Shovel

Abstract

To reduce a burden of an operator related with drilling work.SOLUTION: A shovel 100 includes: an undercarriage 1; a super structure 3 mounted on the undercarriage 1 via a turning mechanism; an attachment AT mounted to the super structure 3; a boom cylinder 7, an arm cylinder 8 and a bucket cylinder 9 for driving the attachment AT; a turning hydraulic motor 2A for turning the super structure 3; a left operation lever 26L tiltable in a longitudinal direction and a horizontal direction; and a controller 30. The controller 30 allows the operation of at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 when the left operation lever 26L is tilted in the longitudinal direction so that drilling operation by the attachment AT is executed, and allows the operation of the turning hydraulic motor 2A when the left operation lever 26L is tilted in the horizontal direction so that the turning operation is executed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, there are known excavators that perform a tracking excavation control mode in which the tip of the bucket moves along a design plane that indicates the target shape of the object to be excavated (see Patent Document 1). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2013-217137 [Overview of the project] [Problems that the invention aims to solve]

[0004] The aforementioned excavator is configured to execute an excavation control mode when the arm operating lever is operated.

[0005] However, the aforementioned excavator is not configured to perform excavation work, including the action of taking soil into the bucket and lifting the soil taken into the bucket, simply by operating the arm control lever. Therefore, it cannot sufficiently reduce the burden on the operator in excavation work.

[0006] Therefore, it is desirable to provide a shovel that can reduce the burden on the operator during excavation work. [Means for solving the problem]

[0007] The excavator according to an embodiment of the present invention includes a lower traveling body, an upper revolving body mounted on the lower traveling body via a revolving mechanism, an attachment attached to the upper revolving body, a plurality of attachment actuators for driving the attachment, a swing actuator for swinging the upper revolving body, and a control device. Spatial recognition device, The control device operates the plurality of attachment actuators in response to an output from the first operation lever when the first operation lever is tilted in a first operation direction By moving a predetermined point of the attachment along the target trajectory to execute an excavation operation by the attachment, and operates the swing actuator in response to an output from the first operation lever when the first operation lever is tilted in a second operation direction to execute a swing operation. The predetermined point includes a first predetermined point and a second predetermined point, the target trajectory includes a first target trajectory and a second target trajectory, the control device generates the first target trajectory and the second target trajectory based on the output of the spatial recognition device, moves the first predetermined point along the first target trajectory, and moves the second predetermined point along the second target trajectory, thereby causing the attachment to perform the excavation operation.

Advantages of the Invention

[0008] The above-described excavator can reduce the burden on the operator regarding excavation work.

Brief Description of the Drawings

[0009] [Figure 1] It is a side view of an excavator according to an embodiment of the present invention. [Figure 2] It is a block diagram showing a configuration example of a drive system of the excavator of FIG. 1. [Figure 3] It is a schematic diagram showing a configuration example of a hydraulic system mounted on the excavator of FIG. 1. [Figure 4A] It is a partial view of a hydraulic system related to the operation of a hydraulic actuator. [Figure 4B] It is a partial view of a hydraulic system related to the operation of a hydraulic actuator. [Figure 4C] It is a partial view of a hydraulic system related to the operation of a hydraulic actuator. [Figure 4D] It is a partial view of a hydraulic system related to the operation of a hydraulic actuator. [Figure 5A] It is a partial view of a hydraulic system related to the operation of a hydraulic actuator. [Figure 5B] ​This is a diagram of a part of a hydraulic system relating to the operation of a hydraulic actuator. [Figure 6] This block diagram shows another example of the drive system configuration for the excavator shown in Figure 1. [Figure 7] This diagram illustrates a series of work procedures that another example of the machine control functions of an excavator would cover. [Figure 8A] This is a functional block diagram showing a detailed example of the configuration of the machine control functions of an excavator. [Figure 8B] This is a functional block diagram showing a detailed example of the configuration of the machine control functions of an excavator. [Figure 9A] This is a diagram showing the work site. [Figure 9B] This is a diagram showing the work site. [Figure 9C] This is a diagram showing the work site. [Modes for carrying out the invention]

[0010] Figure 1 is a side view of a shovel 100 as an excavator according to an embodiment of the present invention. An upper rotating body 3 is rotatably mounted on the lower traveling body 1 of the shovel 100 via a slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5. The bucket 6 may be a slope bucket.

[0011] The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of an attachment AT. The boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9. Hereafter, the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 will also be referred to as attachment actuators. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0012] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the rotation angle of the boom 4 relative to the upper slewing body 3 (hereinafter referred to as "boom angle"). The boom angle is smallest when the boom 4 is lowered to its lowest position, and increases as the boom 4 is raised.

[0013] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle"). The arm angle is smallest when the arm 5 is closed to its shortest extent, and increases as the arm 5 is opened.

[0014] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). The bucket angle is smallest when the bucket 6 is closed to its fullest extent, and increases as the bucket 6 is opened.

[0015] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor.

[0016] The upper rotating body 3 is equipped with a cabin 10, which serves as the driver's cab, and is also fitted with a power source such as an engine 11. The upper rotating body 3 is also fitted with a controller 30, an audio output device 43, a display device 45, an input device 46, a storage device 47, an aircraft tilt sensor S4, a rotational velocity sensor S5, a camera S6, a communication device T1, and a positioning device P1.

[0017] The controller 30 is configured to function as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, ROM, etc. Various functions of the controller 30 are realized, for example, by the CPU executing a program stored in ROM. These functions include, for example, a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100. The machine control device 50 included in the controller 30 is configured to execute the machine guidance function and the machine control function.

[0018] The display device 45 is configured to display various types of information. The display device 45 may be connected to the controller 30 via a communication network such as CAN, or it may be connected to the controller 30 via a dedicated line.

[0019] The input device 46 is configured to allow the operator to input various types of information to the controller 30. The input device 46 includes a touch panel, knob switches, and membrane switches installed inside the cabin 10.

[0020] The audio output device 43 is configured to output sound. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as sound in response to an audio output command from the controller 30.

[0021] The storage device 47 is configured to store various types of information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the shovel 100, or it may store information acquired via various devices before the operation of the shovel 100 begins. The storage device 47 may store, for example, information about the target construction surface (design surface) acquired via a communication device T1. The target construction surface may be set by the operator of the shovel 100, or it may be set by a construction manager or the like.

[0022] The machine tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a virtual horizontal plane. In this embodiment, the machine tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 around the longitudinal axis and the tilt angle around the left-right axis. The longitudinal axis and left-right axis of the upper rotating body 3 are orthogonal to each other at the shovel center point, which is a point on the rotation axis of the shovel 100.

[0023] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. The rotational angular velocity sensor S5 may also be configured to detect or calculate the rotation angle of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver, a rotary encoder, or the like.

[0024] Camera S6 is an example of a spatial recognition device and is configured to acquire images of the area around the shovel 100. In this embodiment, camera S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, a right camera S6R that images the space to the right of the shovel 100, and a rear camera S6B that images the space behind the shovel 100.

[0025] Camera S6 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device 45. Camera S6 may also be a stereo camera, a depth image camera, etc. Furthermore, camera S6 may be replaced by other spatial recognition devices such as an ultrasonic sensor, millimeter-wave radar, LIDAR or infrared sensor, or by a combination of other spatial recognition devices and a camera.

[0026] The front camera S6F is mounted, for example, on the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may also be mounted on the roof of the cabin 10, i.e., outside the cabin 10. The left camera S6L is mounted on the upper left end of the upper surface of the upper rotating body 3, the right camera S6R is mounted on the upper right end of the upper surface of the upper rotating body 3, and the rear camera S6B is mounted on the upper rear end of the upper surface of the upper rotating body 3.

[0027] The spatial recognition device is configured to recognize the position or size of objects in the space surrounding the shovel 100. The spatial recognition device may also be configured to calculate the distance between the recognized object and the spatial recognition device or the shovel 100, and may also be configured to identify the direction in which the object is located. If a millimeter-wave radar, ultrasonic sensor, or laser radar is used as the spatial recognition device, the spatial recognition device may transmit multiple signals (such as laser light) toward the object and receive the reflected signals to calculate the distance or identify the direction from the reflected signals.

[0028] The spatial recognition device may be configured to detect objects present around the shovel 100. These objects may include, for example, dump trucks, terrain (slopes, holes, etc.), power lines, utility poles, people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or predetermined markings on helmets. The spatial recognition device may be configured to identify at least one of the following: the type, location, and shape of an object. For example, the spatial recognition device may be configured to distinguish between people and non-people objects.

[0029] The controller 30 may be configured to prevent the actuator from operating if a person is detected by the spatial recognition device before the actuator operates, even if the operating device 26 is operated afterward. The actuator includes at least one of a hydraulic actuator and an electric actuator. The controller 30 may also be configured to stop the actuator's operation if a person is detected by the spatial recognition device while the actuator is operating.

[0030] The communication device T1 controls communication with external equipment located outside the shovel 100. In this embodiment, the communication device T1 controls communication with external equipment via a satellite communication network, a mobile phone communication network, or the Internet network. The external equipment may be, for example, a management device such as a server installed in an external facility, or a support device such as a smartphone carried by a worker around the shovel 100. The external equipment is configured to manage construction information relating to one or more shovels 100. The construction information includes, for example, information relating to at least one of the shovel 100's operating time, fuel consumption, and work volume. The work volume is, for example, the amount of soil excavated and the amount of soil loaded onto the dump truck. The shovel 100 is configured to transmit construction information relating to the shovel 100 to the external equipment via the communication device T1 at predetermined time intervals.

[0031] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may also be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, which detects the position and orientation of the upper rotating body 3 and outputs the detected values ​​to the controller 30. Therefore, the positioning device P1 can function as an orientation detection device that detects the orientation of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper rotating body 3.

[0032] Figure 2 is a block diagram showing an example of the drive system configuration of the shovel 100, with the mechanical power system, hydraulic fluid line, pilot line, and electrical control system indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0033] The drive system of the Shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and a proportional valve 31, etc.

[0034] Engine 11 is the power source for the shovel 100. In this embodiment, engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0035] The main pump 14 is configured to supply hydraulic fluid to the control valve unit 17 via a hydraulic fluid line. In this embodiment, the main pump 14 is a swashplate type variable displacement hydraulic pump.

[0036] The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30. For example, the controller 30 receives an output from an operation sensor 29 or the like, and outputs a control command to the regulator 13 as needed to change the discharge rate of the main pump 14.

[0037] The pilot pump 15 supplies hydraulic fluid to various hydraulic control devices, including the proportional valve 31, via the pilot line. In this embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function previously performed by the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a separate circuit from the function of supplying hydraulic fluid to the control valve unit 17, and may have a function of supplying hydraulic fluid to the proportional valve 31, etc., after reducing the supply pressure of the hydraulic fluid by throttling or the like.

[0038] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 can selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 are configured to control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as attachment actuators, a travel hydraulic motor 2M as a travel actuator, and a slewing hydraulic motor 2A as a slewing actuator. The travel hydraulic motor 2M includes a left travel hydraulic motor 2ML and a right travel hydraulic motor 2MR. The slewing hydraulic motor 2A may be a slewing motor generator as an electric actuator.

[0039] The operating device 26 is a device used by the operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0040] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0041] The operation sensor 29 is configured to detect the operator's actions using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of operation of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In this embodiment, the controller 30 controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. The controller 30 then supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of operation of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0042] The proportional valve 31, which functions as a control valve for machine control, is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In this embodiment, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, independently of the operator's operation of the operating device 26.

[0043] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that particular operating device 26.

[0044] Next, the machine control device 50 included in the controller 30 will be described. The machine control device 50 is configured to perform, for example, a machine guidance function. In this embodiment, the machine control device 50 transmits work information to the operator, for example, the distance between the target construction surface and the work area of ​​the attachment AT. Information regarding the target construction surface is pre-stored in, for example, the storage device 47. The machine control device 50 may also acquire information regarding the target construction surface from an external device via the communication device T1. Information regarding the target construction surface is expressed in, for example, a reference coordinate system. The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, the X-axis in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis in the direction of 90 degrees east longitude, and the Z-axis in the direction of the North Pole. The target construction surface may be set based on its relative positional relationship with a reference point. In this case, the operator may designate any point on the construction site as the reference point. The working area of ​​the attachment AT is, for example, the tip of the bucket 6 (toe 6T (see Figure 1)) or the back of the bucket 6. The machine control device 50 may be configured to guide the operation of the shovel 100 by transmitting work information to the operator via a display device 45 or an audio output device 43, etc.

[0045] The machine control device 50 may perform machine control functions that automatically assist the operator in manually operating the shovel 100. For example, when the operator is manually performing an excavation operation, the machine control device 50 may automatically move at least one of the boom 4, arm 5, and bucket 6 so that the tip position of the bucket 6 coincides with the target construction surface.

[0046] In this embodiment, the machine control device 50 is integrated into the controller 30, but it may be a separate control device from the controller 30. In this case, the machine control device 50 is composed of a computer including a CPU and internal memory, similar to the controller 30. The various functions of the machine control device 50 are realized by the CPU executing a program stored in the internal memory. The machine control device 50 and the controller 30 are connected to each other so as to be able to communicate with each other via a communication network such as CAN.

[0047] Next, with reference to Figure 3, an example of the configuration of the hydraulic system installed in the excavator 100 will be described. Figure 3 is a diagram showing an example of the configuration of the hydraulic system installed in the excavator 100. In Figure 3, the mechanical power transmission system, hydraulic fluid lines, pilot lines, and electrical control system are shown with double lines, solid lines, dashed lines, and dotted lines, respectively.

[0048] The hydraulic system of the Shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, and a controller 30, etc.

[0049] In Figure 3, the hydraulic system is configured to circulate hydraulic fluid from the main pump 14, driven by the engine 11, to the hydraulic fluid tank via the center bypass pipeline 40 or the parallel pipeline 42.

[0050] The engine 11 is the power source for the shovel 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0051] The main pump 14 is configured to supply hydraulic fluid to the control valve unit 17 via a hydraulic fluid line. In this embodiment, the main pump 14 is a swashplate type variable displacement hydraulic pump.

[0052] The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0053] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to hydraulic control equipment via a pilot line. In this embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pressure generating device may be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control equipment via a pilot line. In this case, the pilot pump 15 may be omitted.

[0054] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. Control valve 175 includes control valve 175L and control valve 175R, and control valve 176 includes control valve 176L and control valve 176R. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a travel hydraulic motor 2M, and a slewing hydraulic motor 2A. The travel hydraulic motor 2M includes a left travel hydraulic motor 2ML and a right travel hydraulic motor 2MR.

[0055] The operating device 26 is configured to allow an operator to operate the actuator. In this embodiment, the operating device 26 includes a hydraulic actuator operating device configured to allow an operator to operate a hydraulic actuator. Specifically, the hydraulic actuator operating device is configured to supply hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via a pilot line. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is a pressure corresponding to the operating direction and amount of the operating device 26 corresponding to each hydraulic actuator.

[0056] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0057] The operation sensor 29 is configured to detect the content of the operation of the operating device 26 by the operator. In this embodiment, the operation sensor 29 detects the operating direction and amount of operation of the operating device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30.

[0058] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic fluid to the hydraulic fluid tank via the left center bypass pipeline 40L or the left parallel pipeline 42L, while the right main pump 14R circulates the hydraulic fluid to the hydraulic fluid tank via the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0059] The left center bypass pipeline 40L is a hydraulic fluid line that passes through control valves 171, 173, 175L, and 176L located within the control valve unit 17. The right center bypass pipeline 40R is a hydraulic fluid line that passes through control valves 172, 174, 175R, and 176R located within the control valve unit 17.

[0060] The control valve 171 is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and to discharge the hydraulic fluid discharged by the left travel hydraulic motor 2ML to the hydraulic fluid tank.

[0061] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the right travel hydraulic motor 2MR, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right travel hydraulic motor 2MR to the hydraulic fluid tank.

[0062] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the swivel hydraulic motor 2A, and also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the swivel hydraulic motor 2A to the hydraulic fluid tank.

[0063] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0064] Control valve 175L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7. Control valve 175R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the boom cylinder 7 and also switches the flow of hydraulic fluid to discharge the hydraulic fluid inside the boom cylinder 7 to the hydraulic fluid tank.

[0065] The control valve 176L is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8 and also switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0066] The control valve 176R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0067] The left parallel pipeline 42L is a hydraulic fluid line running parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, and 175L. The right parallel pipeline 42R is a hydraulic fluid line running parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the right center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

[0068] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge volume by adjusting the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge volume, does not exceed the output power (output horsepower) of the engine 11.

[0069] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

[0070] The left operating lever 26L is used for slewing and operating the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0071] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic fluid into the right pilot port of control valve 176L and into the left pilot port of control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic fluid into the left pilot port of control valve 176L and into the right pilot port of control valve 176R. Furthermore, when the left operating lever 26L is operated in the left rotation direction, it introduces hydraulic fluid into the left pilot port of control valve 173, and when operated in the right rotation direction, it introduces hydraulic fluid into the right pilot port of control valve 173.

[0072] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0073] Specifically, when the right operating lever 26R is operated in the boom lowering direction, it introduces hydraulic fluid into the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom raising direction, it introduces hydraulic fluid into the right pilot port of the control valve 175L and into the left pilot port of the control valve 175R. Furthermore, when the right operating lever 26R is operated in the bucket closing direction, it introduces hydraulic fluid into the right pilot port of the control valve 174, and when it is operated in the bucket opening direction, it introduces hydraulic fluid into the left pilot port of the control valve 174.

[0074] In the following, the left control lever 26L, which is operated in the left-right direction, may be referred to as the "slewing control lever," and the left control lever 26L, which is operated in the front-back direction, may be referred to as the "arm control lever." Also, the right control lever 26R, which is operated in the left-right direction, may be referred to as the "bucket control lever," and the right control lever 26R, which is operated in the front-back direction, may be referred to as the "boom control lever."

[0075] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to be linked with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to be linked with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0076] The discharge pressure sensor 28 includes discharge pressure sensors 28L and 28R. Discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to discharge pressure sensor 28R.

[0077] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. Operation sensor 29LA detects the operator's forward and backward movement of the left operation lever 26L and outputs the detected value to the controller 30. The operation details include, for example, the direction of lever operation and the amount of lever operation (lever operation angle).

[0078] Similarly, the operation sensor 29LB detects the operator's left-right operation of the left operation lever 26L and outputs the detected value to the controller 30. The operation sensor 29RA detects the operator's forward-backward operation of the right operation lever 26R and outputs the detected value to the controller 30. The operation sensor 29RB detects the operator's left-right operation of the right operation lever 26R and outputs the detected value to the controller 30. The operation sensor 29DL detects the operator's forward-backward operation of the left travel lever 26DL and outputs the detected value to the controller 30. The operation sensor 29DR detects the operator's forward-backward operation of the right travel lever 26DR and outputs the detected value to the controller 30.

[0079] The controller 30 receives the output of the operation sensor 29 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 located upstream of the throttle 18 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0080] In the left center bypass pipeline 40L, a left throttle 18L is located between the control valve 176L, the downstreammost control valve, and the hydraulic fluid tank. Therefore, the flow of hydraulic fluid discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates a control pressure to control the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases. The discharge amount of the right main pump 14R is controlled in the same way.

[0081] Specifically, as shown in Figure 3, when none of the hydraulic actuators in the shovel 100 are operated and the system is in standby mode, the hydraulic fluid discharged from the left main pump 14L passes through the left center bypass pipe 40L to the left constrictor 18L. The flow of hydraulic fluid discharged from the left main pump 14L increases the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing pressure loss (pumping loss) as the discharged hydraulic fluid passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators are operated, the hydraulic fluid discharged from the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that actuator. The flow of hydraulic fluid discharged from the left main pump 14L reduces or eliminates the amount reaching the left constrictor 18L, lowering the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, ensuring sufficient hydraulic fluid circulation to the hydraulic actuator being operated and guaranteeing reliable operation of the hydraulic actuator. The controller 30 also controls the discharge volume of the right main pump 14R in the same manner.

[0082] With the configuration described above, the hydraulic system in Figure 3 can suppress unnecessary energy consumption in the main pump 14 when in standby mode. Unnecessary energy consumption includes pumping losses caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipeline 40. Furthermore, when operating a hydraulic actuator, the hydraulic system in Figure 3 can reliably supply the necessary and sufficient hydraulic fluid from the main pump 14 to the hydraulic actuator being operated.

[0083] Next, with reference to Figures 4A to 4D, Figure 5A, and Figure 5B, the configuration of the controller 30 for operating the actuators by machine control function will be described. Figures 4A to 4D, Figure 5A, and Figure 5B are diagrams showing parts of the hydraulic system. Specifically, Figure 4A is a diagram showing the hydraulic system part related to the operation of the arm cylinder 8, and Figure 4B is a diagram showing the hydraulic system part related to the operation of the boom cylinder 7. Figure 4C is a diagram showing the hydraulic system part related to the operation of the bucket cylinder 9, and Figure 4D is a diagram showing the hydraulic system part related to the operation of the slewing hydraulic motor 2A. Furthermore, Figure 5A is a diagram showing the hydraulic system part related to the operation of the left travel hydraulic motor 2ML, and Figure 5B is a diagram showing the hydraulic system part related to the operation of the right travel hydraulic motor 2MR.

[0084] As shown in Figures 4A to 4D, Figure 5A, and Figure 5B, the hydraulic system includes proportional valves 31. Proportional valves 31 include proportional valves 31AL to 31DL and 31AR to 31DR.

[0085] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is located in a pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In this embodiment, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, independently of the operator's operation of the operating device 26. The controller 30 can then apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0086] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that device. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to a specific operating device 26 even when an operation is being performed on that device.

[0087] For example, as shown in Figure 4A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 176 in accordance with the operation in the forward and backward directions. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Also, when the left operating lever 26L is operated in the arm opening direction (forward direction), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0088] The operating device 26 is equipped with a switch SW. In this embodiment, the switch SW includes switch SW1 and switch SW2. Switch SW1 is a push-button switch located at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing switch SW1. Switch SW1 may also be located on the right operating lever 26R or at another location within the cabin 10. Switch SW2 is a push-button switch located at the tip of the left travel lever 26DL. The operator can operate the left travel lever 26DL while pressing switch SW2. Switch SW2 may also be located on the right travel lever 26DR or at another location within the cabin 10.

[0089] The operation sensor 29LA detects the operator's forward and backward movement of the left operation lever 26L and outputs the detected value to the controller 30.

[0090] The proportional valve 31AL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of control valve 176L and the left pilot port of control valve 176R via the proportional valve 31AL. The proportional valve 31AR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of control valve 176L and the right pilot port of control valve 176R via the proportional valve 31AR. The proportional valve 31AL can adjust the pilot pressure so that control valves 176L and 176R can be stopped at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that control valves 176L and 176R can be stopped at any valve position.

[0091] With this configuration, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL in response to the arm closing operation by the operator. In addition, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the arm closing operation by the operator. In other words, the controller 30 can close the arm 5 in response to the arm closing operation by the operator, or independently of the arm closing operation by the operator.

[0092] Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR in response to the arm opening operation by the operator. In addition, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR, regardless of the arm opening operation by the operator. In other words, the controller 30 can open the arm 5 in response to the arm opening operation by the operator, or independently of the arm opening operation by the operator.

[0093] Furthermore, with this configuration, even when the operator is performing an arm closing operation, the controller 30 can, if necessary, reduce the pilot pressure acting on the closing pilot ports of the control valve 176 (the left pilot port of control valve 176L and the right pilot port of control valve 176R) and forcibly stop the closing operation of the arm 5. The same applies when the operator is performing an arm opening operation and it is necessary to forcibly stop the opening operation of the arm 5.

[0094] Alternatively, even when the operator is performing an arm closing operation, the controller 30 may, if necessary, control the proportional valve 31AR to increase the pilot pressure acting on the pilot port on the opening side of the control valve 176 (the right pilot port of control valve 176L and the left pilot port of control valve 176R), which is opposite the pilot port on the closing side of the control valve 176, thereby forcibly stopping the closing operation of the arm 5 by forcibly returning the control valve 176 to the neutral position. The same applies when the operator is performing an arm opening operation and the opening operation of the arm 5 is to be forcibly stopped.

[0095] Furthermore, although we will omit the explanations referring to Figures 4B to 4D, Figure 5A, and Figure 5B below, the same applies when the operation of boom 4 is forcibly stopped when the operator is raising or lowering the boom, when the operation of bucket 6 is forcibly stopped when the operator is closing or opening the bucket, and when the rotational movement of the upper slewing body 3 is forcibly stopped when the operator is performing a slewing operation. The same also applies when the travel movement of the lower traveling body 1 is forcibly stopped when the operator is performing a travel operation.

[0096] Furthermore, as shown in Figure 4B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 175 in accordance with the operation in the forward and backward directions. More specifically, when the right operating lever 26R is operated in the boom-raising direction (rearward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the right operating lever 26R is operated in the boom-lower direction (forward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175R.

[0097] The operation sensor 29RA detects the operator's forward and backward movement of the right operation lever 26R and outputs the detected value to the controller 30.

[0098] The proportional valve 31BL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position. The proportional valve 31BR can also adjust the pilot pressure so that the control valve 175R can be stopped at any valve position.

[0099] With this configuration, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL in response to the boom raising operation by the operator. In addition, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL, independently of the boom raising operation by the operator. In other words, the controller 30 can raise the boom 4 in response to the boom raising operation by the operator, or independently of the boom raising operation by the operator.

[0100] Furthermore, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR in response to the boom lowering operation by the operator. In addition, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR, independently of the boom lowering operation by the operator. In other words, the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator, or independently of the boom lowering operation by the operator.

[0101] Furthermore, as shown in Figure 4C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 in accordance with the operation in the left or right direction. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Also, when the right operating lever 26R is operated in the bucket opening direction (rightward), it applies pilot pressure to the right pilot port of the control valve 174 in accordance with the amount of operation.

[0102] The operation sensor 29RB detects the operation performed by the operator on the right operation lever 26R in the left-right direction and outputs the detected value to the controller 30.

[0103] The proportional valve 31CL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

[0104] With this configuration, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in response to the operator's bucket closing operation. Furthermore, the controller 30 can supply hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL, independently of the operator's bucket closing operation. In other words, the controller 30 can close the bucket 6 in response to the operator's bucket closing operation, or independently of the operator's bucket closing operation.

[0105] Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 174 via the proportional valve 31CR in response to the bucket opening operation by the operator. In addition, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 174 via the proportional valve 31CR, independently of the bucket opening operation by the operator. In other words, the controller 30 can open the bucket 6 in response to the bucket opening operation by the operator, or independently of the bucket opening operation by the operator.

[0106] Furthermore, as shown in Figure 4D, the left operating lever 26L is also used to operate the slewing mechanism 2. Specifically, the left operating lever 26L uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 in accordance with the operation in the left or right direction. More specifically, when the left operating lever 26L is operated in the left slewing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 173 in accordance with the amount of operation. Also, when the left operating lever 26L is operated in the right slewing direction (rightward), it applies pilot pressure to the right pilot port of the control valve 173 in accordance with the amount of operation.

[0107] The operation sensor 29LB detects the operation performed by the operator on the left operation lever 26L in the left-right direction and outputs the detected value to the controller 30.

[0108] The proportional valve 31DL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure using the hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0109] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL in response to a leftward rotation operation by the operator. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL, independently of a leftward rotation operation by the operator. In other words, the controller 30 can rotate the rotation mechanism 2 to the left in response to a leftward rotation operation by the operator, or independently of a leftward rotation operation by the operator.

[0110] Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR in response to a rightward rotation operation by the operator. In addition, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR, independently of a rightward rotation operation by the operator. In other words, the controller 30 can rotate the rotation mechanism 2 to the right in response to a rightward rotation operation by the operator, or independently of a rightward rotation operation by the operator.

[0111] Furthermore, as shown in Figure 5A, the left travel lever 26DL is used to operate the left crawler 1CL. Specifically, the left travel lever 26DL uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 171 in accordance with the operation in the forward and backward directions. More specifically, when the left travel lever 26DL is operated in the forward direction, it applies pilot pressure to the left pilot port of the control valve 171 in accordance with the amount of operation. When the left travel lever 26DL is operated in the reverse direction, it applies pilot pressure to the right pilot port of the control valve 171 in accordance with the amount of operation.

[0112] The operation sensor 29DL electrically detects the operator's forward and backward movement of the left travel lever 26DL and outputs the detected value to the controller 30.

[0113] The proportional valve 31EL operates in response to a current command output by the controller 30. The proportional valve 31EL adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL. The proportional valve 31ER operates in response to a current command output by the controller 30. The proportional valve 31ER adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER. The proportional valves 31EL and 31ER can adjust the pilot pressure so that the control valve 171 can be stopped at any valve position.

[0114] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL, regardless of the operator's left forward movement. In other words, the left crawler 1CL can be moved forward. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER, regardless of the operator's left reverse movement. In other words, the left crawler 1CL can be moved backward.

[0115] Furthermore, as shown in Figure 5B, the right travel lever 26DR is used to operate the right crawler 1CR. Specifically, the right travel lever 26DR uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 172 in accordance with the forward and backward movement. More specifically, when the right travel lever 26DR is operated in the forward direction, it applies pilot pressure to the right pilot port of the control valve 172 in accordance with the amount of operation. When the right travel lever 26DR is operated in the reverse direction, it applies pilot pressure to the left pilot port of the control valve 172 in accordance with the amount of operation.

[0116] The operation sensor 29DR electrically detects the operator's forward and backward movement of the right travel lever 26DR and outputs the detected value to the controller 30.

[0117] The proportional valve 31FL operates in response to a current command output by the controller 30. The proportional valve 31FL adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FL. The proportional valve 31FR operates in response to a current command output by the controller 30. The proportional valve 31FR adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FR. The proportional valves 31FL and 31FR can adjust the pilot pressure so that the control valve 172 can be stopped at any valve position.

[0118] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FL, regardless of the operator's rightward forward operation. In other words, the right crawler 1CR can be moved forward. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FR, regardless of the operator's rightward reverse operation. In other words, the right crawler 1CR can be moved backward.

[0119] Furthermore, the shovel 100 may be equipped with a configuration that automatically operates the bucket tilt mechanism. In this case, the hydraulic system portion related to the bucket tilt cylinder that constitutes the bucket tilt mechanism may be configured in the same way as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0120] Furthermore, although the description of the operating device 26 is based on an electric operating lever, a hydraulic operating lever may also be used instead. In this case, the amount of lever operation of the hydraulic operating lever may be detected in the form of pressure by a pressure sensor and input to the controller 30. Also, a solenoid valve may be placed between the operating device 26 as a hydraulic operating lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the operating device 26 as a hydraulic operating lever, the operating device 26 can move each control valve by increasing or decreasing the pilot pressure according to the amount of lever operation. Also, each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 corresponding to the amount of lever operation of the electric operating lever.

[0121] Next, with reference to Figure 6, an example of the configuration of the machine control device 50 will be described. Figure 6 is a block diagram showing an example of the configuration of the machine control device 50. Specifically, the machine control device 50 acquires information from at least one of the following: boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body tilt sensor S4, slewing angular velocity sensor S5, camera S6, positioning device P1, communication device T1, and input device 46. The machine control device 50 then calculates the distance between the bucket 6 and the target construction surface based on the acquired information, and communicates the magnitude of the distance between the bucket 6 and the target construction surface to the operator of the shovel 100 by at least one of voice and image display. The machine control device 50 also includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, and an automatic control unit 54.

[0122] The position calculation unit 51 is configured to calculate the position of the object to be positioned. In this embodiment, the position calculation unit 51 calculates the coordinate points of the working part of the attachment AT in the reference coordinate system. Specifically, the position calculation unit 51 calculates the coordinate points of the tip (toe 6T) of the bucket 6 from the rotation angles of the boom 4, arm 5, and bucket 6, respectively. The position calculation unit 51 may calculate not only the coordinate point of the center of the toe 6T of the bucket 6, but also the coordinate points of the left end of the toe 6T of the bucket 6, and the coordinate points of the right end of the toe 6T of the bucket 6.

[0123] The distance calculation unit 52 is configured to calculate the distance between two positioning targets. In this embodiment, the distance calculation unit 52 calculates the vertical distance between the tip 6T of the bucket 6 and the target construction surface. The distance calculation unit 52 may also calculate the distance (e.g., vertical distance) between the coordinate points of the left and right ends of the tip 6T of the bucket 6 and the corresponding target construction surface, so that the machine control device 50 can determine whether or not the shovel 100 is facing the target construction surface.

[0124] The information transmission unit 53 is configured to transmit various types of information to the operator of the shovel 100. In this embodiment, the information transmission unit 53 transmits the magnitude of various distances calculated by the distance calculation unit 52 to the operator of the shovel 100. Specifically, it transmits the magnitude of the vertical distance between the tip 6T of the bucket 6 and the target construction surface to the operator of the shovel 100 using at least one of visual and auditory information.

[0125] For example, the information transmission unit 53 may use intermittent sounds from the voice output device 43 to communicate to the operator the magnitude of the vertical distance between the tip 6T of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 may shorten the interval between intermittent sounds as the vertical distance decreases. The information transmission unit 53 may also use continuous sounds, and may express differences in the magnitude of the vertical distance by changing at least one of the following: pitch and intensity. Furthermore, the information transmission unit 53 may issue an alarm if the tip 6T of the bucket 6 is lower than the target construction surface. The alarm may be, for example, a continuous sound that is significantly louder than the intermittent sounds.

[0126] Furthermore, the information transmission unit 53 may display the magnitude of the vertical distance between the tip 6T of the bucket 6 and the target construction surface as work information on the display device 45. The display device 45 displays the work information received from the information transmission unit 53 on the screen, for example, along with the image data received from the camera S6. The information transmission unit 53 may also convey the magnitude of the vertical distance to the operator using, for example, an image of an analog meter or an image of a bar graph indicator.

[0127] The automatic control unit 54 automatically assists the operator in manually operating the shovel 100 by automatically operating the actuators. For example, when the operator is manually closing the arm, the automatic control unit 54 may automatically extend or retract at least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 so that the position of the tip 6T of the bucket 6 coincides with the target construction surface. In this case, the operator can close the arm 5 while aligning the tip 6T of the bucket 6 with the target construction surface simply by operating the arm operation lever in the closing direction, for example. This automatic control may be configured to be executed when a predetermined switch, which is one of the input devices 46, is pressed. The predetermined switch may be, for example, a machine control switch (hereinafter referred to as "MC switch"), and may be located at the tip of the operating device 26 as a knob switch such as a switch SW.

[0128] The automatic control unit 54 may, when a predetermined switch such as an MC switch is pressed, reduce the rotation speed to align the upper rotating body 3 with the target construction surface, and stop the upper rotating body 3 at a position that aligns with the target construction surface. However, the automatic control unit 54 may also automatically rotate the rotation hydraulic motor 2A. In this case, the operator can align the upper rotating body 3 with the target construction surface simply by pressing a predetermined switch, or by operating the rotation control lever while the predetermined switch is pressed. Alternatively, the operator can align the upper rotating body 3 with the target construction surface and start the machine control function simply by pressing a predetermined switch. Hereinafter, the control that aligns the upper rotating body 3 with the target construction surface will be referred to as "alignment control". In the orientation control, the machine control device 50 determines that the shovel 100 is facing the target construction surface when the left end vertical distance, which is the vertical distance between the coordinate point of the left end of the tip 6T of the bucket 6 and the target construction surface, and the right end vertical distance, which is the vertical distance between the coordinate point of the right end of the tip 6T of the bucket 6 and the target construction surface, are equal. However, the machine control device 50 may also determine that the shovel 100 is facing the target construction surface when the difference between the left end vertical distance and the right end vertical distance is less than or equal to a predetermined value, rather than when the difference between the left end vertical distance and the right end vertical distance is zero. When the machine control device 50 determines that the shovel 100 is facing the target construction surface, it may use at least one of visual and auditory information to inform the operator that the orientation control is complete. That is, the machine control device 50 may inform the operator that the upper rotating body 3 has been positioned to face the target construction surface.

[0129] In this embodiment, the automatic control unit 54 can automatically operate each actuator by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator. For example, in oriented control, the automatic control unit 54 may operate the slewing hydraulic motor 2A based on the difference between the vertical distance of the left end and the vertical distance of the right end. Specifically, when the slewing operation lever is operated with a predetermined switch pressed, the automatic control unit 54 determines whether the slewing operation lever has been operated in a direction that aligns the upper slewing body 3 with the target construction surface. For example, if the slewing operation lever is operated in a direction that increases the vertical distance between the tip 6T of the bucket 6 and the target construction surface (uphill slope), the automatic control unit 54 does not perform oriented control. On the other hand, if the slewing operation lever is operated in a direction that decreases the vertical distance between the tip 6T of the bucket 6 and the target construction surface (uphill slope), the automatic control unit 54 performs oriented control. As a result, the automatic control unit 54 can operate the slewing hydraulic motor 2A so that the difference between the vertical distance of the left end and the vertical distance of the right end becomes small. Subsequently, the automatic control unit 54 stops the slewing hydraulic motor 2A when the difference falls below a predetermined value or becomes zero. Alternatively, the automatic control unit 54 may set the slewing angle at which the difference falls below a predetermined value or becomes zero as the target angle, and perform slewing angle control so that the angle difference between the target angle and the current slewing angle (detected value) becomes zero. In this case, the slewing angle is, for example, the angle of the front-rear axis of the upper slewing body 3 with respect to the reference direction.

[0130] Furthermore, the automatic control unit 54 may automatically operate the actuators to maintain the upper rotating body 3 facing the target construction surface when operations related to the target construction surface, such as excavation operations or slope finishing operations, are being performed. For example, if the orientation of the upper rotating body 3 changes due to excavation reaction force or the like, and the upper rotating body 3 is no longer facing the target construction surface, the automatic control unit 54 may automatically operate the rotating hydraulic motor 2A to quickly bring the upper rotating body 3 facing the target construction surface. Alternatively, the automatic control unit 54 may proactively operate the actuators to prevent the orientation of the upper rotating body 3 from changing due to excavation reaction force or the like when operations related to the target construction surface are being performed.

[0131] Furthermore, the machine control device 50 also includes a rotation angle calculation unit 55 and a relative angle calculation unit 56.

[0132] The rotation angle calculation unit 55 calculates the rotation angle of the upper rotating body 3. This is to determine the current orientation of the upper rotating body 3. In this embodiment, the rotation angle calculation unit 55 calculates the rotation angle as the angle of the front-rear axis of the upper rotating body 3 with respect to the reference direction, based on the output of the GNSS compass, which is the positioning device P1. The rotation angle calculation unit 55 may also calculate the rotation angle based on the output of the rotation angular velocity sensor S5. Furthermore, if a reference point is set at the construction site, the rotation angle calculation unit 55 may use the direction from the rotation axis to the reference point as the reference direction.

[0133] The rotation angle indicates the direction in which the attachment operating surface extends. The attachment operating surface is, for example, a virtual plane that traverses the attachment AT longitudinally and is positioned perpendicular to the rotation plane. The rotation plane is, for example, a virtual plane that includes the bottom surface of the rotation frame perpendicular to the rotation axis. The machine control device 50 determines, for example, that the upper rotating body 3 is directly facing the target construction surface when it determines that the attachment operating surface AF (see Figure 9(A)) includes the normal to the target construction surface.

[0134] The relative angle calculation unit 56 calculates the relative angle as the rotation angle required to bring the upper rotating body 3 directly into alignment with the target construction surface. The relative angle is, for example, the relative angle formed between the direction of the front-rear axis of the upper rotating body 3 when it is directly into alignment with the target construction surface and the current direction of the front-rear axis of the upper rotating body 3. In this embodiment, the relative angle calculation unit 56 calculates the relative angle based on the information regarding the target construction surface stored in the storage device 47 and the rotation angle calculated by the rotation angle calculation unit 55.

[0135] When a predetermined switch is pressed and the rotation lever is operated, the automatic control unit 54 determines whether the rotation lever has been operated in a direction that directs the upper rotating body 3 to face the target construction surface. If it determines that the rotation lever has been operated in a direction that directs the upper rotating body 3 to face the target construction surface, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. When the change in rotation angle after the rotation lever has been operated reaches the target angle, it determines that the upper rotating body 3 is facing the target construction surface and stops the movement of the rotation hydraulic motor 2A.

[0136] In this way, the machine control device 50 can position the upper rotating body 3 to face the target construction surface directly.

[0137] Next, with reference to Figure 7, an overview of the machine control function of the excavator 100 according to this embodiment will be described.

[0138] Figure 7 is a diagram illustrating an overview of an example of the machine control function of the shovel 100 according to this embodiment. Specifically, Figure 7 is a diagram showing a series of operations (work processes) of excavation work targeted by an example of the machine control function of the shovel 100 according to this embodiment.

[0139] In the example shown in Figure 7, the shovel 100 first performs an excavation operation, and after collecting soil and other materials in the bucket 6 during the excavation operation, it performs a boom-raising and slewing operation. After the boom-raising and slewing operation, the shovel 100 performs a soil-discarding operation to discharge the soil and other materials from the bucket 6 onto the bed of the dump truck. After discarding the soil and other materials from the bucket 6 onto the bed of the dump truck, the shovel 100 performs a boom-lower and slewing operation. In this way, the shovel 100 repeats a series of operations, going through the excavation operation, boom-raising and slewing operation, soil-discarding operation, and boom-lower and slewing operation, and then returning to the excavation operation. At this time, the controller 30 implements the machine control function for this series of operations by switching, for example, the master elements in the machine control function, that is, the operation elements that operate in response to operation input from the operator, etc.

[0140] For example, the controller 30 may set the arm 5 as the master element during the excavation operation. The controller 30 may then control the movement of the boom 4 and bucket 6 so that a predetermined part of the attachment AT moves along a predetermined target trajectory in accordance with the movement of the arm 5 corresponding to the operation commands related to the operator's input regarding the arm 5. In this way, the controller 30 can realize machine control functions related to the excavation operation.

[0141] Furthermore, the controller 30 may set the arm 5 as the master element during the soil removal operation. The controller 30 may then control the movement of the boom 4 and bucket 6 so that a predetermined part of the attachment AT moves along a predetermined target trajectory in accordance with the movement of the arm 5 corresponding to the operation commands related to the operator's input regarding the arm 5. In this way, the controller 30 can realize a machine control function related to the excavation operation. In this case, the target trajectory is predetermined so that soil and other materials are removed to a predetermined target position on the bed of the dump truck. In this way, the controller 30 can realize a machine control function related to the soil removal operation.

[0142] Next, with reference to Figures 8A and 8B, an example of the machine control function of the excavator 100 according to this embodiment will be described in detail.

[0143] Figures 8A and 8B are functional block diagrams showing an example of a detailed configuration of the machine control function of the excavator 100 according to this embodiment. Specifically, Figures 8A and 8B are functional block diagrams showing a detailed configuration of the semi-automatic operation function of the excavator 100.

[0144] As shown in Figures 8A and 8B, the controller 30 that realizes the semi-automatic operation function of the shovel 100 includes, as functional units related to the machine control function, an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, a bucket shape acquisition unit 3006, a master element setting unit 3007, a control reference setting unit 3008, an operation command generation unit 3009, a pilot command generation unit 3010, and an attitude angle calculation unit 3011. These functional units, for example, when the switch SW is pressed, repeatedly execute the operations described later at predetermined control cycles.

[0145] The operation content acquisition unit 3001 acquires operation content related to the tilt operation in the forward and backward direction of the left operation lever 26L based on the detection signal received from the operation sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the direction of operation (forward or backward) and the amount of operation as operation content. In addition, if the shovel 100 is remotely operated, a semi-automatic operation function of the shovel 100 may be realized based on the content of the remote operation signal received from an external device. In this case, the operation content acquisition unit 3001 acquires operation content related to remote operation based on the remote operation signal received from the external device.

[0146] The target construction surface acquisition unit 3002 acquires data related to the target construction surface from, for example, internal memory or a predetermined external storage device.

[0147] The target trajectory setting unit 3003 sets information (information related to the target trajectory) for moving the tip of the attachment AT, specifically a predetermined part that serves as the control reference for the attachment AT (for example, the arm top pin 5T (see Figure 1), the tip 6T of the bucket 6, the back of the bucket 6, etc.) along the target trajectory. The information related to the target trajectory is, for example, information related to the coordinates of many target points that constitute the target trajectory. The target trajectory setting unit 3003 sets information related to the target trajectory based, for example, data related to the state of the shovel 100 (the position of the shovel 100 and the orientation of the upper rotating body 3, etc.), data related to the target construction surface acquired by the target construction surface acquisition unit 3002, and images captured by the camera S6. In addition, an acceptable error range (hereinafter, "acceptable error range") may be set for the target trajectory. In this case, the information related to the target trajectory may include information related to the acceptable error range.

[0148] The current position calculation unit 3004 calculates the position (current position) of the control reference (for example, the tip 6T or back of the bucket 6 as a working part) in the attachment AT. Specifically, the current position calculation unit 3004 may calculate the (current) position of the control reference of the attachment AT based on the boom angle θ1, arm angle θ2, and bucket angle θ3 calculated by the attitude angle calculation unit 3011, which will be described later.

[0149] The target position calculation unit 3005 calculates the target position of the control reference (working part) based on the operator's operation input (for example, operation in the forward / backward direction on the left operation lever 26L), information regarding the set target trajectory, and the current position of the control reference (working part) on the attachment AT. The operation content includes, for example, the direction of operation and the amount of operation. This target position is the position on the target trajectory that should be reached during the current control cycle, assuming that the arm 5 operates according to the direction of operation and the amount of operation in the operator's operation input. The target position calculation unit 3005 may calculate the target position of the tip of the attachment AT using, for example, a map or calculation formula stored in advance in a non-volatile internal memory.

[0150] The bucket shape acquisition unit 3006 acquires data relating to the shape of bucket 6 that has been pre-registered, for example, from internal memory or a predetermined external storage device. At this time, the bucket shape acquisition unit 3006 may acquire data relating to the shape of a type of bucket 6 that has been set by a setting operation via the input device 46, from among the data relating to the shapes of multiple types of bucket 6 that have been pre-registered.

[0151] The master element setting unit 3007 sets the operating elements (actuators that drive these operating elements) that constitute the attachment AT, and which operate in response to the operator's input or command (hereinafter referred to as "master elements"). Hereinafter, the operating elements that operate in accordance with the operator's input and command, and the actuators that drive those operating elements, may be collectively or individually referred to as master elements, and the same applies to the slave elements described later.

[0152] The control reference setting unit 3008 sets the control reference for the attachment AT. For example, the control reference setting unit 3008 may set the control reference for the attachment AT in response to an operation by an operator or the like through the input device 46. Alternatively, for example, the control reference setting unit 3008 may automatically change the control reference for the attachment AT in response to the fulfillment of predetermined conditions.

[0153] The motion command generation unit 3009 generates a command value (hereinafter referred to as "boom command value") β related to the operation of the boom 4 based on the target position of the control reference in the attachment AT. 1r , the command value related to the operation of arm 5 (hereinafter referred to as "arm command value") β 2r , and the command value for the operation of bucket 6 ("bucket command value") β 3r It generates a boom command value β. 1r , Arm command value β 2r , and bucket command value β 3rare, respectively, the angular velocity of the boom 4 (hereinafter referred to as the boom angular velocity), the angular velocity of the arm 5 (hereinafter referred to as the "boom angular velocity"), and the angular velocity of the bucket 6 (hereinafter referred to as the "bucket angular velocity") required for the control criteria in the attachment AT to achieve the target position. The operation command generation unit 3009 includes a master command value generation unit 3009A and a slave command value generation unit 3009B.

[0154] Note that the boom command value, the arm command value, and the bucket command value may be the boom angle, the arm angle, and the bucket angle when the control criteria in the attachment AT achieve the target position. Also, the boom command value, the arm command value, and the bucket command value may be the angular acceleration or the like required for the control criteria in the attachment AT to achieve the target position.

[0155] The master command value generation unit 3009A generates a command value (hereinafter referred to as the "master command value") β regarding the operation of the master element among the operation elements (boom 4, arm 5, and bucket 6) constituting the attachment AT. m For example, when the master element set by the master element setting unit 3007 is the boom 4 (boom cylinder 7), the master command value generation unit 3009A generates the boom command value β m as the master command value β 1r and outputs it to the boom pilot command generation unit 3010A described later. Also, for example, when the master element set by the master element setting unit 3007 is the arm 5 (arm cylinder 8), the master command value generation unit 3009A generates the arm command value β 2r and outputs it to the arm pilot command generation unit 3010B. Also, for example, when the master element set by the master element setting unit 3007 is the bucket 6 (bucket cylinder 9), the master command value generation unit 3009A generates the bucket command value β m as the master command value β3r and outputs it to the bucket pilot command generation unit 3010C. Specifically, the master command value generation unit 3009A generates the master command value β corresponding to the operation of the operator or the content of the operation command (operation direction and operation amount). mIt generates the boom command value β. For example, the master command value generation unit 3009A generates the boom command value β based on the content of the operator's operation or operation command. 1r , Arm command value β 2r , and bucket command value β 3r Based on predetermined maps and conversion formulas that define the relationship between each of these, the boom command value β is used as the master command value. 1r , Arm command value β 2r Bucket command value β 3r You may generate this.

[0156] The slave command value generation unit 3009B generates a command value (hereinafter referred to as "slave command value") β related to the operation of a slave element, which operates in accordance with (synchronized with) the operation of the master element among the operating elements constituting the attachment AT, so that the control reference of the attachment AT moves along the target trajectory. s1 , β s2 The slave command value generation unit 3009B generates the slave command value β if, for example, boom 4 is set as the master element by the master element setting unit 3007. s1 , β s2 As such, the arm command value β 2r and bucket command value β 3r It generates and outputs them to the arm pilot command generation unit 3010B and the bucket pilot command generation unit 3010C, respectively. In addition, the slave command value generation unit 3009B generates, for example, the slave command value β when arm 5 is set as the master element by the master element setting unit 3007. s1 , β s2 As such, boom command value β 1r and bucket command value β 3r It generates and outputs them to the boom pilot command generation unit 3010A and the bucket pilot command generation unit 3010C, respectively. In addition, the slave command value generation unit 3009B generates the slave command value β when the bucket 6 is set as the master element by the master element setting unit 3007. s1 , β s2 As such, boom command value β 1r and arm command value β 2rIt generates and outputs to the boom pilot command generation unit 3010A and the arm pilot command generation unit 3010B, respectively. Specifically, the slave command value generation unit 3009B generates the master command value β m The slave element operates in sync with the operation of the corresponding master element, and the slave command value β is set so that the control criteria of the attachment AT can achieve the target position (i.e., move along the target trajectory). s1 , β s2 This generates a control reference for the attachment AT. As a result, the controller 30 can move the control reference for the attachment AT along a target trajectory by adjusting (i.e., synchronizing) the operation of the master element of the attachment AT corresponding to the operator's input, and by operating at least one of the two slave elements of the attachment AT as needed. In other words, the master element (hydraulic actuator) operates in response to the operator's input, and the slave element (hydraulic actuator) is controlled to move in accordance with the operation of the master element (hydraulic actuator) so that the tip of the attachment AT (control reference), such as the toe 6T of the bucket 6, moves along a target trajectory.

[0157] The pilot command generation unit 3010 generates the boom command value β 1r , Arm command value β 2r , and bucket command value β 3r The pilot command generation unit 3010 generates pilot pressure command values ​​(hereinafter referred to as "pilot pressure command values") that act on control valves 174 to 176 to achieve the corresponding boom angular velocity, arm angular velocity, and bucket angular velocity. The pilot command generation unit 3010 includes a boom pilot command generation unit 3010A, an arm pilot command generation unit 3010B, and a bucket pilot command generation unit 3010C.

[0158] The boom pilot command generation unit 3010A generates the boom command value β 1rBased on the deviation between this value and the current boom angular velocity calculated (measured value) by the boom angle calculation unit 3011A (described later), the boom pilot command generation unit 3010A generates pilot pressure command values ​​to act on the control valves 175L and 175R corresponding to the boom cylinder 7 that drives the boom 4. The boom pilot command generation unit 3010A then outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31BL and 31BR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31BL and 31BR acts on the corresponding pilot ports of the control valves 175L and 175R. Then, due to the action of the control valves 175L and 175R, the boom cylinder 7 operates, and the boom command value β 1r Boom 4 operates to achieve the corresponding boom angular velocity.

[0159] The arm pilot command generation unit 3010B generates the arm command value β 2r Based on the deviation between this value and the current arm angular velocity calculated (measured value) by the arm angle calculation unit 3011B (described later), pilot pressure command values ​​are generated to act on the control valves 176L and 176R corresponding to the arm cylinder 8 that drives the arm 5. The arm pilot command generation unit 3010B then outputs a control current corresponding to the generated pilot pressure command values ​​to the proportional valves 31AL and 31AR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command values ​​output from the proportional valves 31AL and 31AR acts on the corresponding pilot ports of the control valves 176L and 176R. Then, due to the action of the control valves 176L and 176R, the arm cylinder 8 operates, and the arm command value β 2r Arm 5 operates to achieve the corresponding arm angular velocity.

[0160] The bucket pilot command generation unit 3010C generates the bucket command value β 3rBased on the deviation between this value and the current bucket angular velocity calculated (measured value) by the bucket angle calculation unit 3011C (described later), a pilot pressure command value is generated to act on the control valve 174 corresponding to the bucket cylinder 9 that drives the bucket 6. The bucket pilot command generation unit 3010C then outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31CL and 31CR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31CL and 31CR acts on the corresponding pilot port of the control valve 174. Then, due to the action of the control valve 174, the bucket cylinder 9 operates, and the bucket command value β 3r Bucket 6 operates to achieve the corresponding bucket angular velocity.

[0161] The attitude angle calculation unit 3011 calculates (measures) the (current) boom angle, arm angle, and bucket angle, as well as the boom angular velocity, arm angular velocity, and bucket angular velocity, based on the detection signals from the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3. The attitude angle calculation unit 3011 includes a boom angle calculation unit 3011A, an arm angle calculation unit 3011B, and a bucket angle calculation unit 3011C.

[0162] The boom angle calculation unit 3011A calculates (measures) the boom angle and boom angular velocity based on the detection signal received from the boom angle sensor S1. As a result, the boom pilot command generation unit 3010A can perform feedback control regarding the operation of the boom cylinder 7 based on the measurement results from the boom angle calculation unit 3011A.

[0163] The arm angle calculation unit 3011B calculates (measures) the arm angle and arm angular velocity based on the detection signal received from the arm angle sensor S2. As a result, the arm pilot command generation unit 3010B can perform feedback control regarding the operation of the arm cylinder 8 based on the measurement results from the arm angle calculation unit 3011B.

[0164] The bucket angle calculation unit 3011C calculates (measures) the bucket angle and bucket angular velocity based on the detection signal received from the bucket angle sensor S3. As a result, the bucket pilot command generation unit 3010C can perform feedback control regarding the operation of the bucket cylinder 9 based on the measurement results from the bucket angle calculation unit 3011C.

[0165] Next, with reference to Figures 9A to 9C, a series of operations (work processes) of excavation work performed by another example of the machine control function of the shovel 100 will be described. Figures 9A to 9C show the work site where the shovel 100 loads soil onto the dump truck DT. Specifically, Figure 9A shows the work site as viewed from the rear of the dump truck DT. Figure 9B shows the work site as viewed from directly above. Figure 9C shows the work site as viewed from the left side of the dump truck DT. In Figures 9A and 9C, the shovel 100 (excluding the bucket 6) is omitted from the illustration for clarity. Also, in Figure 9A, bucket positions 6A to 6G represent the movement of bucket 6 when the excavation operation is being performed. Specifically, bucket positions 6A to 6E represent the state of bucket 6 before it leaves the ground, and bucket positions 6F to 6G represent the state of bucket 6 after it leaves the ground. Furthermore, in Figure 9C, bucket positions 6H to 6M represent the movement of bucket 6 when the soil removal operation is being performed.

[0166] As shown in Figure 9A, the target trajectory setting unit 3003 of the controller 30 sets the target trajectory TL for the excavation operation based on data related to the state of the shovel 100 (such as the position of the shovel 100 and the orientation of the upper rotating body 3), data related to the target construction surface acquired by the target construction surface acquisition unit 3002, and images captured by the camera S6.

[0167] As an example of a target trajectory TL related to excavation, target trajectory TL1 shown in Figure 9A is the target trajectory followed by the arm top pin 5T, which is a predetermined part that serves as the control reference for the attachment AT. As another example of a target trajectory TL related to excavation, target trajectory TL2 shown in Figure 9A is the target trajectory followed by the tip 6T of the bucket 6, which is a predetermined part that serves as the control reference for the attachment AT.

[0168] In the example shown in Figure 9A, the target trajectory TL1 is a target trajectory TL that is dynamically calculated when the MC switch is pressed, and has a starting point SP1 and an ending point EP1. The starting point SP1 is set, for example, based on the position of the arm top pin 5T when the MC switch is pressed, and the ending point EP1 is set to a position higher than the height Hd of the dump truck bed DT. The same applies to the target trajectory TL2.

[0169] Point PT1 represents the position of the arm top pin 5T when bucket 6 is in the position indicated by bucket position 6A, and lies on the target trajectory TL1. The same applies to points PT2 to PT7. Point ED1 represents the position of the toe tip 6T when bucket 6 is in the position indicated by bucket position 6A, and lies on the target trajectory TL2. The same applies to points ED2 to ED7.

[0170] Furthermore, in the example shown in Figure 9A, both target trajectories TL1 and TL2 are set on a virtual plane that includes the longitudinal axis and the rotation axis of the upper rotating body 3.

[0171] The operator starts the machine control function by pressing switch SW, which acts as the MC switch. The machine control function is executed when the left operating lever 26L is operated while switch SW is pressed. However, once the machine control function is started by pressing switch SW, it may continue to run until switch SW is pressed again. In other words, the controller 30 may be configured to switch the state of the machine control function between an on state and an off state in response to the operation of switch SW. In this case, the operator does not need to keep pressing switch SW to continue the execution of the machine control function.

[0172] When the switch SW is pressed and the left operating lever 26L is tilted towards the front (rear), the attachment AT is moved so that the bucket 6, which is in the position indicated by bucket position 6A, moves to the position indicated by bucket position 6B. Specifically, the controller 30 retracts the boom cylinder 7 to lower the boom 4, extends the arm cylinder 8 to close the arm 5, and extends the bucket cylinder 9 to close the bucket 6.

[0173] Subsequently, the attachment AT is moved so that the bucket 6, which is in the position indicated by bucket position 6B, moves to the position indicated by bucket position 6C. Specifically, the controller 30 extends the boom cylinder 7 to slightly raise the boom 4 and extends the arm cylinder 8 to close the arm 5.

[0174] Similarly, as long as the switch SW is pressed and the left operating lever 26L is tilted towards the front (rear), the attachment AT is moved such that the arm top pin 5T moves along the target trajectory TL1 and the tip 6T of the bucket 6 moves along the target trajectory TL2.

[0175] Thus, the movement of the attachment actuator, which is realized in response to the tilting of the left operating lever 26L toward the front (rear), differs depending on where the predetermined part that serves as the control reference for the attachment AT is located on the target trajectory TL related to the excavation operation. Specifically, in the first half of the excavation operation, the boom cylinder 7 retracts to lower the boom 4 when the left operating lever 26L is tilted toward the front (rear), but in the second half of the excavation operation, the boom cylinder 7 extends to raise the boom 4 when the left operating lever 26L is tilted toward the front (rear).

[0176] When the position of the arm top pin 5T reaches the endpoint EP1 of the target trajectory TL1, and the position of the tip 6T of the bucket 6 reaches the endpoint EP2 of the target trajectory TL2, the attachment AT will stop moving, even if the left operating lever 26L is tilted forward (backward) while the switch SW is pressed.

[0177] In this way, the operator can operate the attachment AT so that bucket 6 moves in the order of bucket position 6A to bucket position 6G simply by tilting the left control lever 26L towards the operator (rearward). Therefore, the operator can make the shovel 100 perform an excavation operation simply by tilting the left control lever 26L towards the operator (rearward).

[0178] Subsequently, when the left control lever 26L is tilted to the right, the upper rotating body 3 is moved to rotate to the right. In Figure 9B, the trajectory TR1, represented by the dotted line, shows the trajectory followed by the arm top pin 5T when the left control lever 26L is tilted to the right at the time the bucket 6 reaches the position shown in bucket position 6G (see Figure 9A).

[0179] Thus, even before the position of the arm top pin 5T reaches the endpoint EP1 of the target trajectory TL1 (see Figure 9A), the operator can rotate the upper rotating body 3 to the right by tilting the left operating lever 26L to the right.

[0180] The operator may rotate the upper rotating body 3 to the right while continuing to move the arm top pin 5T along the target trajectory TL1 by pressing the switch SW and tilting the left operating lever 26L towards the operator (rearward) and then tilting the left operating lever 26L to the right.

[0181] Subsequently, once the upper slewing body 3 is facing the desired direction, the operator can return the left control lever 26L to the neutral position to stop the rotation of the upper slewing body 3. In the example shown in Figure 9B, the operator returns the left control lever 26L to the neutral position when the bucket 6 reaches the position shown in bucket position 6H, stopping the upper slewing body 3 from rotating to the right.

[0182] Furthermore, the controller 30 may be configured to automatically stop the rotation of the upper rotating body 3 using its machine control function. For example, the controller 30 may stop the rotation of the upper rotating body 3 even when the left operating lever 26L is tilted to the right, if the rotation angle of the upper rotating body 3 after rotation has started reaches the target angle.

[0183] Subsequently, as shown in Figure 9C, the target trajectory setting unit 3003 of the controller 30 sets the target trajectory TL for the soil removal operation based on the image captured by the camera S6.

[0184] As an example of a target trajectory TL related to soil removal, the target trajectory TL3 shown in Figure 9C is the target trajectory followed by the arm top pin 5T, which is a predetermined part that serves as the control reference for the attachment AT. As another example of a target trajectory TL related to soil removal, the target trajectory TL4 shown in Figure 9C is the target trajectory followed by the tip 6T of the bucket 6, which is a predetermined part that serves as the control reference for the attachment AT.

[0185] In the example shown in Figure 9C, the target trajectory TL3 is a target trajectory TL that is dynamically calculated at the start of the soil removal operation and has a starting point SP3 and an ending point EP3. The starting point SP3 is set, for example, based on the position of the arm top pin 5T when the soil removal operation starts, and the ending point EP3 is set based on the shape of the dump truck bed DT. The same applies to the target trajectory TL4.

[0186] Point PT8 represents the position of the arm top pin 5T when bucket 6 is in the position indicated by bucket position 6H, and lies on the target trajectory TL3. The same applies to points PT9 to PT13. Point ED8 represents the position of the toe tip 6T when bucket 6 is in the position indicated by bucket position 6H, and lies on the target trajectory TL4. The same applies to points ED9 to ED13.

[0187] Furthermore, in the example shown in Figure 9C, both target trajectories TL3 and TL4 are set on a virtual plane that includes the longitudinal axis and the rotation axis of the upper rotating body 3.

[0188] Specifically, when the switch SW is pressed and the left operating lever 26L is moved to the rear (forward) side, the attachment AT is moved so that the bucket 6, which is in the position indicated by bucket position 6H, moves to the position indicated by bucket position 6I, as shown in Figure 9C. Specifically, the controller 30 extends the boom cylinder 7 to raise the boom 4, retracts the arm cylinder 8 to open the arm 5, and retracts the bucket cylinder 9 to open the bucket 6.

[0189] Subsequently, the attachment AT is moved so that the bucket 6, which is in the position indicated by bucket position 6I, moves to the position indicated by bucket position 6J. Specifically, the controller 30 retracts the boom cylinder 7 to lower the boom 4, retracts the arm cylinder 8 to open the arm 5, and retracts the bucket cylinder 9 to open the bucket 6.

[0190] Similarly, as long as the switch SW is pressed and the left operating lever 26L is tilted inward (forward), the attachment AT is moved such that the arm top pin 5T moves along the target trajectory TL3 and the tip 6T of the bucket 6 moves along the target trajectory TL4.

[0191] When the position of the arm top pin 5T reaches the endpoint EP3 of the target trajectory TL3, and the position of the tip 6T of the bucket 6 reaches the endpoint EP4 of the target trajectory TL4, the attachment AT will stop moving, even if the left operating lever 26L is tilted inward (forward) while the switch SW is pressed.

[0192] In this way, the operator can operate attachment AT so that bucket 6 moves in the order of bucket position 6H to bucket position 6M simply by pushing the left control lever 26L to the rear (forward) side. Therefore, the operator can make the shovel 100 perform the soil removal operation simply by pushing the left control lever 26L to the rear (forward) side.

[0193] Subsequently, when the left control lever 26L is tilted to the left, the upper slewing body 3 is moved to rotate to the left. In Figure 9B, the trajectory TR2, represented by the dotted line, shows the trajectory followed by the arm top pin 5T when the left control lever 26L is tilted to the left at the point when the bucket 6 reaches the position shown in bucket position 6M (see Figure 9C).

[0194] Thus, even before the position of the arm top pin 5T reaches the endpoint EP3 of the target trajectory TL3 (see Figure 9C), the operator can rotate the upper rotating body 3 to the left by tilting the left operating lever 26L to the left.

[0195] The operator may rotate the upper rotating body 3 to the left while continuing to move the arm top pin 5T along the target trajectory TL3 by pressing the switch SW and tilting the left operating lever 26L toward the rear (forward) and then tilting the left operating lever 26L toward the left.

[0196] Alternatively, by pressing the switch SW and tilting the left operating lever 26L inwards (forward), the upper slewing body 3 may be rotated to the left while moving the arm top pin 5T and the tip 6T of the bucket 6 toward the starting point of the target trajectory TL for the next excavation operation. In this case, the controller 30 can change the posture of the attachment AT to a posture suitable for the start of the next excavation operation by simultaneously executing at least one of the boom lowering operation, arm opening operation, and bucket opening operation, along with the left slewing operation, while rotating the upper slewing body 3 to the left.

[0197] Subsequently, once the upper slewing body 3 is facing the desired direction, the operator can return the left control lever 26L to the neutral position to stop the rotation of the upper slewing body 3. In the example shown in Figure 9B, the operator returns the left control lever 26L to the neutral position when the bucket 6 reaches the position shown in bucket position 6N, stopping the leftward rotation of the upper slewing body 3.

[0198] Furthermore, the controller 30 may be configured to automatically stop the rotation of the upper rotating body 3 using its machine control function. For example, the controller 30 may stop the rotation of the upper rotating body 3 even when the left operation lever 26L is tilted to the left, if the rotation angle of the upper rotating body 3 after rotation has started reaches the target angle.

[0199] Subsequently, the operator can initiate the next digging operation by pressing the switch SW and tilting the left control lever 26L towards the operator (rearward). In other words, the operator can make the shovel 100 perform a series of operations (work processes) consisting of digging, boom raising and rotating, soil removal, and boom lowering and rotating simply by operating the left control lever 26L.

[0200] As shown in Figure 9A, the controller 30 is configured to perform excavation operations according to the operation of the left operating lever 26L by setting two target trajectories TL (target trajectory TL1 and target trajectory TL2). However, the controller 30 may also be configured to perform excavation operations according to the operation of the left operating lever 26L by setting only target trajectory TL1. In this case, the controller 30 may be configured to perform the desired excavation operation by, for example, realizing a target bucket angle corresponding to each point on target trajectory TL1. Specifically, the controller 30 may be configured to extend or retract at least one of the boom cylinder 7 and arm cylinder 8 so that the position of the arm top pin 5T moves along target trajectory TL1, and to extend or retract the bucket cylinder 9 so as to realize a target bucket angle corresponding to each point on target trajectory TL1.

[0201] Similarly, as shown in Figure 9C, the controller 30 is configured to perform soil removal operations according to the operation of the left operating lever 26L by setting two target trajectories TL (target trajectory TL3 and target trajectory TL4). However, the controller 30 may also be configured to perform soil removal operations according to the operation of the left operating lever 26L by setting only target trajectory TL3. In this case, the controller 30 may be configured to perform the desired soil removal operation by, for example, realizing a target bucket angle corresponding to each point on the target trajectory TL3. Specifically, the controller 30 may be configured to extend or retract at least one of the boom cylinder 7 and arm cylinder 8 so that the position of the arm top pin 5T moves along the target trajectory TL3, and to extend or retract the bucket cylinder 9 so as to realize a target bucket angle corresponding to each point on the target trajectory TL3.

[0202] Furthermore, the right operating lever 26R may be configured to allow the boom 4 and bucket 6 to be operated as usual, even when the machine control function is in operation. "When the machine control function is in operation" means, for example, "when the switch SW is pressed and the machine control function is in the ON state" or "when the switch SW is pressed". However, the right operating lever 26R may be configured to be disabled when the machine control function is in operation. In other words, the right operating lever 26R may be configured not to operate the boom 4 and bucket 6 even if it is operated when the machine control function is in operation. Specifically, the controller 30 may be configured not to output control commands to the proportional valves 31BL, 31BR, 31CL, and 31CR even if the right operating lever 26R is operated when the left operating lever 26L is operated with the switch SW pressed and the machine control function is in operation.

[0203] Alternatively, the right operating lever 26R may be used to adjust the target trajectory TL. For example, the controller 30 may be configured to move the target trajectory TL upward overall when the operator tilts the right operating lever 26R towards the back (forward), and to move the target trajectory TL downward overall when the operator tilts the right operating lever 26R towards the front (rear). This configuration allows the controller 30 to suppress or prevent the excavation load from becoming excessively large at the initial target trajectory TL, which would hinder smooth excavation operation.

[0204] Furthermore, in the examples shown in Figures 9A to 9C, the rotation after the excavation operation is achieved by a right rotation, and the rotation after the soil removal operation is achieved by a left rotation. However, the rotation after the excavation operation may also be achieved by a left rotation, and the rotation after the soil removal operation may also be achieved by a right rotation.

[0205] As described above, the excavator 100 according to an embodiment of the present invention, as shown in Figures 1 to 3, comprises a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 via a rotating mechanism, an attachment AT attached to the upper rotating body 3, a plurality of attachment actuators (boom cylinder 7, arm cylinder 8, and bucket cylinder 9) that drive the attachment AT, a rotating actuator (rotating hydraulic motor 2A) that rotates the upper rotating body 3, and a control device (controller 30). The controller 30 is configured to, for example, operate at least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 in response to the output of the first operating lever (left operating lever 26L) when the first operating lever (left operating lever 26L) is tilted in the first operating direction (forward and backward direction) to perform an excavation operation by the attachment AT, and to operate the slewing hydraulic motor 2A in response to the output of the first operating lever (left operating lever 26L) when the first operating lever (left operating lever 26L) is tilted in the second operating direction (left and right direction) to perform a slewing operation.

[0206] This configuration reduces the burden on the operator during excavation work. This is because the operator can perform the excavation operation using attachment AT simply by operating the left control lever 26L towards the front (rear).

[0207] In the above-described embodiment, the attachment AT includes a boom 4, an arm 5, and a bucket 6. The digging operation includes a combined operation achieved by at least two of the movements of the boom 4, the arm 5, and the bucket 6. For example, as shown in Figure 9A, the first half of the digging operation typically includes the closing of the arm 5 and the closing of the bucket 6, while the second half of the digging operation typically includes the closing of the arm 5 and the raising of the boom 4.

[0208] This configuration can further reduce the burden on the operator during excavation work. This is because the operator can perform excavation operations using attachment AT, including at least one of the following, by simply operating the left control lever 26L towards the front (rear): raising the boom, lowering the boom, opening the arms, closing the arms, opening the bucket, and closing the bucket.

[0209] The shovel 100 may be equipped with a switch SW for switching between a first operating mode and a second operating mode. The controller 30 may be configured such that, for example, in the first operating mode, at least two of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 are operated simultaneously when the left operating lever 26L is tilted in the forward or backward direction, and in the second operating mode, the arm cylinder 8 is operated when the left operating lever 26L is tilted in the forward or backward direction.

[0210] In the above-described embodiment, the first operating mode is the operating mode when the machine control function is being executed, and the second operating mode is the normal operating mode when the machine control function is not being executed.

[0211] This configuration can further reduce the burden on the operator during excavation work, as the operator can select the first operating mode as needed.

[0212] The controller 30 may be configured to perform excavation operations by the attachment AT by moving a predetermined point of the attachment AT along the target trajectory TL.

[0213] For example, as shown in Figure 9A, the controller 30 is configured to perform an excavation operation by the attachment AT by moving the arm top pin 5T, which is a predetermined point on the attachment AT, along the target trajectory TL1, and moving the toe 6T of the bucket 6, which is another predetermined point on the attachment AT, along the target trajectory TL2.

[0214] This configuration can further reduce the burden on the operator during excavation work. This is because the operator can perform the excavation operation without having to be conscious of how deep to excavate or how close to the target the bucket 6 should be pulled in.

[0215] The shovel 100 may be equipped with a spatial recognition device. In this case, the controller 30 may generate a target trajectory TL based on the output of the spatial recognition device. In the example shown in Figure 9A, the controller 30 generates target trajectories TL1 and TL2 related to the excavation operation based on images captured by the camera S6, which acts as a spatial recognition device.

[0216] This configuration can further reduce the burden on the operator during excavation work. This is because the controller 30 can set an appropriate target trajectory TL based on the current ground shape, etc. Furthermore, the operator can perform the excavation operation without having to be conscious of how deep to excavate or how close to the surface to pull the bucket 6.

[0217] The controller 30 may be configured to operate at least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 to perform an excavation operation by the attachment AT when the left operating lever 26L is tilted in a first direction in the front-rear direction (towards the front or towards the rear), and to operate at least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 to perform a soil removal operation by the attachment AT when the left operating lever 26L is tilted in a second direction in the front-rear direction (towards the back or towards the front).

[0218] This configuration can further reduce the burden on the operator during excavation work. This is because the operator can perform a series of actions that constitute the excavation work, including excavation, rotation, and soil removal, simply by operating the left control lever.

[0219] Preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above. Various modifications or substitutions can be applied to the embodiments described above without departing from the scope of the present invention. Furthermore, features described separately can be combined as long as no technical inconsistencies arise. [Explanation of symbols]

[0220] 1. Lower travel body 2. Swivel mechanism 2A. Swivel hydraulic motor 2M. Travel hydraulic motor 2ML. Left travel hydraulic motor 2MR. Right travel hydraulic motor 3. Upper slewing body 4. Boom 5. Arm 6. Bucket 7. Boom cylinder 8. Arm cylinder 9. Bucket cylinder 10. Cabin 11. Engine 13. Regulator 13L. Left regulator 13R. Right regulator 14. Main pump 14L. Left main pump 14R. Right main pump 15. Pilot pump 17. Control valve unit 18. Throttle 18L. Left throttle 18R. Right throttle 19. Control pressure sensor 19L. Left control pressure sensor 19R. Right control pressure sensor 26...Operating device 26D...Travel lever 26DL...Left travel lever 26DR...Right travel lever 26L...Left operating lever 26R...Right operating lever 28, 28L, 28R...Discharge pressure sensor 29, 29LA, 29LB, 29RA, 29RB, 29DL, 29DR...Operation sensor 30...Controller 31, 31AL, 31AR, 31BL, 31BR, 31CL, 31CR,...Proportional valve 43...Audio output device 45...Display device 46...Input device 47...Storage device 50...Machine control device 51...Position calculation unit 52...Distance calculation unit 53...Information transmission unit 54...Automatic control unit 55...Swivel angle calculation unit 56...Relative angle calculation unit 100...Shovel 171~174, 175L, 175R, 176L, 176R...Control valve 3001...Operation content acquisition unit 3002...Target construction surface acquisition unit 3003...Target trajectory setting unit 3004...Current position calculation unit 3005...Target position calculation unit 3006...Bucket shape acquisition unit 3007...Master element setting unit 3008...Control reference setting unit 3009...Operation command generation unit 3009A...Master command value generation unit 3009B...Slave command value generation unit 3010...Pilot command generation unit 3010A...Boom pilot command generation unit 3010B...Arm pilot command generation unit 3010C...Bucket pilot command generation unit 3011...Attitude angle calculation unit 3011A... Boom angle calculation unit3011B...Arm angle calculation unit 3011C...Bucket angle calculation unit S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine tilt sensor S5...Swivel angular velocity sensor S6...Camera S6B...Rear camera S6F...Front camera S6L...Left camera S6R...Right camera P1...Positioning device T1...Communication device

Claims

1. Lower running body and An upper rotating body is mounted on the lower traveling body via a rotating mechanism, An attachment to be mounted on the upper rotating body, Multiple attachment actuators for driving the aforementioned attachment, A pivot actuator for pivoting the upper pivot body, Control device and Equipped with a spatial recognition device, The control device operates a plurality of attachment actuators in response to the output from the first operating lever when the first operating lever is tilted in a first operating direction, thereby moving a predetermined point of the attachment along a target trajectory and performing an excavation operation with the attachment; and operates the slewing actuator in response to the output from the first operating lever when the first operating lever is tilted in a second operating direction and performs a slewing operation; The aforementioned predetermined points include the first predetermined point and the second predetermined point, The aforementioned target trajectory includes a first target trajectory and a second target trajectory. The control device generates the first target trajectory and the second target trajectory based on the output of the spatial recognition device, and causes the attachment to perform the excavation operation by moving the first predetermined point along the first target trajectory and moving the second predetermined point along the second target trajectory. Shovel.

2. The attachment includes a boom, an arm, and a bucket. The excavation operation includes a combined operation achieved by at least two of the following: the movement of the boom, the movement of the arm, and the movement of the bucket. The shovel according to claim 1.

3. It is equipped with a switch to switch between the first operating mode and the second operating mode. In the first operating mode, the control device operates multiple attachment actuators simultaneously when the first operating lever is tilted in the first operating direction, and in the second operating mode, it operates one of the multiple attachment actuators when the first operating lever is tilted in the first operating direction. The shovel according to claim 1.

4. A switch for switching the operating mode between a first operating mode and a second operating mode, In the first operation mode, when the first operation lever is tilted simultaneously in the first and second operation directions, the control device rotates the upper rotating body while continuing to move the predetermined point along the target trajectory. The shovel according to claim 1.

5. A switch for switching the operating mode between a first operating mode and a second operating mode, In the first operation mode, the control device operates a plurality of attachment actuators in response to the output from the first operation lever when the first operation lever is tilted in the first operation direction to perform the excavation operation by the attachment, and operates the slewing actuator independently in response to the output from the first operation lever when the first operation lever is tilted in the second operation direction to perform the slewing operation. The shovel according to claim 1.

6. The control device operates a plurality of attachment actuators to perform the excavation operation by the attachment when the first operating lever is tilted in a first direction in the first operating direction, and operates a plurality of attachment actuators to perform the soil removal operation by the attachment when the first operating lever is tilted in a second direction in the first operating direction. A shovel according to any one of claims 1 to 5.

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