receives input from the administrator or operator of the management device 200 and outputs a signal representing the content of the input (e.g., operation input, voice input, gesture input, etc.). The signal representing the content of the input is taken up by the control device 210.

[0119] The input device 230 may include, for example, a remote control device. This allows the operator of the control device 200 to remotely control the shovel 100 using the remote control device.

[0120] The output device 240 outputs various information to the user of the management device 200.

[0121] The output device 240 includes, for example, a lighting device or display device that outputs various information to the user of the management device 200 in a visual manner. The lighting device includes, for example, a warning lamp. The display device includes, for example, a liquid crystal display or an organic EL display. The output device 240 also includes a sound output device that outputs various information to the user of the management device 200 in an auditory manner. The sound output device includes, for example, a buzzer or a speaker.

[0122] The display device displays various informational images related to the management device 200. The display device may include, for example, a remote control display device and a monitoring display device, and the remote control display device and the monitoring display device may display image information (surrounding image) of the shovel 100 uploaded from the shovel 100 under the control of the control device 210. This allows the user (operator) of the management device 200 to remotely operate the shovel 100 while checking the image information of the shovel 100's surroundings displayed on the remote control display device. In addition, the user (monitor) of the management device 200 can monitor the working status of the shovel 100 while checking the image information of the fully automated shovel 100's surroundings displayed on the monitoring display device.

[0123] [Overview of Slip Turn Control] Next, with reference to Figures 4 and 5, we will explain specific examples of how slip turning occurs in the lower traveling body 1.

[0124] Figure 4 is a top view illustrating the excavation operation of the shovel. Figure 5 is a top view showing the state of the shovel when slip-swinging occurs.

[0125] As shown in Figure 4, the excavation work consists of a repetition of a series of operations: excavation, boom raising and slewing, soil removal, and boom lowering and slewing.

[0126] The excavation operation refers to a series of actions performed by the shovel 100, from inserting the tip of the bucket 6 into the ground, to closing the arm 5 and raising the boom 4, thereby excavating the ground and scooping up the excavated soil.

[0127] The boom-raising and slewing operation refers to a series of actions by the shovel 100 in which the boom 4 is raised to lift the bucket 6, which collects soil, to a position away from the ground, and the upper slewing body 3 is slewing in the direction of the soil discharge position of the bucket 6. The raising of the boom 4 in the boom-raising and slewing operation may be completed before the slewing operation of the upper slewing body 3 begins, or the raising of the boom 4 may be performed simultaneously with the slewing operation of the upper slewing body 3.

[0128] The soil discharge operation refers to a series of actions by the shovel 100 that involve opening the arm 5 and bucket 6, or, in addition to these actions, lowering the boom 4, thereby discharging the soil contained in the bucket 6 to the outside.

[0129] The boom lowering and slewing operation is a series of movements in which the upper slewing body 3 is rotated from the direction where the soil is being discharged to the direction where the excavation is being performed, and the height of the bucket 6 is lowered to near the ground by the lowering movement of the boom 4. The lowering movement of the boom 4 in the boom lowering and slewing operation may be performed after the rotation movement of the upper slewing body 3 is completed, or it may be performed in part or in whole during the rotation movement of the upper slewing body 3.

[0130] For example, during excavation, an excavation reaction force acts on the bucket 6, and this excavation reaction force acts on the upper slewing body 3 via the attachment AT. Also, in the case of excavation work on uneven ground, the condition of the contact surface of the lower traveling body 1 of the shovel 100 may not be uniform. Therefore, as shown in Figure 5, a moment is generated around the slewing axis of the lower traveling body 1, and the lower traveling body 1 may slip and rotate due to the effects of slippery uneven ground.

[0131] Furthermore, for example, during boom raising and lowering rotational movements, a moment of rotational movement is generated in the lower traveling body 1 due to the reaction force of the rotational movement of the upper rotating body 3. Therefore, as shown in Figure 5, the lower traveling body 1 may slip and rotate due to the influence of slippery uneven ground.

[0132] Thus, even if slippage occurs in the lower traveling body 1 during excavation work with the shovel 100, the user often does not notice it. Therefore, the shovel 100 may not be able to perform stable excavation work.

[0133] In response to this, the slip-swing response control unit 303 notifies the user if, for example, the slip-swing determination unit 302 determines that a slip-swing has occurred during excavation work.

[0134] This allows the user to perceive the slip and rotation of the lower vehicle 1 that occurs during excavation work. Therefore, the user can correct the orientation of the lower vehicle 1 by operating the lower vehicle 1 and reversing the left and right crawlers 1C at approximately the same speed. Thus, the shovel 100 can correct the orientation of the lower vehicle 1 that has changed due to the slip and rotation of the lower vehicle 1 during excavation work, and perform stable excavation work.

[0135] Furthermore, if the slip-turn response control unit 303 determines, for example, that a slip-turn has occurred during excavation work, it reverses the left and right pair of crawlers 1C relative to each other to correct the orientation of the lower traveling body 1.

[0136] As a result, the shovel 100 can correct the orientation of the lower traveling body 1, which has changed due to slipping and turning during excavation work, and perform stable excavation work.

[0137] Furthermore, if a slip-turn occurs in the lower traveling body 1 during operations other than excavation, the slip-turn response control unit 303 may similarly notify the user of the slip-turn or correct the orientation of the lower traveling body 1 by reversing the left and right crawlers 1C relative to each other.

[0138] [Details on how to enable / disable slip turning mode] Next, referring to Figures 6 to 10, we will explain in detail how to switch between enabling and disabling the slip turning mode.

[0139] <Example 1 of switching method> Figure 6 is a flowchart schematically showing an example of the pre-processing for transitioning to the slip-turn response mode by the controller 30. Figure 7 is a flowchart schematically showing the first example of the switching process for enabling (starting) and disabling (ending) the slip-turn response mode by the controller 30.

[0140] The flowchart in Figure 6 is executed, for example, when a predetermined input is received from the user (operator or supervisor) via input device 52 or input device 230 to perform preliminary preparations for transitioning to slip-turn-response mode.

[0141] As shown in Figure 6, in step S102, the mode switching unit 301 acquires information regarding the orientation of the upper slewing body 3 relative to the current (latest) lower traveling body 1 as information regarding the "reference relative slewing angle". The "reference relative slewing angle" is, for example, the slewing angle of the upper slewing body 3 relative to the lower traveling body 1 when the shovel 100 (attachment AT) performs a predetermined operation (for example, an excavation operation).

[0142] When the controller 30 completes the processing in step S102, it proceeds to step S104.

[0143] In step S104, the mode switching unit 301 acquires information regarding the orientation of the upper slewing body 3 relative to the current (latest) ground as information regarding the "reference direction". The "reference direction" is, for example, the orientation of the upper slewing body 3 when the shovel 100 (attachment AT) performs a predetermined operation, that is, the direction in which the attachment AT extends when viewed from above. The "reference direction" is, for example, the orientation of the upper slewing body 3 when the attachment AT performs an excavation operation, that is, the direction (orientation) of the excavation position as seen from the shovel 100 (upper slewing body 3).

[0144] When the controller 30 completes the processing in step S104, it proceeds to step S106.

[0145] In step S106, the mode switching unit 301 stores the information regarding the "reference direction" acquired in step S104 and the information regarding the "reference relative rotation angle" acquired in step S102 in a predetermined storage area such as the memory device of the controller 30.

[0146] When the processing in step S106 is completed, the controller 30 terminates the processing of this flowchart.

[0147] The flowchart in Figure 7 is executed repeatedly, for example, from the start of the shovel 100 (e.g., key switch turned on) to the stop of the shovel 100 (e.g., key switch turned off).

[0148] As shown in Figure 7, in step S202, the mode switching unit 301 determines whether an input for starting slip-turn response control, i.e., a mode switching input to enable the slip-turn response mode, has been received via the input devices 52 and 230. If the mode switching unit 301 receives a mode switching input to enable the slip-turn response mode, it proceeds to step S204; otherwise, it terminates the process in this flowchart.

[0149] In step S204, the mode switching unit 301 determines whether information regarding the "reference direction" and information regarding the "reference relative rotation angle" are stored in a predetermined storage area such as the memory device of the controller 30. If the information regarding the "reference direction" and information regarding the "reference relative rotation angle" are not stored in the predetermined storage area such as the memory device of the controller 30, the mode switching unit 301 proceeds to step S206; otherwise, it proceeds to step S208.

[0150] In step S206, the mode switching unit 301 notifies the user via the output device 50 or output device 240 that it is not possible to transition to the slip-turn compatible mode. At this time, the mode switching unit 301 may request the user via the output device 50 or output device 240 to perform the preliminary preparations (flowchart in Figure 6). This allows the user to perform the processing shown in the flowchart in Figure 6 and then transition to the slip-turn compatible mode.

[0151] Meanwhile, in step S208, the mode switching unit 301 acquires information regarding the orientation of the upper rotating body 3 relative to the current (latest) ground.

[0152] When the controller 30 completes the processing in step S208, it proceeds to step S210.

[0153] In step S210, the mode switching unit 301 determines, based on the information acquired in step S208, whether the current orientation of the upper slewing body 3 is within a predetermined range from the reference direction. The predetermined range is the range of deviation amounts within which it can be determined that the current orientation of the upper slewing body 3 is approximately aligned with the reference direction. If the current orientation of the upper slewing body 3 is not within the predetermined range from the reference direction, the mode switching unit 301 repeats the process in this step. If it is within the predetermined range, it proceeds to step S212. As a result, for example, when the shovel 100 is performing excavation work, the mode switching unit 301 can start slewing slip-compatible control when the orientation of the upper slewing body 3 approximately aligns with the direction of the excavation position as seen from the shovel 100 (reference direction).

[0154] In step S212, the mode switching unit 301 starts the slip turning mode.

[0155] When the controller 30 completes the processing in step S212, it proceeds to step S214.

[0156] In step S214, the mode switching unit 301 acquires information regarding the orientation of the upper rotating body 3 relative to the current (latest) ground.

[0157] When the controller 30 completes the processing in step S214, it proceeds to step S216.

[0158] In step S216, the mode switching unit 301 determines, based on the information acquired in step S214, whether the current orientation of the upper rotating body 3 is within a predetermined range from the reference direction (i.e., whether it is maintaining that state). If the current orientation of the upper rotating body 3 is not within the predetermined range from the reference direction, the mode switching unit 301 proceeds to step S218; if it is within the predetermined range, it proceeds to step S220.

[0159] In step S218, the mode switching unit 301 temporarily suspends the slip-rotation response mode (i.e., slip-rotation response control). This allows, for example, when the shovel 100 is performing excavation work, the slip-rotation response control to be temporarily suspended while the shovel 100 is performing an operation other than excavation (boom raising and rotating operation, soil removal operation, or boom lowering and rotating operation).

[0160] When the controller 30 completes the processing in step S218, it returns to step S210.

[0161] Meanwhile, in step S220, the mode switching unit 301 determines whether an input to terminate slip-turn response control, i.e., a mode switching input to disable the slip-turn response mode, has been received via the input device 52 or input device 230. If the mode switching unit 301 has not received a mode switching input to disable the slip-turn response mode, it returns to step S214. If a mode switching input to disable the slip-turn response mode has been received, it proceeds to step S222.

[0162] In step S222, the mode switching unit 301 terminates the slip turning mode.

[0163] When the processing in step S222 is completed, the controller 30 terminates the processing of this flowchart.

[0164] <Second example of switching method> Figure 8 is a flowchart illustrating a second example of the switching process for enabling (starting) and disabling (ending) the slip turning response mode by the controller 30.

[0165] The flowchart in Figure 8 is executed repeatedly, for example, from the start to the stop of the shovel 100.

[0166] As shown in Figure 8, in step S302, the mode switching unit 301 determines whether the shovel 100 has started a predetermined operation, based on, for example, the operating status of the shovel 100 or the image captured by the imaging device S6. The predetermined operation is, for example, an excavation operation. If the shovel 100 has started the predetermined operation, the mode switching unit 301 proceeds to step S304; if it has not started the predetermined operation, it terminates the process in this flowchart.

[0167] In step S304, the mode switching unit 301 acquires information regarding the orientation of the upper rotating body 3 relative to the current (latest) lower traveling body 1 as information regarding the "reference relative turning angle".

[0168] When the controller 30 completes the processing in step S304, it proceeds to step S306.

[0169] In step S306, the mode switching unit 301 causes the controller 30 to save information regarding the "reference relative rotation angle" acquired in step S304 in a predetermined storage area such as the memory device of the controller 30.

[0170] When the controller 30 completes the processing in step S306, it proceeds to step S308.

[0171] In step S308, the mode switching unit 301 starts the slip-swing compatible mode. This allows the mode switching unit 301 to start slip-swing compatible control in conjunction with the start of the excavation operation of the shovel 100, for example, when the shovel 100 is performing excavation work.

[0172] When the controller 30 completes the processing in step S308, it proceeds to step S310.

[0173] In step S310, the mode switching unit 301 determines whether the shovel 100 is continuing a predetermined operation, for example, based on the operating status of the shovel 100 or the image captured by the imaging device S6. If the shovel 100 is continuing a predetermined operation, the mode switching unit 301 repeats the process in this step. If the shovel 100 is not continuing a predetermined operation, i.e., has finished a predetermined operation, the process proceeds to step S312.

[0174] In step S312, the mode switching unit 301 terminates the slip turning mode.

[0175] When the processing in step S312 is completed, the controller 30 terminates the processing of this flowchart.

[0176] <Third example of switching method> Figure 9 is a flowchart schematically showing another example of the pre-processing for transitioning to the slip-turn response mode by the controller 30. Figure 10 is a flowchart schematically showing a third example of the switching process for enabling (starting) and disabling (ending) the slip-turn response mode by the controller 30.

[0177] The flowchart in Figure 9 is executed, for example, when a predetermined input is received from the user (operator or supervisor) via input device 52 or input device 230 to perform preliminary preparations for transitioning to slip-turn-response mode.

[0178] As shown in Figure 9, in step S402, the mode switching unit 301 determines whether a predetermined operation has started. The predetermined operation is, for example, the excavation operation during the excavation work, as described above. If the predetermined operation has not started, the mode switching unit 301 repeats the process in this step, and if the predetermined operation has started, proceeds to step S404.

[0179] In step S404, the mode switching unit 031 acquires information regarding the orientation of the upper rotating body 3 relative to the current (latest) ground, as information regarding the "reference direction".

[0180] When the controller 30 completes the processing in step S404, it proceeds to step S406.

[0181] In step S406, the "reference direction" acquired in step S404 is saved in a predetermined storage area such as the memory device of the controller 30.

[0182] When the processing in step S406 is completed, the controller 30 terminates the processing of this flowchart.

[0183] The flowchart in Figure 10 is executed repeatedly, for example, from the start of the shovel 100 (e.g., key switch turned on) to the stop of the shovel 100 (e.g., key switch turned off).

[0184] In step S502, the mode switching unit 301 determines whether an input for starting slip-turn response control, i.e., a mode switching input to enable the slip-turn response mode, has been received via the input devices 52 and 230. If the mode switching unit 301 receives a mode switching input to enable the slip-turn response mode, it proceeds to step S504; otherwise, it terminates the processing in this flowchart.

[0185] In step S504, the mode switching unit 301 determines whether or not information regarding the "reference direction" is stored in a predetermined storage area such as the memory device of the controller 30. If the information regarding the "reference direction" is not stored in the predetermined storage area such as the memory device of the controller 30, the mode switching unit 301 proceeds to step S506; otherwise, it proceeds to step S508.

[0186] In step S506, the mode switching unit 301 notifies the user via the output device 50 or output device 240 that it is not possible to transition to the slip-turn compatible mode. At this time, the mode switching unit 301 may request the user via the output device 50 or output device 240 to perform the preliminary preparations (flowchart in Figure 9). This allows the user to perform the processing shown in the flowchart in Figure 9 and then transition to the slip-turn compatible mode.

[0187] The processing in steps S508 to S522 is the same as the processing in steps S208 to S222 in Figure 7, so the explanation is omitted.

[0188] [Details of slip-turn-response control] Next, with reference to Figures 11 to 17, the details of the slip-turn response control by the controller 30 will be explained.

[0189] <First example of slip-turn-responsive control> Figure 11 is a flowchart schematically showing a first example of slip-response control by the controller 30. Figure 12 is a subflowchart schematically showing an example of the process for determining whether or not a slip turn has occurred.

[0190] The flowchart in Figure 11 is executed repeatedly at a predetermined control cycle, for example, when the slip-responsive control mode is enabled, from the start (e.g., turning the key switch ON) to the stop (e.g., turning the key switch OFF) of the shovel 100. The flowcharts in Figures 13, 15 to 17 may be similar.

[0191] As shown in Figure 11, in step S602, the slip turning determination unit 302 determines whether or not a slip turning has occurred in the lower traveling body 1.

[0192] For example, the slip-turn determination unit 302 determines whether or not a slip-turn occurs in the lower traveling body 1 using the sub-flowchart shown in Figure 12.

[0193] As shown in Figure 12, in step S702, the slip-turn determination unit 302 acquires information regarding the current (latest) orientation of the upper turning body 3 relative to the lower traveling body 1.

[0194] When the controller 30 completes the processing in step S702, it proceeds to step S704.

[0195] In step S704, the slip-turn determination unit 302 calculates the angle of deviation of the lower vehicle 1 in the turning direction relative to the ground, based on the information acquired in step S702. For example, the slip-turn determination unit 302 calculates the angle of deviation of the lower vehicle 1 in the turning direction relative to the ground, based on the information acquired in step S702 and information regarding the "reference relative turning angle". Alternatively, the slip-turn determination unit 302 may calculate the angle of deviation of the lower vehicle 1 in the turning direction relative to the ground, based on the information acquired in step S702 and the information acquired in the previous or earlier step S702.

[0196] When the controller 30 completes the processing in step S704, it proceeds to step S706.

[0197] In step S706, the slip-turn determination unit 302 determines whether the slip angle of the lower traveling body 1 calculated in step S704 is greater than or equal to a predetermined threshold θth1 (>0). If the slip-turn determination unit 302 determines that the slip angle of the lower traveling body 1 is greater than or equal to the predetermined threshold θth1, it proceeds to step S708; otherwise, it proceeds to step S710.

[0198] In step S708, the slip turning determination unit 302 determines that a slip turning has occurred in the lower traveling body 1.

[0199] On the other hand, in step S710, the slip turning determination unit 302 determines that a slip turning has not occurred in the lower traveling body 1.

[0200] When the processing of step S708 or step S710 is completed, the controller 30 terminates the processing of the current subflowchart and returns to the main flowchart.

[0201] Returning to Figure 11, once the controller 30 completes the processing in step S602 (i.e., the processing in the subflowchart of Figure 12), it proceeds to step S604.

[0202] In step S604, the slip-turn determination unit 302 determines whether or not a slip-turn has occurred in the lower traveling body 1. If a slip-turn has occurred in the lower traveling body 1, the slip-turn determination unit 302 proceeds to step S104. If a slip-turn has not occurred in the lower traveling body 1, the process of this flowchart is terminated.

[0203] In step S606, the slip turn response control unit 303 notifies the user of the occurrence of a slip turn through the output device 50 of the cabin 10 and the output device 240 of the management device 200.

[0204] When the processing in step S606 is completed, the controller 30 terminates the processing of this flowchart.

[0205] Thus, in this example, the controller 30 notifies the user when a slip turn occurs in the lower vehicle 1, that is, when the orientation of the lower vehicle 1 changes without the vehicle performing any driving motion.

[0206] This allows the user to perceive the slip turning of the lower vehicle 1. Therefore, the user can correct the orientation of the lower vehicle 1 by operating the lower vehicle 1 and reversing the left and right crawlers 1C at approximately the same speed. Thus, the shovel 100 can correct the orientation of the lower vehicle 1 that has changed due to the slip turning of the lower vehicle 1.

[0207] <Second example of slip-turn-responsive control> Figure 13 is a flowchart schematically showing a second example of slip-turn-response control. Figure 14 is a subflowchart schematically showing an example of the orientation correction process for the lower traveling body 1.

[0208] As shown in Figure 13, the processes in steps S802 and S804 are the same as those in steps S602 and S604 in Figure 11, so their explanation is omitted.

[0209] In step S202, the slip-turn determination unit 302 determines that if a slip-turn has occurred in the lower traveling body 1, it proceeds to step S806. If a slip-turn has not occurred in the lower traveling body 1, it terminates the process in this flowchart.

[0210] In step S204, the slip-turn response control unit 303 corrects the orientation of the lower traveling body 1.

[0211] For example, the slip-turn response control unit 303 corrects the orientation of the lower traveling body 1 according to the subflowchart in Figure 14.

[0212] As shown in Figure 14, in step S902, the slip-turn response control unit 303 controls the hydraulic control valve 31, etc., to correct (reduce) the slip angle of the lower traveling body 1, and reverses the left and right crawlers 1C at approximately the same speed. For example, if the lower traveling body 1 has a leftward slip angle, the slip-turn response control unit 303 operates the left crawler 1C and the right crawler 1C in the forward and reverse directions, respectively, at approximately the same speed, so that the lower traveling body 1 can make a super-tight turn clockwise. Specifically, the slip-turn response control unit 303 controls the hydraulic control valve 31 to drive the travel hydraulic motor 1ML and the travel hydraulic motor 1MR in the forward and reverse directions, respectively, at approximately the same speed. On the other hand, if the lower traveling body 1 is experiencing a clockwise slip angle, the slip turning control unit 303 operates the left crawler 1C and the right crawler 1C in the reverse and forward directions, respectively, at approximately the same speed, so that the lower traveling body 1 can perform a counter-clockwise pivot turn. Specifically, the slip turning control unit 303 controls the hydraulic control valve 31 to drive the travel hydraulic motor 1ML and the travel hydraulic motor 1MR in the reverse and forward directions, respectively, at approximately the same speed.

[0213] When the controller 30 completes the processing in step S902, it proceeds to step S904.

[0214] In step S904, the slip-turn response control unit 303 acquires information regarding the orientation of the upper turning body 3 relative to the current (latest) lower traveling body 1.

[0215] When the controller 30 completes the processing in step S904, it proceeds to step S906.

[0216] In step S906, the slip-turn response control unit 303 calculates the slip angle of the lower traveling body 1 based on the information acquired in step S904. Specifically, the slip-turn determination unit 302 may calculate the slip angle of the lower traveling body 1 in the turning direction relative to the ground in the same manner as in step S704 in Figure 12.

[0217] When the controller 30 completes the processing in step S906, it proceeds to step S908.

[0218] In step S908, the slip-turn response control unit 303 determines whether the slip angle of the lower traveling body 1 is less than a predetermined threshold θth2. The predetermined threshold θth2 may be the same as the predetermined threshold θth1 described above, or it may be smaller than the predetermined threshold θth2 described above. If the slip-turn response control unit 303 determines that the slip angle of the lower traveling body 1 is not less than the predetermined threshold θth2, it returns to step S902 and repeats the process from steps S902 to S908. If the slip angle is less than the predetermined threshold θth2, it terminates the process of this sub-flowchart and returns to the main flowchart.

[0219] Returning to Figure 13, the controller 30 terminates the processing of this flowchart once the processing of step S806 (i.e., the processing of the subflowchart in Figure 14) is completed.

[0220] In this example, if the result of step S804 is "YES", the process of step S606 in Figure 11 may be performed in conjunction with the process of step S806. In other words, if a slip turn occurs in the lower vehicle 1, the controller 30 may notify the user of this fact and correct the orientation of the lower vehicle 1 by reversing the left and right pair of crawlers 1C relative to each other.

[0221] Thus, in this example, if a slip turn occurs in the lower vehicle 1, that is, if the orientation of the lower vehicle 1 changes without the vehicle performing any driving motion, the controller 30 reverses the left and right pair of crawlers 1C to correct the orientation of the lower vehicle 1.

[0222] This allows the shovel 100 to correct the orientation of the lower traveling body 1, which has been changed by the slip turning of the lower traveling body 1.

[0223] <Third example of slip-turn-responsive control> Figure 15 is a flowchart illustrating a third example of slip-turn-response control.

[0224] As shown in Figure 15, steps S1002 to S1006 are the same as steps S602 to S606 in Figure 11, so their explanation is omitted.

[0225] When the controller 30 completes the processing in step S1006, it proceeds to step S1008.

[0226] In step S1008, the slip-turn response control unit 303 displays a confirmation screen on the output device 50 (display device) of the cabin 10 and the output device 240 (display device) of the management device 200 to confirm with the user whether or not the orientation of the lower traveling body 1 needs to be corrected. When displaying the confirmation screen on the output device 240 of the management device 200, the slip-turn response control unit 303 transmits a control signal to the management device 200 via the communication device 60 to display the confirmation screen. As a result, the control device 210 of the management device 200 can display the confirmation screen on an output device 240, such as a remote operation display device or a monitoring display device, in response to the control signal received via the communication device 220.

[0227] When the controller 30 completes the processing in step S1008, it proceeds to step S1010.

[0228] In step S1010, the slip-swing response control unit 303 determines whether an input indicating that correction of the lower traveling body 1 is necessary has been received on the confirmation screen within a predetermined time after the confirmation screen is displayed. The control device 210 of the management device 200 transmits an information signal to the shovel 100 via the communication device 220 indicating whether or not an input has been received via the input device 230 for the confirmation screen and the content of the input. As a result, the slip-swing response control unit 303 can determine whether or not an input indicating that correction of the lower traveling body 1 is necessary has been received on the confirmation screen based on the information signal received from the management device 200 via the communication device 60. If an input indicating that correction of the lower traveling body 1 is necessary has been received on the confirmation screen, the slip-swing response control unit 303 proceeds to step S310. If no such input has been received, the process of this flowchart is terminated.

[0229] In step S1012, the slip-turn response control unit 303 corrects the orientation of the lower traveling body 1, similar to step S806 in Figure 13.

[0230] When the processing in step S1012 (i.e., the processing of the subflowchart in Figure 14) is completed, the controller 30 terminates the processing of this flowchart.

[0231] In this example, the process in step S1008 may be omitted. In this case, step S1010 may determine whether there is a specific input received through input device 52 or input device 230 indicating that modification of the lower traveling body 1 is necessary.

[0232] Thus, in this example, the controller 30 notifies the user when a slip turn occurs in the lower vehicle 1, and when a predetermined input is received from the user, it reverses the left and right pair of crawlers 1C to correct the orientation of the lower vehicle 1.

[0233] As a result, after the excavator 100 receives notification of a slip turn of the lower travel body 1, it can correct the orientation of the lower travel body 1 triggered by a predetermined input from the user. Therefore, for example, if the user does not need to correct the orientation of the lower travel body 1, or if they want to correct the orientation of the lower travel body 1 themselves, they can choose not to make a predetermined input. Thus, the excavator 100 can automatically correct the orientation of the lower travel body 1 while reflecting the user's intentions.

[0234] <Fourth example of slip-turn-responsive control> Figure 16 is a flowchart illustrating a fourth example of slip-turn response control by the controller 30.

[0235] As shown in Figure 16, steps S1102 and S1104 are the same as steps S602 and S604 in Figure 11, so their explanation is omitted.

[0236] In step S1104, the slip-turn determination unit 302 determines that if a slip-turn has occurred in the lower traveling body 1, it proceeds to step S1106. If a slip-turn has not occurred in the lower traveling body 1, it terminates the process in this flowchart.

[0237] In step S1106, the slip turn response control unit 303 calculates the cumulative angle of the slip turn. The "cumulative angle of the slip turn" refers to the cumulative value of the change in the direction (angle) of the lower traveling body 1 that occurred due to the slip turn. Specifically, the slip turn response control unit 303 calculates (updates) the cumulative angle of the slip turn by adding (integrating) the change in the direction (angle) of the lower traveling body 1 due to the current slip turn to the cumulative angle of the previous slip turns.

[0238] When the controller 30 completes the processing in step S1106, it proceeds to step S1108.

[0239] In step S1108, the slip rotation response control unit 303 determines whether the cumulative angle of the slip rotation is greater than or equal to a predetermined threshold (tolerance value) θth3 (>0). The predetermined threshold θth3 is set to a value greater than the predetermined thresholds θth1 and θth2, and may be predetermined as, for example, the lower limit of the amount of displacement of the orientation of the lower traveling body 1 that is considered not to cause problems during excavation work of the shovel 100. If the cumulative angle of the slip rotation is greater than or equal to the predetermined threshold θth3, the slip rotation response control unit 303 proceeds to step S1110; otherwise, it terminates this flowchart.

[0240] In step S1110, the slip-turn response control unit 303 notifies the user of the occurrence of a slip-turn through the output device 50 of the cabin 10 and the output device 240 of the management device 200.

[0241] When the controller 30 completes the processing in step S1110, it proceeds to step S1112.

[0242] In step S1112, the slip turn response control unit 303 initializes the accumulated angle of the slip turn to "0".

[0243] When the processing in step S1112 is completed, the controller 30 terminates the processing of this flowchart.

[0244] In this example, if the result of step S1108 is "YES", the process of step S806 in Figure 13 may be performed instead of, or in addition to, the process of step S1110. In other words, if the orientation of the lower vehicle 1 changes due to slip turning and the amount of change exceeds a predetermined threshold θth3, the controller 30 may notify the user of this fact and correct the orientation of the lower vehicle 1 by reversing the left and right pair of crawlers 1C relative to each other.

[0245] In this way, the controller 30 notifies the user or corrects the direction of the lower vehicle 1 by reversing the left and right pair of crawlers 1C when the direction of the lower vehicle 1 changes due to slip turning and the amount of change exceeds a predetermined threshold.

[0246] As a result, the controller 30 can refrain from notifying the user or correcting the orientation of the lower traveling body 1, for example, even if a slip-swing of the lower traveling body 1 occurs during excavation work by the shovel 100, as long as it does not interfere with the work. Therefore, the shovel 100 can reduce the inconvenience that the user would feel due to automatic notification and correction of the orientation of the lower traveling body 1.

[0247] <Fifth example of slip-turn-responsive control> Figure 17 is a flowchart illustrating a fifth example of slip-turn-response control.

[0248] As shown in Figure 17, steps S1202 to S1206 are the same as steps S602 to S606 in Figure 11, so their explanation is omitted.

[0249] When the controller 30 completes the processing in step S1206, it proceeds to step S1208.

[0250] In step S1208, the log recording unit 304 records a log in the storage unit 305 indicating that a slip turn has occurred.

[0251] When the processing in step S1208 is completed, the controller 30 terminates the processing of this flowchart.

[0252] In this example, if the result of step S1204 is "YES", the process of step S806 in Figure 13 may be performed instead of, or in addition to, the process of step S1206. Also, a process similar to step S1208 in this example may be added, for example, after the process of step S1012 in Figure 15. Furthermore, a process similar to step S1208 in this example may be added, for example, in an adjacent manner either before or after the process of step S1106 in Figure 16.

[0253] Thus, in this example, the controller 30 records a log in the storage unit 305 when a slip turn occurs in the lower vehicle 1, that is, when the orientation of the lower vehicle 1 changes without the vehicle performing any driving motion.

[0254] This allows the user to retrospectively check the circumstances surrounding the occurrence of slip turns in the shovel 100.

[0255] [Transformation / Modification] Although embodiments have been described in detail above, this disclosure is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims.

[0256] For example, in the embodiment described above, the function of the slip-turn response control unit 303 may be transferred to the management device 200 (an example of an information processing device). In addition to the function of the slip-turn response control unit 303, the mode switching unit 301 and the slip-turn determination unit 302 may also be transferred to the management device 200. Furthermore, in addition to the slip-turn response control unit 303, the functions of the log recording unit 304 and the storage unit 305 may also be transferred to the management device 200. In this case, the control device 210 of the management device 200 may make various decisions regarding slip-turn response control by receiving information signals containing various information from the shovel 100 via the communication device 220. The control device 210 may also transmit control signals to the shovel 100 via the communication device 220 to notify the operator of slip-turn on the shovel 100 side and correct the orientation of the lower traveling body 1.

[0257] Furthermore, in the embodiments described above, for example, the main pump 14 and pilot pump 15 may be driven by another prime mover (e.g., an electric motor) instead of, or in addition to, the engine 11. That is, the shovel 100 may be a hybrid shovel or an electric shovel in which the main pump 14 and pilot pump 15 are driven by an electric motor.

[0258] Furthermore, in the embodiments described above, for example, the shovel 100 may be configured such that some of its driven elements, such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, are electrically driven. In other words, the shovel 100 may be a hybrid shovel or an electric shovel in which some of its driven elements are driven by an electric actuator. [Explanation of Symbols]

[0259] 1. Lower running body 1C Crawler 1ML, 1MR Hydraulic Motor for Travel 2A Swivel Hydraulic Motor 3. Upper rotating body 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 cabins 11 Engine 13 Regulator 14 Main pump 15 Pilot pump 17 Control valve 25 Pilot Line 26 Operating device 30 controllers 50 Output device 52 Input device (input section) 100 Shovel 200 Management device (information processing device) 301 Mode switching section 302 Slip turning determination unit 303 Slip turning response control unit 304 Log recording unit 305 Memory unit AT Attachment S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Aircraft attitude sensor (first acquisition device) S5 Turning angle sensor (second acquisition device) S6 Imaging device (first acquisition device, second acquisition device)

Claims

1. The lower running body includes a pair of left and right crawlers, The lower traveling body is equipped with an upper rotating body that is rotatably mounted on it, During excavation, if a condition is met indicating that the orientation of the lower traveling body has changed without the lower traveling body performing any movement, the user is notified that a slip has occurred that has caused a change in the orientation of the lower traveling body. Shovel.

2. When the above condition is met during excavation, the user is notified that slippage has occurred, causing a change in the orientation of the lower traveling body, without correcting the operation of the attachment. The shovel according to claim 1.

3. If the orientation of the lower traveling body changes without the lower traveling body performing any movement, and the amount of change exceeds a predetermined standard, the user will be notified. The shovel according to claim 1 or 2.

4. The lower running body includes a pair of left and right crawlers, The lower traveling body is equipped with an upper rotating body that is rotatably mounted on it, If the orientation of the lower traveling body changes without the lower traveling body performing any movement, the orientation of the lower traveling body is corrected by reversing the left and right pair of crawlers relative to each other without correcting the movement of the attachment. Shovel.

5. During excavation, if the orientation of the lower traveling body changes without the lower traveling body performing any movement, the left and right pair of crawlers are reversed relative to each other to correct the orientation of the lower traveling body. The shovel according to claim 4.

6. A first acquisition device for acquiring information regarding the orientation of the upper rotating body relative to the ground, The system includes a second acquisition device for acquiring information regarding the orientation of the upper rotating body with respect to the lower traveling body. A shovel according to any one of claims 1 to 5.

7. If the orientation of the lower vehicle changes without the vehicle performing any movement, the user is notified, and thereafter, when a predetermined input different from the input for operating the lower vehicle is received from the user, the left and right pair of crawlers are reversed to correct the orientation of the lower vehicle. A shovel according to any one of claims 1 to 6.

8. Equipped with a memory unit, If the orientation of the lower traveling body changes without the lower traveling body performing a traveling motion, the log is recorded in the storage unit. A shovel according to any one of claims 1 to 7.

9. A control device for controlling an excavator having a lower traveling body including a pair of left and right crawlers, and an upper rotating body that is rotatably mounted on the lower traveling body, When the conditions are met during the excavation operation of the shovel, indicating that the orientation of the lower traveling body has changed without the lower traveling body moving, the user is notified that a slip has occurred that has caused a change in the orientation of the lower traveling body. Control device.

Images