Excavator control system

Abstract

To reduce a burden on an operator.SOLUTION: A shovel includes: a lower traveling body; an upper turning body turnably mounted on the lower traveling body; an attachment mounted on the upper turning body; a bucket provided on the tip of the attachment; an operation device; a communication device which is configured to transmit and receive information to / from an external device; and a control device which is configured to be capable of switching between first control for controlling at least one or more of the upper turning body, the attachment and the bucket according to first operation information received by the operation device, and second control for receiving a control signal for controlling at least one of the upper turning body, the attachment and the bucket from the external device, and performing control in response to the received control signal.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to , an excavator control system. Background Art

[0002] In recent years, so-called ICT (Information and Communication Technology) excavators have been proposed, in which operations are semi-automated or fully automated based on position information obtained by GNSS (Global Navigation Satellite System) and three-dimensional design information. For example, Patent Document 1 proposes an ICT excavator capable of realizing construction support in accordance with items set on a setting screen. Prior Art Documents Patent Documents

[0003] [Patent Document 1] International Publication No. 2018 / 164152 Summary of the Invention Problems to be Solved by the Invention

[0004] However, for example, an ICT excavator as described in Patent Document 1 is equipped with various sensors, calculates the position and the like of the working part of the ICT excavator based on detection results from the sensors, and needs to be equipped with a controller having high processing performance to perform control based on the calculation result, which results in increased cost. This problem is not limited to ICT excavators that perform semi-automatic control or fully automatic control as described in Patent Document 1, and applies to any ICT excavator that implements advanced control, such as those that perform remote control.

[0005] Therefore, in view of the above problems, the present disclosure proposes a technology that enables advanced control and reduces the operational burden on an operator via support from an external device, even for a standard excavator that is not equipped with high-processing-performance controllers or other equipment like an ICT excavator. [Means for solving the problem]

[0006] To achieve the above objective, a shovel according to one embodiment of the present disclosure The control system is a shovel control system comprising a shovel, an external device, and a spatial recognition device, wherein the spatial recognition device includes a first communication device that transmits measurement information measured around the shovel to the external device, and the shovel is A lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, an attachment to the upper rotating body, and an operating device. The system includes a detection device for detecting the position of the attachment, a second communication device configured to transmit and receive information to and from the external device, and a first control device configured to switch between a first control that controls at least one of the lower traveling body, the upper rotating body, and the attachment according to first operation information received by the operating device, and a second control that receives a control signal from the external device to control at least one of the lower traveling body, the upper rotating body, and the attachment, and controls according to the received control signal. When the second control is performed, the second communication device transmits the position detection result from the detection device to the external device and receives the control signal from the external device to control the attachment based on the detection result. The external device includes a third communication device that receives the measurement information from the spatial recognition device, a storage device that stores construction information indicating the three-dimensional shape of the construction target, and a second control device that generates the control signal for forming the three-dimensional shape of the construction target according to the construction information based on the measurement information, the detection result, and the construction information. The third communication device transmits the control signal to the second communication device. [Effects of the Invention]

[0007] According to the above-described embodiment, by making it possible to switch between the first control and the second control, the burden on the operator can be reduced by switching the control according to the work situation. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing an example of an excavator control system according to the first embodiment. [Figure 2] Figure 2 is a schematic block diagram showing an example of the configuration of an excavator according to the first embodiment. [Figure 3] Figure 3 shows an example of the configuration of the drive control system for an excavator according to the first embodiment. [Figure 4] Figure 4 is a schematic diagram showing an example of the configuration of the hydraulic system of an excavator according to the first embodiment. [Figure 5] Figure 5 shows the details of the configuration related to the machine control function of the excavator according to the first embodiment. [Figure 6] Figure 6 is a functional block diagram showing an example of the functional configuration of the excavator control system according to the first embodiment. [Figure 7] Figure 7 is a conceptual diagram illustrating the virtual work site space generated by the work site space generation unit according to the first embodiment. [Figure 8] Figure 8 shows the operation of the shovel according to the first embodiment, performed in accordance with the received control signal. [Figure 9]FIG. 9 is a sequence diagram showing a flow of processing when performing semi-automatic control of a shovel in the shovel control system according to the first embodiment. [Figure 10] FIG. 10 is a sequence diagram showing a flow of processing when performing fully automatic control of a shovel in the shovel control system according to the second embodiment. [Figure 11] FIG. 11 is a schematic diagram showing a configuration example of the shovel control system according to the third embodiment. [Figure 12] FIG. 12 is a sequence diagram showing a flow of processing when performing semi-automatic control of a shovel by remote operation in the shovel control system according to the third embodiment. MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are illustrative rather than limiting the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and description thereof may be omitted.

[0010] (First Embodiment) First, an outline of a shovel control system SYS will be described with reference to FIG. 1. FIG. 1 is a schematic diagram showing an example of the shovel control system SYS according to the first embodiment.

[0011] As shown in FIG. 1, the shovel control system SYS according to the first embodiment includes a shovel 100, a management device 300 (an example of an external device), and a fixed-point measurement device 400. The shovel 100, the management device 300, and the fixed-point measurement device 400 can transmit and receive information to and from each other via a communication line NW.

[0012] The number of excavators 100 included in the excavator control system SYS may be one, or may be plural. The excavator control system SYS can perform control and the like for each of the plurality of excavators 100.

[0013] Further, the number of management devices 300 included in the excavator control system SYS may be one, or may be plural. Thereby, the excavator control system SYS can implement various functions in a distributed manner by the plurality of management devices 300.

[0014] Further, the number of fixed-point measurement devices 400 included in the excavator control system SYS may be one, or may be plural. Thereby, the excavator control system SYS can measure the space of the work site where the excavator 100 performs work using the plurality of fixed-point measurement devices 400, and recognize the situation of the entire work site based on the measurement results. In the present embodiment, an example in which the fixed-point measurement device 400 is used as an example of a space recognition device that measures a work site will be described, but a drone or a space recognition device owned by an operator, or the like may also be used.

[0015] <Outline of Excavator> With reference to FIG. 2, an outline of the excavator 100 according to the present embodiment will be described. FIG. 2 is a side view of the excavator 100 as an excavator according to the first embodiment. An upper revolving structure 3 is rotatably mounted on a lower traveling body 1 of the excavator 100 via a revolving mechanism 2. A boom 4 is attached to the upper revolving structure 3. An arm 5 is attached to the tip end of the boom 4, and a bucket 6 as an end attachment is attached to the tip end of the arm 5. The end attachment may be a slope bucket, a dredging bucket, or the like.

[0016] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment, and are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively. 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. The excavation attachment may also be provided with a bucket tilt mechanism.

[0017] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the boom angle, which is the rotation angle of the boom 4 relative to the upper slewing body 3. The boom angle is smallest when the boom 4 is lowered to its lowest position, and increases as the boom 4 is raised.

[0018] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The arm angle is smallest when the arm 5 is closed to its shortest extent, and increases as the arm 5 is opened.

[0019] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5. The bucket angle is smallest when the bucket 6 is closed to its fullest extent, and increases as the bucket 6 is opened.

[0020] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle around the connecting pin. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 constitute an attitude sensor that detects the attitude of the excavation attachment.

[0021] 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. Furthermore, the upper rotating body 3 is fitted with an aircraft tilt sensor S4 and a rotational velocity sensor S5. Additionally, the upper rotating body 3 is fitted with a communication device T1 and a positioning device S6.

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

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

[0024] The communication device T1 controls communication between the shovel 100 and the outside world. For example, the communication device T1 controls wireless communication between the shovel 100 and an external GNSS (Global Navigation Satellite System) surveying system. The shovel 100 can acquire design data via wireless communication using the communication device T1. However, the shovel 100 may also acquire design data using semiconductor memory or the like. The design data includes three-dimensional design data.

[0025] The positioning device S6 is configured to acquire information regarding the position of the shovel 100. In this embodiment, the positioning device S6 is configured to measure the position and orientation of the shovel 100. Specifically, the positioning device S6 is a GNSS receiver incorporating an electronic compass, which measures the latitude, longitude, and altitude of the current position of the shovel 100, and also measures the orientation of the shovel 100. The position information acquired by the positioning device S6 is expressed in 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 mass of the Earth, with the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole.

[0026] Inside the cabin 10, an input device D1, a sound output device D2, a display device D3, a storage device D4, a gate lock lever D5, and a controller 30 are installed.

[0027] The controller 30 functions as the main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a processing unit including a CPU and internal memory. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory.

[0028] The input device D1 is a device for the operator of the shovel 100 to input various information to the controller 30. In this embodiment, the input device D1 is a membrane switch mounted around the display device D3. The input device D1 may be installed individually, corresponding to each of the display devices D3. In this case, the input device D1 may be a touch panel.

[0029] The sound output device D2 outputs various audio information in response to sound output commands from the controller 30. In this embodiment, the sound output device D2 is an in-vehicle speaker directly connected to the controller 30. The sound output device D2 may also be an alarm device such as a buzzer.

[0030] The display device D3 outputs various image information in response to commands from the controller 30. In this embodiment, the display device D3 is an in-vehicle liquid crystal display directly connected to the controller 30.

[0031] The storage device D4 is a device for storing various types of information. In this embodiment, a non-volatile storage medium such as a semiconductor memory is used as the storage device D4. The storage device D4 stores design data, etc. The storage device D4 may also store various types of information output by the controller 30, etc.

[0032] The gate lock lever D5 is a mechanism that prevents the shovel 100 from being operated accidentally. In this embodiment, the gate lock lever D5 is located between the door of the cabin 10 and the driver's seat 10S. When the gate lock lever D5 is raised, the various operating devices become operable. On the other hand, when the gate lock lever D5 is pushed down, the various operating devices become inoperable.

[0033] Figure 3 shows an example of the drive control system configuration for the excavator 100 shown in Figure 2. In Figure 3, the mechanical power transmission system is shown by double lines, the hydraulic fluid lines by thick solid lines, the pilot lines by dashed lines, and the electric drive and control system by dotted lines.

[0034] The drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators such as travel hydraulic motors 1L and 1R, a slewing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which hydraulically drive the lower travel body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, respectively.

[0035] The engine 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper slewing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under direct or indirect control by the controller 30 (described later) and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0036] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R, as described later.

[0037] The main pump 14, like the engine 11, is mounted at the rear of the upper slewing body 3 and supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate (discharge pressure). The main pump 14 includes, for example, main pumps 14L and 14R, as described later.

[0038] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve 17 includes control valves 171 to 176. Control valve 175 includes control valves 175L and 175R, and control valve 176 includes control valves 176L and 176R. The control valve 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through control valves 171 to 176. Control valves 171 to 176 control, 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 1L, 1R, and a slewing hydraulic motor 2A. More specifically, control valve 171 corresponds to the left travel hydraulic motor 1L, control valve 172 corresponds to the right travel hydraulic motor 1R, and control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, control valve 174 corresponds to the bucket cylinder 9, control valve 175 corresponds to the boom cylinder 7, and control valve 176 corresponds to the arm cylinder 8. Additionally, control valve 175 includes, for example, control valves 175L and 175R, as described later, and control valve 176 includes, for example, control valves 176L and 176R, as described later. Details of control valves 171-176 will be described later.

[0039] 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 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.

[0040] 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.

[0041] 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. The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R, as described later.

[0042] 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 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 17.

[0043] 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 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 17 via the proportional valve 31, independently of the operator's operation of the operating device 26. The proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, and 31CR, as described later.

[0044] 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.

[0045] For example, the controller 30 sets a target rotational speed based on a predetermined work mode, etc., set by a predetermined operation by an operator, and performs drive control to keep the engine 11 rotating at a constant speed.

[0046] Furthermore, for example, the controller 30 outputs control commands to the regulator 13 as needed, thereby changing the discharge rate of the main pump 14.

[0047] Furthermore, for example, the controller 30 performs control related to a machine guidance function that guides the manual operation of the shovel 100 by the operator through the operating device 26. Also, the controller 30 performs control related to a machine control function that automatically assists the manual operation of the shovel 100 by the operator through the operating device 26.

[0048] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). That is, the functions of controller 30 may be implemented in a manner distributed among multiple controllers. For example, machine guidance functions and machine control functions may be implemented by dedicated controllers (control devices).

[0049] [Excavator hydraulic system] Next, with reference to Figure 4, the hydraulic system of the excavator 100 according to this embodiment will be described.

[0050] Figure 4 is a schematic diagram showing an example of the configuration of the hydraulic system of the excavator 100 according to this embodiment.

[0051] In Figure 4, the mechanical power system, hydraulic fluid lines, pilot lines, and electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively, as in Figure 3 and other figures.

[0052] The hydraulic system realized by this hydraulic circuit circulates hydraulic fluid from the main pumps 14L and 14R, each driven by the engine 11, through the center bypass oil passages C1L and C1R and the parallel oil passages C2L and C2R to the hydraulic fluid tank.

[0053] The center bypass oil passage C1L starts from the main pump 14L and passes sequentially through control valves 171, 173, 175L, and 176L located within the control valve 17, before reaching the hydraulic oil tank.

[0054] The center bypass oil passage C1R starts from the main pump 14R and passes sequentially through control valves 172, 174, 175R, and 176R located within the control valve 17, before reaching the hydraulic oil tank.

[0055] The control valve 171 is a spool valve that supplies the hydraulic fluid discharged from the main pump 14L to the travel hydraulic motor 1L, and also discharges the hydraulic fluid discharged by the travel hydraulic motor 1L to the hydraulic fluid tank.

[0056] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged from the main pump 14R to the travel hydraulic motor 1R, and also discharges the hydraulic fluid discharged by the travel hydraulic motor 1R to the hydraulic fluid tank.

[0057] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged from the main pump 14L to the swivel hydraulic motor 2A, and also discharges the hydraulic fluid discharged by the swivel hydraulic motor 2A to the hydraulic fluid tank.

[0058] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged from the main pump 14R to the bucket cylinder 9 and discharges the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0059] Control valves 175L and 175R are spool valves that supply the hydraulic fluid discharged by the main pumps 14L and 14R to the boom cylinder 7, and also discharge the hydraulic fluid from the boom cylinder 7 to the hydraulic fluid tank.

[0060] The control valves 176L and 176R supply the hydraulic fluid discharged by the main pumps 14L and 14R to the arm cylinder 8, and also discharge the hydraulic fluid from the arm cylinder 8 to the hydraulic fluid tank.

[0061] Control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R each adjust the flow rate of hydraulic fluid supplied to and discharged from the hydraulic actuator, or switch the direction of flow, in accordance with the pilot pressure acting on the pilot port.

[0062] The parallel oil passage C2L supplies 14L of hydraulic fluid from the main pump to control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage C1L. Specifically, the parallel oil passage C2L branches off from the center bypass oil passage C1L upstream of control valve 171 and is configured to supply 14L of hydraulic fluid from the main pump to each of the control valves 171, 173, 175L, and 176R in parallel. As a result, the parallel oil passage C2L can supply hydraulic fluid to the control valve further downstream if the flow of hydraulic fluid through the center bypass oil passage C1L is restricted or blocked by any of the control valves 171, 173, or 175L.

[0063] The parallel oil passage C2R supplies hydraulic fluid for the main pump 14R to control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage C1R. Specifically, the parallel oil passage C2R branches off from the center bypass oil passage C1R upstream of control valve 172 and is configured to supply hydraulic fluid for the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. The parallel oil passage C2R can supply hydraulic fluid to the control valves further downstream if the flow of hydraulic fluid through the center bypass oil passage C1R is restricted or blocked by any of the control valves 172, 174, or 175R.

[0064] Regulators 13L and 13R adjust the discharge volume of main pumps 14L and 14R by adjusting the tilt angle of the swash plate of the main pumps 14L and 14R, respectively, under the control of controller 30.

[0065] The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and the detection signal corresponding to the detected discharge pressure is input to the controller 30. The same applies to the discharge pressure sensor 28R. As a result, the controller 30 can control the regulators 13L and 13R according to the discharge pressure of the main pumps 14L and 14R.

[0066] In the center bypass oil passages C1L and C1R, negative control throttles (hereinafter referred to as "negative throttles") 18L and 18R are provided between the downstream control valves 176L and 176R and the hydraulic oil tank, respectively. As a result, the flow of hydraulic oil discharged by the main pumps 14L and 14R is restricted by the negative control throttles 18L and 18R. The negative control throttles 18L and 18R then generate a control pressure (hereinafter referred to as "negative control pressure") to control the regulators 13L and 13R.

[0067] The negative control pressure sensors 19L and 19R detect the negative control pressure, and the detection signal corresponding to the detected negative control pressure is input to the controller 30.

[0068] The controller 30 may control the regulators 13L and 13R in accordance with the discharge pressure of the main pumps 14L and 14R detected by the discharge pressure sensors 28L and 28R, thereby adjusting the discharge volume of the main pumps 14L and 14R. For example, the controller 30 may reduce the discharge volume by controlling the regulator 13L in accordance with an increase in the discharge pressure of the main pump 14L, thereby adjusting the swash plate tilt angle of the main pump 14L. The same applies to the regulator 13R. In this way, the controller 30 can control the total horsepower of the main pumps 14L and 14R so that the absorption horsepower of the main pumps 14L and 14R, which is expressed as the product of discharge pressure and discharge volume, does not exceed the output horsepower of the engine 11.

[0069] Furthermore, the controller 30 may adjust the discharge rate of the main pumps 14L and 14R by controlling the regulators 13L and 13R in accordance with the negative control pressure detected by the negative control pressure sensors 19L and 19R. For example, the controller 30 may decrease the discharge rate of the main pumps 14L and 14R as the negative control pressure increases, and increase the discharge rate of the main pumps 14L and 14R as the negative control pressure decreases.

[0070] Specifically, in the standby state where none of the hydraulic actuators in the shovel 100 are operated (as shown in Figure 4), the hydraulic fluid discharged from the main pumps 14L and 14R passes through the center bypass oil passages C1L and C1R to the negative control throttles 18L and 18R. The flow of hydraulic fluid discharged from the main pumps 14L and 14R increases the negative control pressure generated upstream of the negative control throttles 18L and 18R. As a result, the controller 30 reduces the discharge volume of the main pumps 14L and 14R to the minimum allowable discharge volume, suppressing pressure loss (pumping loss) as the discharged hydraulic fluid passes through the center bypass oil passages C1L and C1R.

[0071] On the other hand, when any of the hydraulic actuators is operated through the operating device 26, the hydraulic fluid discharged from the main pumps 14L and 14R flows into the hydraulic actuator being operated via the control valve corresponding to the hydraulic actuator being operated. The flow of hydraulic fluid discharged from the main pumps 14L and 14R reduces or eliminates the amount reaching the negative control thresholds 18L and 18R, thereby lowering the negative control pressure generated upstream of the negative control thresholds 18L and 18R. As a result, the controller 30 increases the discharge volume of the main pumps 14L and 14R, circulating sufficient hydraulic fluid to the hydraulic actuator being operated, and ensuring that the hydraulic actuator is driven reliably.

[0072] 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.

[0073] 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, the hydraulic fluid discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When the left operating lever 26L is operated in the left / right direction, the hydraulic fluid discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0074] 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.

[0075] 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, the hydraulic fluid discharged by the pilot pump 15 is used 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, the hydraulic fluid discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0076] 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.

[0077] 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."

[0078] 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.

[0079] 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.

[0080] 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).

[0081] 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.

[0082] 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 aperture 18 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The aperture 18 includes a left aperture 18L and a right aperture 18R, and the control pressure sensor 19 includes negative control pressure sensors 19L and 19R.

[0083] [Details of the excavator's machine control function configuration] Next, with reference to Figure 5, we will describe the details of the configuration of the machine control functions of the shovel 100.

[0084] Figure 5 shows an excerpt of a portion of the hydraulic system. Specifically, Figure 5(A) is an excerpt of the hydraulic system portion related to the operation of the arm cylinder 8, Figure 5(B) is an excerpt of the hydraulic system portion related to the operation of the boom cylinder 7, Figure 5(C) is an excerpt of the hydraulic system portion related to the operation of the bucket cylinder 9, and Figure 5(D) is an excerpt of the hydraulic system portion related to the operation of the slewing hydraulic motor 2A.

[0085] As shown in Figure 5, the hydraulic system includes proportional valves 31. Proportional valves 31 include proportional valves 31AL to 31DL and 31AR to 31DR.

[0086] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is located in the pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve 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 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.

[0087] 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.

[0088] For example, as shown in Figure 5(A), 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] Furthermore, although we will omit the explanation with reference to Figures 5(B) to 5(D) below, the same applies when forcibly stopping the movement of boom 4 when the operator is performing boom raising or boom lowering operations, when forcibly stopping the movement of bucket 6 when the operator is performing bucket closing or bucket opening operations, and when forcibly stopping the rotational movement of the upper slewing body 3 when the operator is performing slewing operations.

[0097] The same applies when the lower vehicle 1 is forcibly stopped from moving while the operator is controlling the vehicle's movement.

[0098] Furthermore, as shown in Figure 5(B), 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] Furthermore, as shown in Figure 5(C), 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] Furthermore, as shown in Figure 5(D), 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] Furthermore, 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 forward / backward movement. The operation sensor 29DL electrically detects the forward / backward movement of the left travel lever 26DL by the operator and outputs a current command indicating the detected value to the controller 30. As a result, the controller 30 operates in accordance with the current command.

[0114] Furthermore, 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 a proportional valve (not shown), similar to the configuration described above. This allows the left crawler 1CL to move forward. The controller 30 can also supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 171 via a proportional valve (not shown), allowing the left crawler 1CL to move backward.

[0115] Furthermore, 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 / backward movement. The operation sensor 29DR electrically detects the forward / backward movement of the right travel lever 26DR by the operator and outputs a current command indicating the detected value to the controller 30. As a result, the controller 30 operates in accordance with the current command.

[0116] Furthermore, 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 31, similar to the configuration described above. In other words, it can move the right crawler 1CR forward. The controller 30 can also supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31. In other words, it can move the right crawler 1CR backward.

[0117] 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.

[0118] 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.

[0119] Figure 6 is a functional block diagram showing an example of the functional configuration of the shovel control system SYS according to this embodiment. The configuration of the management device 300 and the fixed-point measurement device 400 will be described. The configuration of the shovel 100 is as described above, so the explanation will be omitted.

[0120] <Configuration of the control device> The management device (an example of an external device) 300 includes a communication device 301, a storage device 302, and a controller 303.

[0121] The communication device 301 is an interface for communicating with external devices such as the shovel 100 and the fixed-point measurement device 400 via a communication line NW. The communication device 301 may be a mobile communication module that supports mobile communication standards such as LTE, 4G, or 5G.

[0122] The controller 303 performs control over the management device 300. The controller 303 may be implemented using, for example, arbitrary hardware or any combination of hardware and software. The controller 303 may be configured around a computer that includes, for example, a processor such as a CPU, a memory device (main memory) such as RAM, an auxiliary storage device such as ROM, and an external interface device. For example, the controller 303 implements various functions by loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU. The program data is acquired by the controller 303 from a predetermined storage medium via, for example, a predetermined external interface, and installed in the auxiliary storage device.

[0123] The storage device 302 is a read / write non-volatile storage medium. The storage device 302 comprises a construction information storage unit 321 and a work site information storage unit 322.

[0124] The construction information storage unit 321 stores construction information for the excavator 100 to perform work at the work site. Construction information is 3D data representing the shape of soil and other materials at the work site after construction. The construction information expresses the 3D shape and position of the object after construction in the aforementioned reference coordinate system.

[0125] The work site information storage unit 322 stores work site information that represents the three-dimensional shape of a virtual work site space generated based on measurement information from the fixed-point measurement device 400. This work site information holds the three-dimensional shape and position of the current objects at the work site in the reference coordinate system described above.

[0126] <Configuration of the fixed-point measurement device> The fixed-point measurement device 400 includes a communication device 401, a location information storage unit 402, a spatial recognition device 403, and a controller 404.

[0127] The communication device 401 is an interface for communicating with external devices such as the shovel 100 and the management device 300 via a communication line NW. The communication device 401 may be a mobile communication module that supports mobile communication standards such as LTE, 4G, or 5G.

[0128] The position information storage unit 402 stores the position information of the fixed-point measurement device 400. The position information is expressed in a reference coordinate system similar to the position information acquired by GNSS, for example. The reference coordinate system is, for example, the World Geodetic System mentioned above.

[0129] The spatial recognition device 403 uses LiDAR to detect objects present in the work site where the shovel 100 is working. The LiDAR measures, for example, the distance between the LiDAR and more than one million points within its monitoring range. This embodiment is not limited to the use of LiDAR; any spatial recognition device capable of measuring the distance to an object is acceptable. For example, a stereo camera may be used, a distance imaging camera, or a distance measuring device such as millimeter-wave radar may be used. If a millimeter-wave radar or the like is used as the spatial recognition device 403, the spatial recognition device 403 may emit a large number of signals (such as laser light) towards an object and receive the reflected signals to derive the distance and direction of the object from the reflected signals.

[0130] The controller 404 performs control related to the fixed-point measuring device 400. The controller 404 may be implemented using, for example, arbitrary hardware, or any combination of hardware and software. The controller 404 may be configured around a computer that includes, for example, a processor such as a CPU, a memory device (main memory) such as RAM, and an auxiliary storage device such as ROM. For example, the controller 404 implements various functions by loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

[0131] [Description of services provided for excavators] The shovel 100 according to this embodiment is not equipped with a spatial recognition device or the like, and the shovel controller 50 of the shovel 100 is not equipped with a program for advanced control such as semi-automatic control that operates according to construction information when a predetermined lever is tilted on the operating device 26.

[0132] This is because, as mentioned above, excavators capable of semi-automatic control are expensive, which can sometimes lead to their limited adoption.

[0133] However, even with the Shovel 100, there are times when it is desirable to use semi-automatic control or similar methods depending on the work process.

[0134] Therefore, in this embodiment, the control device 300 provides support such as semi-automatic control to the shovel 100 so that it operates according to the construction information.

[0135] Specifically, the fixed-point measurement device 400 measures the work site of the shovel 100 and transmits the measurement results to the management device 300. This allows the management device 300 to recognize the surrounding conditions of the shovel 100 in three dimensions. In other words, the management device 300 can recognize the surrounding conditions of the shovel 100 even if the shovel 100 is not equipped with a spatial recognition device. Note that this embodiment does not limit the device that measures the surrounding conditions of the shovel 100 to the fixed-point measurement device 400, but may also be a drone or the like.

[0136] Furthermore, the shovel 100 transmits the position information measured by the positioning device S6 to the management device 300. This allows the management device 300 to recognize the position of the shovel 100 at the work site.

[0137] Furthermore, the control device 300 holds construction information representing the three-dimensional shape of the soil and other materials after construction. As a result, when the control device 300 receives an operation signal from the shovel 100, it generates a control signal corresponding to the operation signal and transmits it to the shovel 100 to perform the work according to the construction information.

[0138] As described above, the excavator 100 according to this embodiment is equipped with an electric operating lever as the form of the operating device 26. Therefore, when the excavator controller 50 of the excavator 100 receives a control signal from the management device 300, it can perform semi-automatic control of at least one of the upper slewing body 3, boom 4, arm 5, and bucket 6 based on the control signal.

[0139] In other words, the shovel controller 50 of the shovel 100 according to this embodiment enables switching between manual control (example of first control), which operates at least one of the upper slewing body 3, boom 4, arm 5, and bucket 6 according to operation information (example of first operation information) received by the operating device 26, and network control (example of second control), which receives control signals from the management device 300 and performs semi-automatic control, etc., according to the received control signals. Manual control and network control will be described later.

[0140] Next, we will describe the functional blocks of the controller 404 of the fixed-point measurement device 400, the shovel controller 50 of the shovel 100, and the controller 303 of the management device 300.

[0141] <<Functional block of the fixed-point measurement device>> This section describes each functional block within the controller 404 of the fixed-point measurement device 400. Each functional block within the controller 404 is conceptual and does not necessarily need to be physically configured as shown in the diagram. It is possible to configure all or part of each functional block by distributing and integrating them functionally or physically in any unit. Each processing function performed in each functional block is realized, in whole or in any part, by a program executed on the CPU. Alternatively, each functional block may be realized as hardware using wired logic.

[0142] The transmission control unit 411 associates the measurement information obtained by the spatial recognition device 403 with the location information stored in the location information storage unit 402 and transmits it to the management device 300. The transmission control unit 411 transmits the measurement information at predetermined intervals. For example, the transmission control unit 411 may perform this operation each time the spatial recognition device 403 acquires measurement information (for example, each time a frame is updated).

[0143] <<Excavator Functional Blocks>> This section describes the functional blocks within the shovel controller (an example of the first control device) 50 of the shovel 100. Each functional block within the shovel controller 50 is conceptual and does not necessarily need to be physically configured as shown in the diagram. All or part of each functional block can be configured by distributing and integrating them functionally or physically in any unit. Each processing function performed in each functional block is realized, all or any part thereof, by a program executed on the CPU. Alternatively, each functional block may be realized as hardware using wired logic. The shovel controller 50, by realizing the program, includes a switching control unit 501, a transmission control unit 502, a reception control unit 503, and a signal output unit 504.

[0144] The switching control unit 501 switches between manual control and network control according to the input operation to the input device D1.

[0145] Manual control (example of first control) refers to control that operates the upper slewing body 3, boom 4, arm 5, or bucket 6 according to the operation received by the operating device 26. For example, if the left operating lever 26L is operated in the forward / backward direction, the control will operate the arm 5 in the closing direction or the arm 5 in the opening direction. In other words, the control will operate the configuration assigned to the operating direction of the operating lever according to the amount of inclination. Thus, manual control does not include control of the shovel 100 based on construction information that shows the three-dimensional shape of the construction target.

[0146] Network control (an example of second control) refers to a control method that receives a control signal from the management device 300 and operates at least one of the upper slewing body 3, boom 4, arm 5, and bucket 6 based on the control signal. For example, the control signal transmitted from the management device 300 in network control may be a signal that controls the shovel 100 (e.g., semi-automatic control or fully automatic control) to form the three-dimensional shape of the construction target based on construction information.

[0147] For example, after loading soil into the bucket 6, the network control system receives control signals to operate the boom 4, arm 5, and bucket 6 to raise the boom 4 while maintaining the horizontal position of the opening surface of the bucket 6 so as to maintain the soil load in the bucket 6. Based on these control signals, the system operates the boom 4, arm 5, and bucket 6.

[0148] Another example of network control is when forming a defined three-dimensional shape on a construction target according to construction information, for example, when forming a slope on soil, operation information indicating an operation to open the arm 5 is transmitted to the control device 300. This receives a control signal that operates the boom 4, arm 5, and bucket 6 so that the bottom surface of the bucket 6 moves along the slope, and semi-automatic control is performed to operate the boom 4, arm 5, and bucket 6 based on the control signal.

[0149] Furthermore, network control is not limited to the control described above; any control that allows the management device 300 to provide support for operations such as semi-automatic control in response to operations received by the operating device 26 is acceptable.

[0150] The transmission control unit 502 controls the transmission of various information to the management device 300 via the communication device T1. For example, if the switching control unit 501 has switched to network control, the transmission control unit 502 transmits to the management device 300 operation information (an example of second operation information) indicating the operation received by the operating device 26, detection information indicating the detection results from various sensors provided on the shovel 100, and position information (including orientation) of the shovel 100 acquired by the positioning device S6. The detection information includes, for example, information for identifying the positions of the boom 4, arm 5, and bucket 6 (attachment), such as the rotation angle of the boom 4 detected by the boom angle sensor (an example of a detection device) S1, the rotation angle of the arm 5 detected by the arm angle sensor (an example of a detection device) S2, and the rotation angle of the bucket 6 detected by the bucket angle sensor (an example of a detection device) S3.

[0151] The receiving control unit 503 controls the receiving of various information from the management device 300 via the communication device T1. For example, when the transmitting control unit 502 transmits operation information, the receiving control unit 503 receives a control signal from the management device 300 to perform semi-automatic control of the shovel 100 according to the operation information. Also, when detection information is transmitted to the management device 300, the control signal becomes a control signal that performs control based on the positions of the boom 4, arm 5, and bucket 6 determined from the detection information, in other words, the current operating status of the shovel 100.

[0152] The signal output unit 504 outputs control signals to the hydraulic system, etc., for controlling the hydraulic system, etc. For example, if the switching control unit 501 has switched to manual control, the signal output unit 504 outputs a control signal to the hydraulic system to operate the configuration corresponding to the direction of operation in response to the operation received by the operating device 26.

[0153] For example, if the switching control unit 501 has switched to network control, the signal output unit 504 outputs the control signal received from the management device 300 to the hydraulic system. This enables semi-automatic control, etc., based on support from the management device 300.

[0154] <<Functional blocks of the management device>> The following describes each functional block within the controller (an example of a second control device) 303 of the management device 300. Each functional block within the controller 303 is conceptual and does not necessarily need to be physically configured as shown in the diagram. All or part of each functional block can be configured by distributing and integrating them functionally or physically in any unit. Each processing function performed in each functional block is realized, all or any part thereof, by a program executed on the CPU. Alternatively, each functional block may be realized as hardware using wired logic. The controller 303, by realizing the program, includes a receiving control unit 331, a work site space generation unit 332, a movement trajectory generation unit 333, a signal generation unit 334, and a transmission control unit 335.

[0155] The control device 300 is a device provided to support the work performed by the shovel 100. The control device 300 may be implemented as a server or other device. However, the control device 300 is not limited to being provided from a server or the like, and may also be implemented as a cloud service.

[0156] The control device 300 generates a control command for performing work when the shovel 100 is switched to network control, and performs control to transmit the generated control command to the shovel 100.

[0157] The control device 300 may provide control support for the excavator 100, for example, as a paid service. For example, the control device 300 may measure the time from when the excavator 100 is switched to network control until the network control is terminated. The administrator of the control device 300 may then bill the administrator of the excavator 100 for an amount corresponding to the measured time. The billing method may be in any form, and may be a fixed fee on a daily or monthly basis.

[0158] The receiving control unit 331 controls the reception of various information from the fixed-point measuring device 400 and the shovel 100 via the communication device T2.

[0159] For example, the receiving control unit 331 receives measurement information and location information from the fixed-point measurement device 400.

[0160] In another example, the receiving control unit 331 receives position information, detection information, and operation information from the shovel 100. The detection information includes the detection results of various sensors. The detection results of the various sensors include, for example, the rotation angle of the boom 4 detected by the boom angle sensor S1, the rotation angle of the arm 5 detected by the arm angle sensor S2, and the rotation angle of the bucket 6 detected by the bucket angle sensor S3. Since the control device 300 has the sizes of the boom 4, arm 5, and bucket 6 stored in advance, it can recognize the current status of the attachments of the shovel 100, including the position of the bucket 6. Therefore, the control device 300 can grasp the current position of the shovel 100 and its current operating status, including the attachments. The detection information may also include the detection results of the machine tilt sensor S4 and the slewing angular velocity sensor S5. If these detection results are included, the control device 300 can generate control signals that take these detection results into consideration.

[0161] The work site space generation unit 332 generates a virtual work site space representing the three-dimensional shape of the work site based on the measurement information and position information received by the receiving control unit 331 from the fixed-point measurement device 400. The measurement information is the measurement result indicating the distance to an object in the work site relative to the fixed-point measurement device 400. In other words, the distance to an object from the position indicated by the position information can be recognized from the measurement information and position information. Therefore, the work site space generation unit 332 can generate a three-dimensional map representing the position and shape of objects present in the work site from the position information and measurement information from each of the multiple fixed-point measurement devices 400 placed in the work site. The generated three-dimensional map is stored in the work site information storage unit 322.

[0162] The movement trajectory generation unit 333 generates a movement trajectory for one or more of the bucket 6, upper slewing body 3, and lower traveling body 1 of the shovel 100 when network control is selected for the shovel 100.

[0163] For example, when the bucket 6 is loaded with soil or other materials and the system receives operation information indicating that the boom 4 should be raised, the movement trajectory generation unit 333 generates a movement trajectory for the bucket 6 to raise the boom 4 while maintaining the opening surface of the bucket 6 in a substantially horizontal position.

[0164] Another example is generating a movement trajectory for bucket 6 to construct soil represented on a 3D map into the shape indicated in the construction information.

[0165] The signal generation unit 334 generates control signals for the bucket 6, upper slewing body 3, or lower traveling body 1 of the shovel 100 to move along the generated movement trajectory, based on the current status of the shovel 100 indicated by the detection information. The generated control signals are used to operate one or more of the boom 4, arm 5, bucket 6, upper slewing body 3, and lower traveling body 1.

[0166] The transmission control unit 335 transmits the control signal generated by the signal generation unit 334 to the shovel 100. This allows the shovel 100 to perform semi-automatic control, etc., according to the movement trajectory generated by the control device 300.

[0167] <Description of specific tasks> Next, the process by which the management device 300 generates control signals will be explained. Figure 7 is a conceptual diagram illustrating the virtual work site space generated by the work site space generation unit 332.

[0168] The 3D map of the virtual work site space 1701 shown in Figure 7 was generated based on measurement information and positional information from the fixed-point measurement device 400. Furthermore, the construction information indicates that the slope 1702 should be constructed.

[0169] The work site space generation unit 332 generates position coordinates P(x) indicating the position 1713 of the bucket 6 in the machine coordinate system 1712 of the shovel 100, based on the size of each component of the shovel 100, as well as the rotation angles of the boom 4, the arm 5, and the bucket 6 included in the detected information. L ,y L ,z L ) can be identified.

[0170] The control device 300 receives position information (including orientation) of the shovel 100 from the shovel 100, which is acquired by the positioning device S6. The position information (including orientation) indicates the position and orientation of the shovel 100 in the reference coordinate system 1711, in other words, the relative positional relationship between the reference coordinate system 1711 and the machine coordinate system 1712. Therefore, the work site space generation unit 332 generates position coordinates P(x) indicating the position 1713 of the bucket 6 in the reference coordinate system 1711, based on the relative position between the reference coordinate system 1711 and the machine coordinate system 1712. G ,y G ,z G ) can be identified.

[0171] The movement trajectory generation unit 333 can generate a movement trajectory that moves the bucket 6 to construct the slope 1702, using the bucket 6's current position as the starting point.

[0172] Next, the control signals transmitted to the shovel 100 will be described. Figure 8 shows the operation performed by the shovel 100 according to the received control signals in this embodiment. In the example shown in Figure 8, the movement trajectory 1802 of the bucket 6 of the shovel 100 is generated in order to construct the slope 1801.

[0173] The control device 300 generates and transmits control signals to rotate the bucket 6 in the rotational direction 1811, rotate the arm 5 in the rotational direction 1812, and rotate the boom 4 in the rotational direction 1813, in order to move the bucket 6 along the movement trajectory 1802.

[0174] Then, when the receiving control unit 503 of the shovel 100 receives a control signal, the signal output unit 504 outputs the received control signal to the hydraulic system or the like. In this way, this embodiment makes it possible to provide semi-automatic control and the like to the shovel 100.

[0175] <Processing flow in the SYS excavator control system> Next, the processing flow when semi-automatic control is performed on the shovel 100 in the shovel control system SYS according to this embodiment will be described. Figure 9 is a sequence diagram showing the processing flow when semi-automatic control of the shovel 100 is performed in the shovel control system SYS according to this embodiment.

[0176] First, the fixed-point measurement device 400 uses the spatial recognition device 403 to measure objects and other things in its surroundings (S1801). Then, the transmission control unit 411 of the fixed-point measurement device 400 transmits the measurement information, which is the measurement result, to the management device 300 (S1802).

[0177] Then, the work site space generation unit 332 of the management device 300 generates a 3D map of the virtual work site space 1701 based on the received measurement information (S1803). Note that the processing from S1801 to S1803 may be performed by updating the 3D map stored in the work site information storage unit 322 each time the fixed-point measurement device 400 takes a measurement.

[0178] Then, in the shovel 100, the switching control unit 501 switches to network control according to the operation received from the input device D1 (S1804).

[0179] Then, the transmission control unit 502 of the shovel 100 notifies the management device 300 that it has switched to network control (S1805).

[0180] Upon receiving notification that a switch has been made, the movement trajectory generation unit 333 of the management device 300 reads the construction information of the shovel 100 from the construction information storage unit 321 (S1806).

[0181] The shovel controller 50 of the shovel 100 acquires detection information showing the detection results of various sensors and position information from the positioning device S6 (S1807). The acquisition of detection information and position information is performed periodically. Then, the transmission control unit 502 transmits the detection information and position information to the management device 300 (S1808).

[0182] Then, the movement trajectory generation unit 333 of the management device 300 generates a movement trajectory for performing construction work according to the construction information, starting from the current position of the shovel 100 (S1809).

[0183] Again, the shovel controller 50 of the shovel 100 acquires detection information showing the detection results of various sensors and position information from the positioning device S6 (S1810). Furthermore, the shovel controller 50 accepts operation from the operating device 26 (S1811).

[0184] Then, the transmission control unit 502 transmits location information, detection information, and operation information (S1812).

[0185] Then, when the receiving control unit 331 of the management device 300 receives position information, detection information, and operation information, the signal generation unit 334 generates a control signal to move the lower traveling body 1 or bucket 6, etc., from its current position according to the movement trajectory (S1813).

[0186] The transmission control unit 335 transmits the control signal generated by the signal generation unit 334 to the shovel 100 (S1814).

[0187] The signal output unit 504 outputs the received control signal to the hydraulic system (S1815). In this embodiment, the processes from S1810 to S1815 are repeated in order to operate the shovel 100 along the movement trajectory.

[0188] In the embodiment described above, the control device 300 transmits a control signal to the shovel 100, enabling advanced control, such as semi-automatic control, to be achieved in the shovel 100 as well. Therefore, the operator's workload can be reduced.

[0189] (Modification 1 of the first embodiment) In the embodiments described above, an example was explained in which the management device 300 recognizes the current position and current operating status (for example, the position of the bucket 6) of the shovel 100 by receiving position information and detection information from the shovel 100. However, the embodiments described above do not limit the method for recognizing the current position and current operating status of the shovel 100 to a method based on position information and detection information from the shovel 100. In a modified example, an example will be described in which the position and operating status of the shovel 100 are identified based on measurement information from a fixed-point measurement device 400.

[0190] The fixed-point measurement device 400 in this modified example transmits measurement information. The measurement information includes information indicating the distance to an object, and therefore also includes the position of the shovel 100 relative to the fixed-point measurement device 400, as well as the shape of the shovel 100. For this reason, the work site space generation unit 332 recognizes the position and shape of the shovel 100 based on the received measurement information. The shape of the shovel 100 allows for the recognition of the position of the attachment. In other words, the management device 300 in this modified example can identify the position of the shovel 100 and the operating status of the shovel 100 (for example, the position of the bucket 6) from the measurement information.

[0191] Furthermore, the fixed-point measurement device 400 may be equipped with an imaging device. The fixed-point measurement device 400 may transmit the image information captured by the imaging device to the management device 300. The work site space generation unit 332 of the management device 300 may determine the position and operating status of the shovel 100 based on a combination of measurement information and image information.

[0192] (Modification 2 of the first embodiment) The above-described embodiment explains the case in which the control device 300 performs control based on measurement information from the fixed-point measurement device 400. However, the above-described embodiment is not limited to the case in which the fixed-point measurement device 400 performs measurements. For example, a detachable spatial recognition device may be provided for the shovel 100.

[0193] Then, before performing network control, a spatial recognition device is attached to the shovel 100. The communication device T1 of the shovel 100 may then transmit the measurement information, which is the measurement result of the spatial recognition device, to the management device 300.

[0194] Furthermore, the detachable configuration for the shovel 100 is not limited to the spatial recognition device; one or more of the positioning device S6, boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may also be detachable.

[0195] In other words, in this modified example, the same control as in the above-described embodiment is achieved by attaching the positioning device S6, boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 to the shovel 100 along with the spatial recognition device.

[0196] The spatial recognition device, positioning device S6, boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be borrowed from, for example, a designated supplier. These components borrowed from the designated supplier may then be attached to the shovel 100.

[0197] In this modified version, the cost would increase if the sensing-related components were standard equipment on the shovel 100, while there is also a demand for semi-automatic control using these sensing components. Therefore, this modified version proposes a method of attaching the sensing-related components to the shovel 100 as needed. Thus, even if the fixed-point measurement device 400 is not installed at the work site as in the above-described embodiment, the control device 300 can provide support for controlling the shovel 100. This reduces the workload on the operator.

[0198] (Second embodiment) In the above-described embodiment, an example was explained in which the control device 300 generates and transmits a control signal when it receives operation information from the shovel 100, in a so-called semi-automatic control manner. However, the embodiment is not limited to the example of semi-automatic control as described above, and the control device 300 may also perform fully automatic control of the shovel 100. Therefore, in the second embodiment, a case in which the shovel 100 is fully automatic will be described. The configuration of the control device 300 and the shovel 100 is the same as in the above-described embodiment, so the description will be omitted.

[0199] <Processing flow in the SYS excavator control system> Next, the processing flow when semi-automatic control is performed on the shovel 100 in the shovel control system SYS according to this embodiment will be described. Figure 10 is a sequence diagram showing the processing flow when fully automatic control is performed on the shovel 100 in the shovel control system SYS according to this embodiment.

[0200] First, the management device 300 generates a 3D map of the work site using the same process as described in S1801 to S1803 (S2001 to S2003). Note that the 3D map may be updated each time the fixed-point measurement device 400 takes a measurement during the process in S2001 to S2003.

[0201] Then, in the shovel 100, the switching control unit 501 switches to network control according to the operation received from the input device D1 (S2004). In this embodiment, when switching to network control, fully automatic control is performed as an example. However, the switching method is not limited to this, and when switching to network control, the user may be able to select between the semi-automatic control shown in the first embodiment and the fully automatic control shown in this embodiment.

[0202] Furthermore, this embodiment is not limited to a method of switching to network control by operation from input device D1. For example, the switching control unit 501 may switch to network control according to operation information received from a communication terminal owned by the site manager. In this way, in this embodiment, it is possible to switch to network control even without being on board the shovel 100.

[0203] Subsequently, the control device 300 generates a movement trajectory for the excavator to perform its work through the same process as in S1805-S1809 (S2005-S2009).

[0204] The shovel controller 50 of the shovel 100 acquires detection information showing the detection results of various sensors and position information from the positioning device S6 (S2010). Then, the transmission control unit 502 transmits the detection information and position information to the management device 300 (S2011).

[0205] When the receiving control unit 331 of the management device 300 receives position information and detection information, the signal generation unit 334 generates a control signal to move the lower traveling body 1 or bucket 6, etc., from its current position according to the movement trajectory (S2012).

[0206] The transmission control unit 335 transmits the control signal generated by the signal generation unit 334 to the shovel 100 (S2013).

[0207] The signal output unit 504 outputs the received control signal to the hydraulic system (S2014). In this embodiment, the processes from S2010 to S2014 are repeated in order to operate the shovel 100 along the movement trajectory.

[0208] In other words, in this embodiment, a control signal is generated and transmitted to move the shovel 100 based on the position information and detection information received from the shovel 100. As a result, construction can be carried out by fully automatic control using the shovel 100, even if there is no operator on board the shovel 100.

[0209] (Third embodiment) In the embodiments described above, examples of semi-automatic or fully automatic control of the shovel 100 were explained. However, the control that can be achieved with the shovel 100 is not limited to semi-automatic or fully automatic control. Therefore, in the third embodiment, the case in which remote control is performed with the shovel 100 will be described.

[0210] Figure 11 is a schematic diagram showing an example configuration of the excavator control system SYS1 according to this embodiment. In the example shown in Figure 11, the excavator 100, the control device 300, the fixed-point measurement device 400, and the remote control room RC are connected via a communication line NW. The configuration of the excavator 100 and the control device 300 is the same as in the embodiment described above.

[0211] The fixed-point measurement device 400 may be equipped with an imaging device. The fixed-point measurement device 400 may then transmit measurement information, including image information captured by the imaging device, to the management device 300.

[0212] In the shovel 100, the switching control unit 501 can be switched between network control and manual control. In this embodiment, network control refers to remote control. When switching to network control, it may be possible to select one of the following: semi-automatic control of the shovel 100, fully automatic control of the shovel 100, or remote control of the shovel 100.

[0213] Then, when the system switches to network control, remote control from the remote control room RC begins. Note that the switch to network control is not limited to operations received from the input device D1 of the shovel 100, but may also be based on operation information from the communication terminal of the site manager.

[0214] When the switching control unit 501 switches to network control, the communication device T1 installed on the shovel 100 transmits detection information from various sensors installed on the shovel 100 to the management device 300.

[0215] The work site space generation unit 332 of the management device 300 generates a 3D map of the work site and, based on the 3D map and received image information, generates a display screen showing the position of the shovel 100 and its surroundings. The display screen may be a virtual display screen showing the surroundings of the shovel 100 from the perspective of the cabin 10 of the shovel 100, an overhead view display screen showing the surroundings of the shovel 100, a virtual 3D map of the work site, or a combination of these. The transmission control unit 335 then transmits the generated display screen to the remote control room RC.

[0216] The remote control room RC of the excavator control system SYS1 according to this embodiment is equipped with a display device DR, an operating device D1R, a pressure sensor D2R, an operator's seat DS, a remote controller 80, and a communication device T2. The operator OP sits in the operator's seat DS.

[0217] The remote controller (an example of a remote control device) 80 provides overall control of the remote control room RC.

[0218] The communication device T2 transmits and receives information between the control device 300 and the shovel 100.

[0219] The display device DR displays the screen received from the control device 300 via the communication device T2. This allows the operator OP, who is in the operator's seat DS, to check the situation around the excavator 100, even if they are in the remote control room RC.

[0220] Operator OP, located at the control station DS in the remote control room RC, performs operations on the control device (an example of a remote control device) D1R. The pressure sensor D2R then detects the operation received by the control device D1R.

[0221] In this embodiment, manual control or semi-automatic control may be performed on the shovel 100 from the remote control room RC.

[0222] When manual control is performed, the remote controller 80 generates a control signal corresponding to the detected operation. For example, one of the operating levers of the operating device D1R is used for slewing and operating the arm 5. When the operating lever is operated in the forward or backward direction, the remote controller 80 generates a control signal that operates the arm cylinder 8 with a control pressure corresponding to the amount of lever operation. In this way, the remote controller 80 generates a control signal for manual control of the shovel 100 according to the amount of operation of the operating lever. The communication device T2 then transmits the generated control signal to the shovel 100. By transmitting the control signal, the remote controller 80 enables remote manual control of the shovel 100.

[0223] Furthermore, the remote control of the shovel 100 from the remote control room RC according to this embodiment is not limited to the manual control described above, but may also be semi-automatic control with assistance from the control device 300. Next, the case of performing semi-automatic control will be described.

[0224] <Processing flow in the SYS1 excavator control system> Next, the processing flow when semi-automatic control is performed on the shovel 100 in the shovel control system SYS1 according to this embodiment will be described. Figure 12 is a sequence diagram showing the processing flow when semi-automatic control of the shovel 100 is performed remotely in the shovel control system SYS1 according to this embodiment.

[0225] First, the fixed-point measurement device 400 measures objects and other things in its surroundings using the spatial recognition device 403 (S2201). In this embodiment, the surroundings may also be imaged using an imaging device. Then, the transmission control unit 411 of the fixed-point measurement device 400 transmits the measurement information, which is the measurement result, to the management device 300 (S2202). This measurement information also includes the image information that has been captured.

[0226] Then, the work site space generation unit 332 of the management device 300 generates a 3D map of the virtual work site space 1701 based on the received measurement information (S2203). The work site space generation unit 332 may also attach image information to the generated 3D shape. The processing in S2201 to S2203 may update the 3D map stored in the work site information storage unit 322 each time the fixed-point measurement device 400 takes a measurement.

[0227] Then, in the shovel 100, the switching control unit 501 switches to network control (remote control) according to the input operation received from the input device D1 or the operation information received from the communication terminal (S2204). In the sequence diagram shown in Figure 12, settings are made for semi-automatic control.

[0228] Then, the transmission control unit 502 of the shovel 100 notifies the management device 300 that it has switched to network control (S2205).

[0229] Then, the work site space generation unit 332 of the management device 300 generates a display screen that can be referenced from the position of the shovel 100 based on a 3D map and image information of the work site (S2206).

[0230] The transmission control unit 335 of the management device 300 transmits the generated display screen to the remote control room RC (S2207).

[0231] The remote controller 80 in the remote control room RC displays the received display screen on the display device DR (S2208).

[0232] Meanwhile, the movement trajectory generation unit 333 of the management device 300 reads the construction information of the shovel 100 from the construction information storage unit 321 (S2209).

[0233] The shovel controller 50 of the shovel 100 acquires detection information showing the detection results of various sensors and position information from the positioning device S6 (S2210). The acquisition of detection information and position information is performed periodically. Then, the transmission control unit 502 transmits the detection information and position information to the management device 300 (S2211).

[0234] Then, the movement trajectory generation unit 333 of the management device 300 generates a movement trajectory for performing construction work according to the construction information, starting from the current position of the shovel 100 (S2212).

[0235] Meanwhile, the shovel controller 50 of the shovel 100 acquires detection information showing the detection results of various sensors and position information from the positioning device S6 (S2213). Then, the transmission control unit 502 transmits the position information and detection information (S2214).

[0236] Meanwhile, the remote controller 80 receives input from the operating device D1R via the pressure sensor D2R (S2215).

[0237] Then, the remote controller 80 uses the communication device T2 to transmit operation information (an example of remote operation information) indicating the received operation (S2216).

[0238] Then, the control device 300, when the receiving control unit 331 receives position information and detection information and receives operation information, generates a control signal 334 to move the lower traveling body 1 or bucket 6, etc., from its current position according to the operation (S2217).

[0239] The transmission control unit 335 transmits the control signal generated by the signal generation unit 334 to the shovel 100 (S2218).

[0240] The signal output unit 504 outputs the received control signal to the hydraulic system (S2219). In this embodiment, the processes from S2213 to S2219 are repeated in order to operate the shovel 100 along the movement trajectory.

[0241] In this embodiment, an example has been described in which the remote control room RC and the control device 300 are provided separately. However, this embodiment is not limited to an example in which the remote control room RC and the control device 300 are provided separately; the control device 300 may also be provided in the remote control room RC.

[0242] In this embodiment, the shovel 100 can be controlled remotely from a remote location by operating it from the remote control room RC. Therefore, even when the work site is in a remote location, it becomes easier to secure an operator for the shovel 100.

[0243] <effect> The excavator 100 according to the above-described embodiment and modified example can switch between manual control and network control by having the above-described configuration. In other words, the excavator 100 can perform work by manual control when advanced control using sensing is not required, and can perform work by network control with support from the management device 300 when advanced control is required. This reduces the workload on the operator.

[0244] In the embodiment described above, the work site is visualized by the fixed-point measurement device 400, so the management device 300 can grasp the conditions of the work site. Therefore, even if the shovel 100 is not equipped with advanced sensing-related configurations, it can perform work based on the conditions of the work site by operating in accordance with the control signals from the management device 300. For example, by following the control signals from the management device 300, the shovel 100 can operate the bucket 6 in such a way as to form a three-dimensional shape of the work site according to the construction information held by the management device 300.

[0245] In the embodiments and modifications described above, the shovel can achieve advanced control such as semi-automatic control, fully automatic control, or remote control without requiring sensing-related components such as a spatial recognition device or a controller capable of MC (machine control) control, thereby reducing costs.

[0246] Although embodiments have been described in detail above, this disclosure is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims. [Explanation of Symbols]

[0247] 100 Shovel 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Aircraft tilt sensor S5 Swivel Angular Velocity Sensor S6 positioning device T1 Communication Device 50 Shovel Controller 501 Switching Control Unit 502 Transmission Control Unit 503 Receiving Control Unit 504 Signal Output Section 400 Fixed-point measurement device 401 Communication equipment 402 Location information storage unit 403 Spatial recognition device 404 Controller 411 Transmission Control Unit 300 Management device 301 Communication equipment 302 Storage device 321 Construction information storage section 322 Work site information storage unit 303 Controller 331 Receiving Control Unit 332 Work site space generation section 333 Movement trajectory generation unit 334 Signal Generation Unit 335 Transmission Control Unit RC Remote Control Room DR display device D1R operating device D2R pressure sensor 80 Remote Controllers T2 Communication Device

Claims

1. A shovel control system comprising a shovel, an external device, and a spatial recognition device, The spatial recognition device includes a first communication device that transmits measurement information of the area around the shovel to the external device. The aforementioned shovel is, The system comprises a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, an attachment attached to the upper rotating body, an operating device, a detection device for detecting the position of the attachment, a second communication device configured to transmit and receive information to and from the external device, and a first control device configured to switch between a first control that controls at least one of the lower traveling body, the upper rotating body, and the attachment according to first operation information received by the operating device, and a second control that receives a control signal from the external device to control at least one of the lower traveling body, the upper rotating body, and the attachment, and controls according to the received control signal. When the second communication device performs the second control, it transmits the position detection result from the detection device to the external device, and receives the control signal from the external device to control the attachment based on the detection result. The external device is, The system comprises a third communication device that receives the measurement information from the spatial recognition device, a storage device that stores construction information indicating the three-dimensional shape of the construction target, and a second control device that generates the control signals for forming the three-dimensional shape of the construction target according to the construction information, based on the measurement information, the detection results, and the construction information. The third communication device transmits the control signal to the second communication device. Excavator control system.

2. The excavator control system further includes a remote control device, The remote control device comprises a fourth communication device and a remote operation device. The fourth communication device transmits the remote control information received by the remote control device to the external device. The second control device further generates the control signal based on the remote operation information. The excavator control system according to claim 1.

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