Shovel and shovel control system

Abstract

To set a driving route suitable for an environment.SOLUTION: An excavator has a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a travel actuator for driving the lower traveling body, and a control device provided on the upper rotating body. The control device operates the travel actuator in response to a travel command according to a travel route generated based on environmental information of a work site.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a shovel and a shovel control system. [Background Art]

[0002] Conventionally, there is known a shovel that autonomously travels along a set travel route by operating a travel actuator based on information about a target position. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] International Publication No. 2019 / 189935 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] The environment of a work site where a shovel performs work changes day by day. For this reason, the travel route of the shovel needs to be set according to the environment of the work site, but the above-described conventional technique does not consider changes in the environment of the work site.

[0005] Therefore, in view of the above problem, an object of the present invention is to set a travel route suited to the environment. [Means for Solving the Problem]

[0006] A shovel according to an embodiment of the present invention includes a lower traveling structure, an upper rotating structure rotatably mounted on the lower traveling structure, a travel actuator that drives the lower traveling structure, and a control device provided on the upper rotating structure. The control device includes information generated from a work history of the shovel indicated by posture information of the shovel Work site The shovel is characterized in that the control device operates the travel actuator in accordance with a travel command corresponding to a travel route generated based on environmental information.

[0007] An embodiment of the present invention is a control system for an excavator that includes an excavator and a control device, wherein the control device includes information generated from the work history of the excavator, indicated by the posture information of the excavator. Work site The system comprises a route generation unit that generates a travel route for the shovel based on environmental information, and a command transmission unit that transmits travel commands to the shovel according to the generated travel route. The shovel comprises a lower traveling body, an upper rotating body that is rotatably mounted on the lower traveling body, a travel actuator that drives the lower traveling body, and a control device provided on the upper rotating body. The control device operates the travel actuator according to the travel commands corresponding to the travel route. [Effects of the Invention]

[0008] You can set a driving route that is suited to the environment. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram shows an example of the system configuration of a control system for an excavator. [Figure 2] This is a functional block diagram showing an example of a controller configuration. [Figure 3] This figure shows an example of the configuration of the drive system for the excavator shown in Figure 1. [Figure 4A] This is a diagram of a part of the drive system related to the operation of the arm cylinder. [Figure 4B] This is a diagram of a part of the drive system related to the operation of the boom cylinder. [Figure 4C] This is a diagram of a part of the drive system related to the operation of the bucket cylinder. [Figure 4D] This is a diagram of a part of the drive system related to the operation of the slewing hydraulic motor. [Figure 5A] This is a diagram of a part of the drive system related to the operation of the left-hand travel hydraulic motor. [Figure 5B]It is a diagram of a part of the drive system related to the operation of the right traveling hydraulic motor. [Figure 6] It is a diagram showing an example of the hardware configuration of the management device. [Figure 7] It is a diagram explaining the functional configuration of the management device. [Figure 8] It is a sequence diagram explaining the operation of the control system according to the first embodiment. [Figure 9] It is a diagram explaining the operation of the control system according to the first embodiment. [Figure 10] It is a diagram explaining the processing of the management device according to the second embodiment. [Figure 11] It is a diagram explaining the operation of the control system according to the second embodiment. [Figure 12] It is a sequence diagram explaining the operation of the control system according to the third embodiment. [Figure 13] It is a diagram explaining the operation of the control system according to the third embodiment. Mode for Carrying Out the Invention

[0010] (First Embodiment) Hereinafter, the shovel control system of the present embodiment will be described with reference to the drawings. Figure 1 is a diagram showing an example of the system configuration of the shovel control system. In the present embodiment, the shovel 100 will be described as an example of construction machinery.

[0011] The shovel control system SYS of the present embodiment includes the shovel 100 and the management device 200. In the following description, the shovel control system SYS is simply referred to as the control system SYS.

[0012] In the control system SYS of the present embodiment, the shovel 100 and the management device 200 are connected via a network or the like.

[0013] In this embodiment, the excavator 100 acquires operational information indicating its own operating status and environmental information indicating the environment surrounding the excavator 100, and transmits the operational information and environmental information to the management device 200. The excavator 100 also receives various information from the management device 200.

[0014] Operating information specifically includes position information indicating the current position of the machine, orientation information indicating the orientation of the machine, attitude information indicating the attitude of the machine, work content information indicating the work being done, work load information indicating the workload during work (arm cylinder pressure, etc.), load rate information indicating the engine load rate, cumulative time information indicating the cumulative operating time, fuel information including fuel injection amount, CO2 emissions, work volume, etc.

[0015] Environmental information includes information generated based on the work history of the excavator 100, which is indicated by the attitude information included in the operational information. Specifically, the information generated based on the work history includes, for example, information indicating the location, size, and shape of embankments and excavated holes as a result of work performed by the excavator 100. Thus, the shape and location of terrain and soil as a result of work may also be included in the environmental information. The information indicating the location, size, and shape of embankments and excavated holes as a result of work is calculated using attitude information indicating the attitude of the machine and work load information, etc.

[0016] Furthermore, environmental information includes information acquired by the spatial recognition device of the shovel 100 (e.g., terrain shape, location and size of obstacles, etc.) and information acquired from each sensor of the shovel 100 (e.g., terrain and soil shape and location as a result of the work). Information indicating the location, size, and shape of embankments and excavated holes as a result of the work may be calculated based on the information acquired by the spatial recognition device.

[0017] Furthermore, environmental information may include information acquired by equipment other than the Shovel 100, but placed at the work site. Specifically, environmental information may include image data captured by an aircraft flying over the work site or by a fixed-point camera installed at the work site. An aircraft flying over the work site or a fixed-point camera installed at the work site are, in other words, examples of spatial recognition devices installed outside the Shovel 100. Image data acquired by an aircraft or a fixed-point camera is an example of output data from a spatial recognition device. In addition, output data from spatial recognition devices installed on other construction machinery other than the Shovel 100 (other shovels, bulldozers, etc.) may also be used.

[0018] Furthermore, environmental information may include information obtained from, for example, an external server of the control system SYS. Information obtained from an external server may include, for example, meteorological information indicating the weather conditions when the shovel 100 acquired the operating information. The information obtained from an external server may also include meteorological information indicating the weather conditions after the acquisition of the operating information.

[0019] The management device 200 of this embodiment periodically updates the 3D map data of the work site based on environmental information. Details of the 3D map of the work site will be described later. The 3D map data may also be updated in response to update commands from workers or managers.

[0020] In this embodiment, the control device 200 generates a travel route from the current position of the shovel 100 to the target position based on environmental information of the work site and the target position of the shovel 100 when the shovel 100 is to be driven. The control device 200 then transmits a travel instruction to the shovel 100 according to the travel route.

[0021] In this embodiment, since the travel route of the shovel 100 to the target location is generated based on environmental information of the work site before the shovel 100 travels, a travel route tailored to the environment of the work site can be generated. Therefore, according to this embodiment, even if, for example, embankments or excavation holes appear in the work site due to daily work, or if puddles appear due to the weather the day before work, an appropriate travel route can be generated according to the daily environment of the work site.

[0022] Although not shown in the diagram, the control system SYS may include support devices maintained by workers at the work site. In this case, the support devices may be able to communicate with the management device 200 and the shovel 100 via a network.

[0023] Furthermore, although the management device 200 is implemented by a single information processing device in the example shown in Figure 1, it is not limited to this. The management device 200 may be implemented by multiple information processing devices. In other words, the functions implemented by the management device 200 may be implemented by multiple information processing devices.

[0024] Next, the shovel 100 of this embodiment will be described. Figure 1 shows a side view of the shovel 100.

[0025] Excavator 100 has a lower traveling body 1, a slewing mechanism 2, and an upper slewing body 3. In excavator 100, the lower traveling body 1 has a crawler 1C, and the upper slewing body 3 is mounted to it so as to be rotatable via the slewing mechanism 2. The lower traveling body 1 also includes the crawler 1C. The crawler 1C is driven by a travel hydraulic motor 2M, which is a travel actuator mounted on the lower traveling body 1. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left travel hydraulic motor 2ML, and the right crawler 1CR is driven by a right travel hydraulic motor 2MR.

[0026] A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6, which serves as an end attachment, is attached to the tip of the arm 5.

[0027] The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of attachment AT. The boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9. 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.

[0028] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the rotation angle of the boom 4 relative to the upper slewing body 3 (hereinafter referred to as "boom angle"). The boom angle is smallest when the boom 4 is lowered to its lowest position, and increases as the boom 4 is raised.

[0029] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle"). The arm angle is smallest when the arm 5 is closed to its shortest extent, and increases as the arm 5 is opened.

[0030] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). The bucket angle is smallest when the bucket 6 is closed to its fullest extent, and increases as the bucket 6 is opened.

[0031] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, a rotary encoder for detecting the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor. Alternatively, the boom angle sensor S1 may be an operation detection unit (operation sensor 29LA, described later) for detecting the amount of operation of the boom operation lever (described later). In this case, the controller 30 may calculate the boom angle based on the output of the operation sensor 29LA. The same applies to the arm angle sensor S2 and bucket angle sensor S3.

[0032] The boom cylinder 7 is equipped with a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B. The arm cylinder 8 is equipped with an arm rod pressure sensor S8R and an arm bottom pressure sensor S8B.

[0033] The bucket cylinder 9 is equipped with a bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors".

[0034] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm bottom pressure").

[0035] The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0036] The upper rotating body 3 is equipped with a cabin 10, which serves as the driver's cab, and a power source such as an engine 11. A sensor for detecting CO2 emissions may also be provided near the exhaust mechanism of the engine 11.

[0037] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device D1, an input device D2, an audio output device 43, a storage device 47, a positioning device 73, an aircraft tilt sensor S4, a rotational velocity sensor S5, an imaging device S6, and a communication device T1.

[0038] The upper rotating body 3 may be equipped with a power storage unit for supplying electricity, and a motor-generator that generates electricity using the rotational driving force of the engine 11. The power storage unit may be, for example, a capacitor or a lithium-ion battery. The motor-generator may function as an electric motor to drive a mechanical load, or as a generator to supply power to an electrical load.

[0039] The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, and ROM. Various functions of the controller 30 are realized, for example, by the CPU executing a program stored in ROM. These functions may include, for example, at least one of a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100.

[0040] The controller 30 in this embodiment acquires environmental information, including information acquired by the spatial recognition device 70 of the shovel 100 and information acquired from each sensor of the shovel 100. The controller 30 may also acquire output data as environmental information from spatial recognition devices other than the shovel 100, which are installed at the work site where the shovel 100 is performing its work.

[0041] The display device D1 is configured to display various types of information. The display device D1 may be connected to the controller 30 via a communication network such as CAN, or it may be connected to the controller 30 via a dedicated line.

[0042] The input device D2 is configured to allow the operator to input various information to the controller 30. The input device D2 includes at least one of the following, such as a touch panel, knob switch, and membrane switch, which are installed inside the cabin 10.

[0043] The audio output device 43 is configured to output sound. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as sound in response to an audio output command from the controller 30.

[0044] The storage device 47 is configured to store various types of information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the shovel 100, or it may store information acquired via various devices before the operation of the shovel 100 begins.

[0045] The storage device 47 may store data relating to the target construction surface, for example, obtained via a communication device T1. The target construction surface may be set by the operator of the shovel 100, or by the construction manager or the like.

[0046] The positioning device 73 is configured to measure the position of the upper rotating body 3. The positioning device 73 may also be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device 73 is, for example, a GNSS compass, which detects the position and orientation of the upper rotating body 3 and outputs the detected values ​​to the controller 30. Therefore, the positioning device 73 can also function as an orientation detection device to detect the orientation of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper rotating body 3.

[0047] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the longitudinal tilt angle of the upper rotating body 3 around the longitudinal axis and the lateral tilt angle around the lateral axis with respect to a virtual horizontal plane. The longitudinal axis and lateral axis of the upper rotating body 3 are orthogonal to each other at the shovel center point, which is a point on the rotation axis of the shovel 100.

[0048] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. The rotational angular velocity sensor S5 may also be configured to detect or calculate the rotation angle of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver, a rotary encoder, or the like.

[0049] The imaging device S6 is an example of a spatial recognition device and is configured to acquire images of the area around the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F for imaging the space in front of the shovel 100, a left camera S6L for imaging the space to the left of the shovel 100, a right camera S6R for imaging the space to the right of the shovel 100, and a rear camera S6B for imaging the space behind the shovel 100.

[0050] The imaging device S6 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device D1. The imaging device S6 may also be a stereo camera, a depth image camera, etc. Furthermore, the imaging device S6 may be replaced by other spatial recognition devices such as a 3D depth image sensor, an ultrasonic sensor, a millimeter-wave radar, a LiDAR or an infrared sensor, or by a combination of other spatial recognition devices and a camera.

[0051] The front camera S6F is mounted, for example, on the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may also be mounted on the roof of the cabin 10, the side of the boom 4, or other location outside the cabin 10. The left camera S6L is mounted on the upper left end of the upper surface of the upper slewing body 3, the right camera S6R is mounted on the upper right end of the upper surface of the upper slewing body 3, and the rear camera S6B is mounted on the upper rear end of the upper surface of the upper slewing body 3. The image data captured by the imaging device S6 of this embodiment may be included in the environmental information.

[0052] The communication device T1 is configured to control communication with external devices located outside the excavator 100. In this embodiment, the communication device T1 controls communication with external devices via a satellite communication network, a mobile phone communication network, or the Internet network. The external devices are, for example, a management device 200 such as a server installed in an external facility, or a support device such as a smartphone carried by a worker around the excavator 100.

[0053] Furthermore, the communication device T1 may receive travel instructions from the management device 200 according to the travel route. The travel instructions received by the communication device T1 are transmitted to the controller 30 in the shovel 100.

[0054] Next, with reference to Figure 2, an example configuration of the controller 30 will be described. Figure 2 is a functional block diagram showing an example configuration of the controller. In the example in Figure 2, the controller 30 is configured to receive signals output from at least one of the following: attitude detection device 71, spatial recognition device 70, information input device 72, positioning device 73, and anomaly detection sensor 74, perform various calculations, and output control commands to proportional valves 31 and 33, etc. The attitude detection device 71 includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine tilt sensor S4, and a slewing angular velocity sensor S5.

[0055] The information input device 72 in this embodiment is configured to allow the operator of the shovel 100 to input information to the controller 30. In this embodiment, the information input device 72 is a switch panel installed in close proximity to the display unit of the display device D1. However, the information input device 72 may be a touch panel placed on top of the display unit of the display device D1, or it may be an audio input device such as a microphone. Furthermore, the information input device 72 may be a communication device. In this case, the information input device 72 can receive travel commands transmitted from the management device 200 and input travel commands to the controller 30.

[0056] The controller 30 shown in Figure 2 is mainly connected to the anomaly detection sensor 74 and includes a target setting unit F1, an anomaly monitoring unit F2, a stop determination unit F3, an intermediate target setting unit F4, a position calculation unit F5, an object detection unit F6, a speed command generation unit F7, a speed calculation unit F8, a speed limiting unit F9, a flow rate command generation unit F10, and an obstacle evaluation unit F11.

[0057] The attitude detection unit 30C is configured to detect information regarding the attitude of the shovel 100. In the example shown in Figure 2, the attitude detection unit 30C determines whether the attitude of the shovel 100 is in a driving position. If the attitude detection unit 30C determines that the attitude of the shovel 100 is in a driving position, it is configured to allow the shovel 100 to perform autonomous driving.

[0058] The target setting unit F1 is configured to set targets related to the autonomous driving of the shovel 100. In the example shown in Figure 2, the target setting unit F1 sets the destination (target position) where the shovel 100 will go when it is driven autonomously, and the driving route to reach that destination (target position), etc., as targets based on the output of the information input device 72.

[0059] Specifically, the target setting unit F1 sets the destination selected by the operator of the shovel 100 using the touch panel, or a destination automatically derived, as the target position, and also sets the travel route selected by the operator of the shovel 100 using the touch panel, or a travel route automatically derived, as the target route.

[0060] The operator may set the destination (target position) not only using the display device D1 of the shovel 100, but also by remotely controlling the shovel 100 from outside using at least one of the support device and the management device 200.

[0061] The abnormality monitoring unit F2 is configured to monitor abnormalities in the shovel 100. In the example shown in Figure 2, the abnormality monitoring unit F2 determines the degree of abnormality in the shovel 100 based on the output of the abnormality detection sensor 74. The abnormality detection sensor 74 is, for example, at least one of the following: a sensor that detects abnormalities in the engine 11, a sensor that detects abnormalities related to the temperature of the hydraulic fluid, a sensor that detects abnormalities in the controller 30, etc.

[0062] The stop determination unit F3 is configured to determine whether or not it is necessary to stop the shovel 100 based on various information. In the example shown in Figure 2, the stop determination unit F3 determines whether or not it is necessary to stop the shovel 100 while it is autonomously operating, based on the output of the abnormality monitoring unit F2.

[0063] Specifically, the stop determination unit F3 determines, for example, that it is necessary to stop the autonomously operating shovel 100 if the degree of abnormality of the shovel 100 determined by the abnormality monitoring unit F2 exceeds a predetermined degree.

[0064] In this case, the controller 30, for example, brakes the travel hydraulic motor 2M, which acts as a travel actuator, to decelerate or stop the rotation of the travel hydraulic motor 2M. On the other hand, the stop determination unit F3 determines, for example, that if the degree of abnormality of the shovel 100 determined by the abnormality monitoring unit F2 is below a predetermined degree, there is no need to stop the shovel 100 while it is autonomously traveling, that is, the autonomous travel of the shovel 100 can be continued.

[0065] Furthermore, if an operator is on board the shovel 100, the stop determination unit F3 may determine not only whether or not it is necessary to stop the shovel 100, but also whether or not to cancel autonomous driving.

[0066] The intermediate target setting unit F4 is configured to set intermediate targets related to the autonomous driving of the shovel 100. In the example shown in Figure 2, when the attitude detection unit 30C determines that the attitude of the shovel 100 is in a driving position, and the stop determination unit F3 determines that there is no need to stop the shovel 100, the intermediate target setting unit F4 divides the target route set by the target setting unit F1 into multiple sections and sets the end point of each section as an intermediate target position.

[0067] The position calculation unit F5 is configured to calculate the current position of the shovel 100. In the example shown in Figure 2, the position calculation unit F5 calculates the current position of the shovel 100 based on the output of the positioning device 73. If the shovel is performing slope work, the target setting unit F1 may set the end position of the slope work as the final target position. The intermediate target setting unit F4 may divide the slope work from the start position to the end position into multiple sections and set the end point of each section as an intermediate target position.

[0068] The calculation unit C1 is configured to calculate the difference between the intermediate target position set by the intermediate target setting unit F4 and the current position of the shovel 100 calculated by the position calculation unit F5.

[0069] The object detection unit F6 is configured to detect objects present around the shovel 100. In the example shown in Figure 2, the object detection unit F6 detects objects present around the shovel 100 based on the output of the spatial recognition device 70. When the object detection unit F6 detects an object (e.g., a person) in the direction of travel of the shovel 100 while it is autonomously moving, it generates a stop command to stop the autonomous movement of the shovel 100.

[0070] The speed command generation unit F7 is configured to generate commands related to the travel speed. In the example shown in Figure 2, the speed command generation unit F7 generates a speed command based on the difference calculated by the calculation unit C1. Basically, the speed command generation unit F7 is configured to generate a larger speed command the larger the difference. Furthermore, the speed command generation unit F7 is configured to generate a speed command that brings the difference calculated by the calculation unit C1 closer to zero.

[0071] The speed command generation unit F7 may change the value of the speed command if it determines that the shovel 100 is on a slope, based on the terrain information entered in advance and the values ​​detected by the positioning device 73. For example, if it determines that the shovel 100 is on a downhill slope, the speed command generation unit F7 may generate a speed command corresponding to a speed reduced from the normal speed.

[0072] The speed command generation unit F7 may acquire information about the terrain, such as the slope of the ground, using the spatial recognition device 70. Furthermore, if the signal from the spatial recognition device 70 determines that the road surface is very uneven (for example, if it determines that there are many stones on the road surface), the speed command generation unit F7 may similarly generate a speed command corresponding to a speed reduced from the normal speed.

[0073] Thus, the speed command generation unit F7 may change the value of the speed command based on information about the road surface along the travel route. For example, when the shovel 100 moves from sandy ground to a gravel road on a riverbed, the speed command generation unit F7 may automatically change the value of the speed command. This allows the speed command generation unit F7 to change the travel speed in response to road surface conditions.

[0074] Furthermore, the speed command generation unit F7 may generate speed commands in response to the operation of the attachment AT. For example, when the shovel 100 is performing slope work (specifically, when the attachment AT is performing finishing work from the shoulder to the toe of the slope), the intermediate target setting unit F4 determines that the bucket 6 has reached the toe of the slope and sets the end of the next section (end point) as the target position.

[0075] The speed command generation unit F7 then generates a speed command to the target position of the next section. Alternatively, if the bucket 6 has reached the toe of the slope and the boom 4 has risen to a predetermined height, the intermediate target setting unit F4 sets the end (end point) of the next section as the target position. The speed command generation unit F7 then generates a speed command to the next target position. In this way, the speed command generation unit F7 may set the target position in response to the operation of the attachment AT.

[0076] Furthermore, the controller 30 may have a mode setting unit for setting the operating mode of the shovel 100. In this case, if the crane mode is set as the operating mode of the shovel 100, or if a low-speed mode such as a low-speed high-torque mode is set, the speed command generation unit F7 generates a speed command corresponding to the low-speed mode. In this way, the speed command generation unit F7 can change the travel speed according to the state of the shovel 100.

[0077] The speed calculation unit F8 is configured to calculate the current travel speed of the shovel 100. In the example shown in Figure 2, the speed calculation unit F8 calculates the current travel speed of the shovel 100 based on the change in the current position of the shovel 100, which is calculated by the position calculation unit F5.

[0078] The calculation unit C2 is configured to calculate the speed difference between the travel speed corresponding to the speed command generated by the speed command generation unit F7 and the current travel speed of the shovel 100 calculated by the speed calculation unit F8.

[0079] The speed limiting unit F9 is configured to limit the travel speed of the shovel 100. In the example shown in Figure 2, the speed limiting unit F9 is configured to output the limit value instead of the speed difference calculated by the calculation unit C2 if the speed difference exceeds the limit value, and to output the speed difference as is if the speed difference calculated by the calculation unit C2 is less than or equal to the limit value. The limit value may be a pre-registered value or a dynamically calculated value.

[0080] The flow rate command generation unit F10 is configured to generate commands regarding the flow rate of the hydraulic fluid supplied from the main pump 14 to the travel hydraulic motor 2M. In the example shown in Figure 2, the flow rate command generation unit F10 generates flow rate commands based on the speed difference output by the speed limiting unit F9. Basically, the flow rate command generation unit F10 is configured to generate larger flow rate commands the larger the speed difference. Furthermore, the flow rate command generation unit F10 is configured to generate flow rate commands that bring the speed difference calculated by the calculation unit C2 closer to zero.

[0081] The flow rate commands generated by the flow rate command generation unit F10 are current commands for the proportional valves 31EL, 31ER, 31FL, and 31FR, respectively. The proportional valve 31EL operates according to this current command, changing the pilot pressure acting on the left pilot port of the control valve 171. As a result, the flow rate of the hydraulic fluid flowing into the left travel hydraulic motor 2ML is adjusted to match the flow rate command generated by the flow rate command generation unit F10. The proportional valve 31ER operates similarly.

[0082] Furthermore, the proportional valve 31FR operates in accordance with its current command, changing the pilot pressure acting on the right pilot port of the control valve 172. As a result, the flow rate of hydraulic fluid flowing into the right travel hydraulic motor 2MR is adjusted to match the flow rate command generated by the flow rate command generation unit F10. The proportional valve 31FL operates similarly. Consequently, the travel speed of the shovel 100 is adjusted to match the travel speed command generated by the speed command generation unit F7.

[0083] Furthermore, the travel speed of Shovel 100 is a concept that includes the direction of travel. This is because the direction of travel of Shovel 100 is determined based on the rotational speed and direction of rotation of the left travel hydraulic motor 2ML and the rotational speed and direction of rotation of the right travel hydraulic motor 2MR.

[0084] Furthermore, although the above example shows a case where the flow rate command generated by the flow rate command generation unit F10 is output to the proportional valve 31, the controller 30 is not limited to this configuration. Normally, during travel, other actuators other than the travel hydraulic motor 2M, such as the boom cylinder 7, are not operated.

[0085] Therefore, the flow rate command generated by the flow rate command generation unit F10 may be output to the regulator 13 of the main pump 14. In this case, the controller 30 can control the travel operation of the shovel 100 by controlling the discharge amount of the main pump 14. The controller 30 may also control the steering of the shovel 100 by controlling the left regulator 13L and the right regulator 13R, that is, by controlling the discharge amounts of the left main pump 14L and the right main pump 14R.

[0086] Furthermore, the controller 30 may control the steering of the vehicle by controlling the amount of hydraulic fluid supplied to the left travel hydraulic motor 2ML and the right travel hydraulic motor 2MR using a proportional valve 31, and control the travel speed by controlling the regulator 13.

[0087] The obstacle evaluation unit F11 determines whether or not to avoid an object detected by the object detection unit F6. In other words, the obstacle evaluation unit F11 determines whether or not the object detected by the object detection unit F6 is an object (obstacle) that should be avoided. If the obstacle evaluation unit F11 determines that the detected object is an obstacle that should be avoided, it instructs the intermediate target setting unit F4 to set intermediate targets for generating a driving route that avoids this object.

[0088] With this configuration, the controller 30 can enable autonomous movement of the shovel 100 from its current position to its target position. Furthermore, the controller 30 can instruct the shovel 100 to avoid obstacles.

[0089] As described above, the excavator 100 according to the embodiment of the present invention includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, a traveling actuator for driving the lower traveling body 1, and a controller 30 as a control device provided on the upper rotating body 3. The controller 30 is configured to operate the traveling actuator based on information regarding the target position. The traveling actuator is, for example, a traveling hydraulic motor 2M. It may also be a traveling electric motor. With this configuration, the excavator 100 can reduce the hassle of traveling operations. This is because the excavator 100 can be traveled without continuously operating at least one of the traveling lever 26D and the traveling pedal.

[0090] Furthermore, the shovel 100 may have a positioning device 73 for measuring its current position and a direction detection device for detecting information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1. In this case, the controller 30 can operate control valves related to the traveling actuator based on the output of the positioning device 73 and the output of the direction detection device.

[0091] For example, even when neither the travel lever 26D nor the travel pedal (described later) is operated, at least one of the control valves 171 for the left travel hydraulic motor 2ML and 172 for the right travel hydraulic motor 2MR can be displaced. With this configuration, the controller 30 can autonomously move the shovel 100 while providing feedback control over its position and attitude.

[0092] Furthermore, the shovel 100 may have an information acquisition device that acquires information regarding the construction status. In this case, the controller 30 may set a travel route based on information regarding the target position and information regarding the construction status, and have the lower traveling body 1 travel along that travel route. Alternatively, the controller 30 may set a travel route based on past travel trajectories, and have the lower traveling body 1 travel along that travel route. In this way, the shovel 100 may be configured to travel autonomously along a travel route set in various ways. This configuration makes it possible to reduce the burden on the operator regarding travel operations.

[0093] The controller 30 may operate the lower vehicle 1 when the orientation of the upper rotating body 3 and the orientation of the lower vehicle 1 are aligned, or it may operate the lower vehicle 1 when the orientation of the upper rotating body 3 and the orientation of the lower vehicle 1 are different. With this configuration, the controller 30 can operate the shovel 100 in an appropriate posture according to the distance and conditions of the travel route, etc.

[0094] Next, with reference to Figure 3, an example of the configuration of the drive system installed on the shovel 100 will be described. Figure 3 is a diagram showing an example of the configuration of the drive system of the shovel. In Figure 3, the mechanical power transmission system, hydraulic fluid line, pilot line, and electrical control system are shown with double lines, solid lines, dashed lines, and dotted lines, respectively.

[0095] The drive system of the Shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, etc.

[0096] In Figure 3, the drive system is configured to circulate hydraulic fluid from the main pump 14, driven by the engine 11, to the hydraulic fluid tank via the center bypass pipeline 40 or the parallel pipeline 42.

[0097] Engine 11 is the power source for the shovel 100. In this embodiment, engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotational speed. The output shaft of engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0098] The main pump 14 is configured to supply hydraulic fluid to the control valve 17 via a hydraulic fluid line. In this embodiment, the main pump 14 is a swashplate type variable displacement hydraulic pump.

[0099] The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0100] The pilot pump 15 is configured to supply hydraulic fluid to the hydraulic control equipment, including the operating device 26, via a pilot line. In this embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump.

[0101] The control valve 17 is a hydraulic control device that controls the movement of the shovel 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 1756. 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 left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a slewing hydraulic motor 2A.

[0102] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 is configured to operate a pilot-operated control valve drive system.

[0103] A pilot-operated control valve drive system is configured to supply hydraulic fluid discharged by a pilot pump 15 to the corresponding pilot port of a control valve in a control valve 17 via a pilot line. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is corresponding to the operating direction and amount of the operating device 26 for each hydraulic actuator. However, the control valve drive system may be electrically controlled instead of pilot-operated as described above. In this case, the control valve in the control valve 17 may be an electromagnetic solenoid spool valve.

[0104] 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.

[0105] 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 electrically detects the operating direction and amount of the operating device 26 corresponding to each actuator, and outputs the detected values ​​to the controller 30.

[0106] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic fluid to the hydraulic fluid tank via the left center bypass pipeline 40L or the left parallel pipeline 42L, while the right main pump 14R circulates the hydraulic fluid to the hydraulic fluid tank via the right center bypass pipeline 40R or the right parallel pipeline 42R.

[0107] The left center bypass pipeline 40L is a hydraulic fluid line that passes through control valves 171, 173, 175L, and 176L located within the control valve 17. The right center bypass pipeline 40R is a hydraulic fluid line that passes through control valves 172, 174, 175R, and 176R located within the control valve 17.

[0108] The control valve 171 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the left travel hydraulic motor 2ML to the hydraulic fluid tank.

[0109] The control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the right travel hydraulic motor 2MR, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right travel hydraulic motor 2MR to the hydraulic fluid tank.

[0110] The control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the swivel hydraulic motor 2A, and also switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the swivel hydraulic motor 2A to the hydraulic fluid tank.

[0111] The control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.

[0112] Control valve 175L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7. Control valve 175R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the boom cylinder 7 and also switches the flow of hydraulic fluid to discharge the hydraulic fluid inside the boom cylinder 7 to the hydraulic fluid tank.

[0113] The control valve 176L is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8, and also switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0114] The control valve 176R is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic fluid in order to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.

[0115] The left parallel pipeline 42L is a hydraulic fluid line running parallel to the left center bypass pipeline 40L. The left parallel pipeline 42L can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, or 175L. The right parallel pipeline 42R is a hydraulic fluid line running parallel to the right center bypass pipeline 40R. The right parallel pipeline 42R can supply hydraulic fluid to a control valve further downstream if the flow of hydraulic fluid through the right center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, or 175R.

[0116] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge volume by adjusting the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to ensure that the absorption horsepower of the main pump 14, which is expressed as the product of the discharge pressure and the discharge volume, does not exceed the output horsepower of the engine 11.

[0117] 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.

[0118] The left operating lever 26L is used for slewing and operating the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.

[0119] 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.

[0120] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

[0121] 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.

[0122] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to be linked with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to be linked with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses the hydraulic fluid discharged by the pilot pump 15 to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172. In the following, the left travel lever 26DL, the right travel lever 26DR, the left travel pedal, and the right travel pedal may be collectively referred to as the "travel control device." Also, the left travel pedal and the right travel pedal may be collectively referred to as the "travel pedal."

[0123] The discharge pressure sensor 28 includes discharge pressure sensors 28L and 28R. Discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to discharge pressure sensor 28R.

[0124] The operation sensors 29 include operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. Operation sensor 29LA electrically 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).

[0125] Similarly, the operation sensor 29LB electrically 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 electrically detects the operator's forward-backward operation of the right operation lever 26R and outputs the detected value to the controller 30.

[0126] The operation sensor 29RB electrically 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 electrically 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 electrically detects the operator's forward-backward operation of the right travel lever 26DR and outputs the detected value to the controller 30.

[0127] The controller 30 receives the output of the operation sensor 29 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 located upstream of the throttle 18 and, if necessary, outputs a control command to the regulator 13 to change the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0128] Furthermore, the controller 30 receives travel instructions transmitted from the management device 200 via the communication device T1, and outputs control commands to the regulator 13 as needed to change the discharge amount of the main pump 14.

[0129] In the left center bypass pipeline 40L, a left throttle 18L is located between the downstream control valve 176L and the hydraulic fluid tank. Therefore, the flow of hydraulic fluid discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates the control pressure necessary to control the left regulator 13L.

[0130] The left control pressure sensor 19L is a sensor for detecting this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge volume of the left main pump 14L as the control pressure increases, and increases the discharge volume of the left main pump 14L as the control pressure decreases. The discharge volume of the right main pump 14R is controlled in the same manner.

[0131] Specifically, as shown in Figure 3, when none of the hydraulic actuators in the shovel 100 are operated and the system is in standby mode, the hydraulic fluid discharged from the left main pump 14L flows through the left center bypass pipe 40L to the left constrictor 18L. The flow of hydraulic fluid discharged from the left main pump 14L increases the control pressure generated upstream of the left constrictor 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the minimum allowable discharge volume, suppressing pressure loss (pumping loss) as the discharged hydraulic fluid passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators are operated, the hydraulic fluid discharged from the left main pump 14L flows into the hydraulic actuator being operated via the control valve corresponding to that actuator.

[0132] The flow of hydraulic fluid discharged by the left main pump 14L is reduced or eliminated as it reaches the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge volume of the left main pump 14L, circulating sufficient hydraulic fluid to the hydraulic actuator being operated, and ensuring reliable operation of the hydraulic actuator. The controller 30 also controls the discharge volume of the right main pump 14R in the same manner.

[0133] With the configuration described above, the drive system in Figure 3 can suppress unnecessary energy consumption in the main pump 14 when in standby mode. Unnecessary energy consumption includes pumping losses caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipeline 40. Furthermore, when operating a hydraulic actuator, the drive system in Figure 3 can reliably supply the necessary and sufficient hydraulic fluid from the main pump 14 to the hydraulic actuator being operated.

[0134] Next, with reference to Figures 4A to 4D, Figure 5A, and Figure 5B, the configuration of the controller 30 for operating the actuators by machine control function will be described. Figures 4A to 4D, Figure 5A, and Figure 5B are diagrams of parts of the drive system. Specifically, Figure 4A is a diagram of part of the drive system related to the operation of the arm cylinder 8, and Figure 4B is a diagram of part of the drive system related to the operation of the boom cylinder 7. Figure 4C is a diagram of part of the drive system related to the operation of the bucket cylinder 9, and Figure 4D is a diagram of part of the drive system related to the operation of the slewing hydraulic motor 2A. Figure 5A is a diagram of part of the drive system related to the operation of the left travel hydraulic motor 2ML, and Figure 5B is a diagram of part of the drive system related to the operation of the right travel hydraulic motor 2MR.

[0135] As shown in Figures 4A to 4D, Figure 5A, and Figure 5B, the drive system includes proportional valves 31. The proportional valves 31 include proportional valves 31AL to 31FL and 31AR to 31FR.

[0136] 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 control valves 171 to 176, 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.

[0137] 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.

[0138] For example, as shown in Figure 4A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 176 in accordance with the operation in the forward and backward directions. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Also, when the left operating lever 26L is operated in the arm opening direction (forward direction), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0139] A switch NS is provided on the left operating lever 26L. In this embodiment, switch NS is a push-button switch. The operator can operate the left operating lever 26L while pressing switch NS. Switch NS may also be provided on the right operating lever 26R.

[0140] The operation sensor 29LA electrically detects the operator's forward and backward movement of the left operation lever 26L and outputs the detected value to the controller 30.

[0141] The proportional valve 31AL operates in response to a current command output by the controller 30. The proportional valve 31AL adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL. The proportional valve 31AR operates in response to a current command output by the controller 30. The proportional valve 31AR adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. The proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0142] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the operator's arm closing operation. In other words, the arm 5 can be closed. 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, regardless of the operator's arm opening operation. In other words, the arm 5 can be opened.

[0143] Furthermore, 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) to forcibly stop the closing operation of the arm 5. The same applies when the operator is performing an arm opening operation and the opening operation of the arm 5 needs to be forcibly stopped.

[0144] Alternatively, even when the operator is performing an arm closing operation, the controller 30 may, if necessary, control the proportional valve 31AR to increase the pilot pressure acting on the pilot port on the opening side of the control valve 176 (the right pilot port of control valve 176L and the left pilot port of control valve 176R), which is opposite the pilot port on the closing side of the control valve 176, thereby forcibly stopping the closing operation of the arm 5 by forcibly returning the control valve 176 to the neutral position. The same applies when the operator is performing an arm opening operation and the opening operation of the arm 5 is to be forcibly stopped.

[0145] Furthermore, although we will omit the explanations referring to Figures 4B to 4D, Figure 5A, and Figure 5B below, the same applies when the operation of boom 4 is forcibly stopped when the operator is raising or lowering the boom, when the operation of bucket 6 is forcibly stopped when the operator is closing or opening the bucket, and when the rotational movement of the upper slewing body 3 is forcibly stopped when the operator is performing a slewing operation. The same also applies when the travel movement of the lower traveling body 1 is forcibly stopped when the operator is performing a travel operation.

[0146] Furthermore, as shown in Figure 4B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 175 in accordance with the operation in the forward and backward directions. More specifically, when the right operating lever 26R is operated in the boom-raising direction (rearward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the right operating lever 26R is operated in the boom-lower direction (forward direction), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175R.

[0147] The operation sensor 29RA electrically detects the operator's forward and backward movement of the right operation lever 26R and outputs the detected value to the controller 30.

[0148] The proportional valve 31BL operates in response to a current command output by the controller 30. The proportional valve 31BL adjusts the pilot pressure using 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 current command output by the controller 30. The proportional valve 31BR adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31BR. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.

[0149] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 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 boom 4 can be raised. Furthermore, the controller 30 can supply the 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 boom 4 can be lowered.

[0150] Furthermore, as shown in Figure 4C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 in accordance with the operation in the left or right direction. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Also, when the right operating lever 26R is operated in the bucket opening direction (rightward), it applies pilot pressure to the right pilot port of the control valve 174 in accordance with the amount of operation.

[0151] The operation sensor 29RB electrically detects the left-right movement of the right operation lever 26R by the operator and outputs the detected value to the controller 30.

[0152] The proportional valve 31CL operates in response to a current command output by the controller 30. The proportional valve 31CL adjusts the pilot pressure using 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 current command output by the controller 30. The proportional valve 31CR adjusts the pilot pressure using 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 valves 31CL and 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

[0153] 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 174 via the proportional valve 31CL, independently of the operator's bucket closing operation. In other words, the bucket 6 can be closed. Also, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR, independently of the operator's bucket opening operation. In other words, the bucket 6 can be opened.

[0154] Furthermore, as shown in Figure 4D, the left operating lever 26L is also used to operate the slewing mechanism 2. Specifically, the left operating lever 26L uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 in accordance with the operation in the left or right direction. More specifically, when the left operating lever 26L is operated in the left slewing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 173 in accordance with the amount of operation. Also, when the left operating lever 26L is operated in the right slewing direction (rightward), it applies pilot pressure to the right pilot port of the control valve 173 in accordance with the amount of operation.

[0155] The operation sensor 29LB electrically detects the left-right movement of the left operation lever 26L by the operator and outputs the detected value to the controller 30.

[0156] The proportional valve 31DL operates in response to a current command output by the controller 30. The proportional valve 31DL adjusts the pilot pressure using 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 current command output by the controller 30. The proportional valve 31DR adjusts the pilot pressure using 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 valves 31DL and 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0157] 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, independently of the operator's leftward rotation operation. In other words, the slewing mechanism 2 can be rotated to the left. 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, independently of the operator's rightward rotation operation. In other words, the slewing mechanism 2 can be rotated to the right.

[0158] Furthermore, the controller 30 may automatically rotate or brake the slewing hydraulic motor 2A, which is an example of an actuator, in order to align the upper slewing body 3 with the target construction surface by controlling at least one of the proportional valves 31DL and 31DR in accordance with a current command.

[0159] For example, when the upper rotating body 3 of the shovel 100 is facing the target construction surface, it is possible to move the tip of the attachment (for example, the claws or back of the bucket 6 as the working part) along the direction of the slope of the target construction surface (for example, an uphill slope) according to the operation of the attachment. Specifically, when the upper rotating body 3 of the shovel 100 is facing the target construction surface, the attachment's operating plane (a virtual plane including the center line of the attachment), which is perpendicular to the rotation plane of the shovel 100 (a virtual plane perpendicular to the rotation axis), includes the normal to the target construction surface (in other words, it is aligned with the normal to the target construction surface).

[0160] If the operating surface of the attachment of the shovel 100 does not include the normal to the target construction surface, that is, if the upper rotating body 3 is not directly facing the target construction surface, the shovel 100 cannot move the tip of the attachment in the direction of the slope of the target construction surface. As a result, the shovel 100 cannot properly form the target construction surface. In response to this situation, the controller 30 can automatically rotate the slewing hydraulic motor 2A to bring the upper rotating body 3 directly facing the target construction surface. Therefore, the shovel 100 can properly form the target construction surface.

[0161] In the above-described orientation control, the controller 30 determines that the shovel 100 is facing the target construction surface when, for example, the vertical distance between the left end of the tip of the bucket 6 and the target construction surface (hereinafter referred to as the "left end vertical distance") and the vertical distance between the right end of the tip of the bucket 6 and the target construction surface (hereinafter referred to as the "right end vertical distance") are equal. Alternatively, the controller 30 may determine that the shovel 100 is facing the target construction surface when the difference between the left end vertical distance and the right end vertical distance becomes less than or equal to a predetermined value, rather than when the difference becomes equal (i.e., when the difference between the left end vertical distance and the right end vertical distance becomes zero). Subsequently, when the difference becomes less than or equal to the predetermined value or becomes zero, the controller 30 decelerates and stops the swing hydraulic motor 2A by braking control of the swing hydraulic motor 2A.

[0162] The above example illustrates a case of alignment control with respect to the target construction surface, but the execution of alignment control is not limited to the target construction surface. For example, alignment control may be performed during a scooping operation to load temporarily stored soil into a dump truck. Specifically, the controller 30 sets a target excavation trajectory, which is the trajectory that the tip of the bucket 6 should follow in order to take in a desired volume (target excavation volume) of soil into the bucket 6 in a single excavation operation.

[0163] The controller 30 may then orient the upper slewing body 3 directly toward a virtual plane perpendicular to the attachment's operating surface when moving the tip of the bucket 6 along the target excavation trajectory. In this case, the target excavation trajectory is changed each time a scooping operation is performed. Therefore, after the excavator 100 has discharged the soil onto the dump truck bed, it orients the upper slewing body 3 directly toward a virtual plane perpendicular to the attachment's operating surface when moving the tip of the bucket 6 along the newly set target excavation trajectory.

[0164] Furthermore, as shown in Figure 5A, the left travel lever 26DL is used to operate the left crawler 1CL. Specifically, the left travel lever 26DL uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 171 in accordance with the operation in the forward and backward directions. More specifically, when the left travel lever 26DL is operated in the forward direction, it applies pilot pressure to the left pilot port of the control valve 171 in accordance with the amount of operation. When the left travel lever 26DL is operated in the reverse direction, it applies pilot pressure to the right pilot port of the control valve 171 in accordance with the amount of operation.

[0165] The operation sensor 29DL electrically detects the operator's forward and backward movement of the left travel lever 26DL and outputs the detected value to the controller 30.

[0166] The proportional valve 31EL operates in response to a current command output by the controller 30. The proportional valve 31EL adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL. The proportional valve 31ER operates in response to a current command output by the controller 30. The proportional valve 31ER adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER. The proportional valves 31EL and 31ER can adjust the pilot pressure so that the control valve 171 can be stopped at any valve position.

[0167] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL, regardless of the operator's left forward movement. In other words, the left crawler 1CL can be moved forward. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER, regardless of the operator's left reverse movement. In other words, the left crawler 1CL can be moved backward.

[0168] Furthermore, as shown in Figure 5B, the right travel lever 26DR is used to operate the right crawler 1CR. Specifically, the right travel lever 26DR uses the hydraulic fluid discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 172 in accordance with the forward and backward movement. More specifically, when the right travel lever 26DR is operated in the forward direction, it applies pilot pressure to the right pilot port of the control valve 172 in accordance with the amount of operation. When the right travel lever 26DR is operated in the reverse direction, it applies pilot pressure to the left pilot port of the control valve 172 in accordance with the amount of operation.

[0169] The operation sensor 29DR electrically detects the operator's forward and backward movement of the right travel lever 26DR and outputs the detected value to the controller 30.

[0170] The proportional valve 31FL operates in response to a current command output by the controller 30. The proportional valve 31FL adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FL. The proportional valve 31FR operates in response to a current command output by the controller 30. The proportional valve 31FR adjusts the pilot pressure using hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FR. The proportional valves 31FL and 31FR can adjust the pilot pressure so that the control valve 172 can be stopped at any valve position.

[0171] With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FL, regardless of the operator's rightward forward operation. In other words, the right crawler 1CR can be moved forward. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FR, regardless of the operator's rightward reverse operation. In other words, the right crawler 1CR can be moved backward.

[0172] Next, the hardware configuration of the management device 200 in this embodiment will be described with reference to Figure 6. Figure 6 is a diagram showing an example of the hardware configuration of the management device.

[0173] The management device 200 in this embodiment is a computer that includes an input device 201, an output device 202, a drive device 203, an auxiliary storage device 204, a memory device 205, an arithmetic processing unit 206, and an interface device 207, all of which are interconnected via bus B.

[0174] The input device 201 is a device for inputting various types of information and can be implemented, for example, by a touch panel. The output device 202 is for outputting various types of information and can be implemented, for example, by a display. The interface device 207 is used to connect to a network.

[0175] The control program implemented by the various components described later is at least a part of the various programs that control the management device 200. The control program is provided, for example, by distribution of the storage medium 208 or by downloading it from a network. The storage medium 208 on which the control program is recorded can be of various types, such as storage media that record information optically, electrically, or magnetically, or semiconductor memories that record information electrically, such as ROM or flash memory.

[0176] Furthermore, when the storage medium 208 containing the control program is set in the drive device 203, the control program is installed from the storage medium 208 to the auxiliary storage device 204 via the drive device 203. Control programs downloaded from the network are installed to the auxiliary storage device 204 via the interface device 207.

[0177] The auxiliary storage device 204 stores the control program installed in the management device 200, as well as various necessary files and data from the management device 200. The memory device 205 reads the control program from the auxiliary storage device 204 and stores it when the management device 200 starts up. The arithmetic processing unit 206 then performs various processes as described later, according to the control program stored in the memory device 205.

[0178] Next, the functional configuration of the management device 200 of this embodiment will be described with reference to Figure 7. Figure 7 is a diagram illustrating the functional configuration of the management device.

[0179] The management device 200 includes an information acquisition unit 210, a map update unit 220, an avoidance evaluation unit 230, a route generation unit 240, and a command transmission unit 250.

[0180] The information acquisition unit 210 acquires various types of information. Specifically, the information acquisition unit 210 acquires operational information and environmental information from the excavator 100. The operational information may include, for example, work history information showing the work performed up to the previous day. The environmental information may include information generated from the work history information of the excavator 100, showing the location, size, and shape of the embankment and excavated holes. Furthermore, the environmental information may include image data captured by the imaging device S6, which is an example of a spatial recognition device, and output data from a 3D distance image sensor, ultrasonic sensor, millimeter-wave radar, LIDAR, or infrared sensor, which are examples of spatial recognition devices.

[0181] Furthermore, the information acquisition unit 210 acquires image data and other data from spatial recognition devices other than the shovel 100 at the work site. In other words, the information acquisition unit 210 acquires environmental information that indicates the environment of the work site.

[0182] Furthermore, the information acquisition unit 210 may acquire environmental information from other excavators 100 besides the one 100. The information acquisition unit 210 may also acquire weather information indicating the weather conditions at the time of acquiring operational information from the excavator 100 as environmental information. By including weather information at the time of acquiring operational information in the environmental information, it becomes possible to predict, for example, the causes of puddles, which is useful information for the avoidance evaluation unit 230's decision-making.

[0183] Furthermore, the information acquisition unit 210 may acquire information indicating the current position of the shovel 100 and the destination (target position) to which the shovel 100 is to be driven autonomously. The information indicating the current position of the shovel 100 may be acquired from the shovel 100. The information indicating the target position of the shovel 100 may be information input to a support device, etc., and may be acquired from the support device.

[0184] The map update unit 220 updates the 3D map data of the work site based on environmental information acquired by the information acquisition unit 210. Specifically, the map update unit 220 updates the position of the embankment, the depth of the excavated hole, etc., in the 3D map data of the work site based on environmental information acquired from the shovel 100.

[0185] The management device 200 may pre-store 3D map data of the work site. The 3D map data may be generated by the management device 200, or the management device 200 may acquire pre-generated 3D map data.

[0186] The 3D map data may, for example, be existing topographic data created by surveying the work site before construction. Alternatively, the 3D map data may be created based on image data captured by the imaging device S6 of the excavator 100 or data acquired by LIDAR. Furthermore, in this embodiment, the map data updated by the map update unit 220 is 3D map data, but the map data may also be 2D map data.

[0187] Furthermore, the map update unit 220 of this embodiment updates the 3D map data, for example, before the excavator 100 starts moving at the work site.

[0188] Updating the 3D map data will, for example, include information showing the locations of puddles and muddy areas that have formed due to weather changes since the last update. The 3D map data may also include information showing the location and size of road cones placed at the work site, and information showing plants (weeds, etc.) growing at the work site.

[0189] The avoidance evaluation unit 230 determines, based on the 3D map data updated by the map update unit 220, whether or not there are any places or objects that need to be avoided between the current position of the shovel 100 and the target position. In other words, the avoidance evaluation unit 230 determines, based on the latest 3D map data, whether or not there are any places or objects that need to be avoided between the current position of the shovel 100 and the target position.

[0190] Specifically, the avoidance evaluation unit 230 may extract environmental information corresponding to the area in the 3D map data that includes the current position and target position of the shovel 100, and determine whether or not there is an area where the shovel 100 should avoid traveling based on the extracted environmental information.

[0191] Areas to be avoided include, specifically, areas where buildings are located, areas where sandbags or road cones are placed, areas where workers are performing tasks, areas around moving objects within the work site, areas with puddles or soft ground, and areas where weeds or other plants are growing. Moving objects within the work site may include, for example, other shovels, vehicles such as trucks, or people such as workers.

[0192] In this embodiment, information indicating a list of areas to be avoided may be stored in the management device 200 in advance, and the avoidance evaluation unit 230 may refer to this information to determine whether or not an area should be avoided.

[0193] The route generation unit 240 generates a travel route based on the 3D map data, the current position and target position of the shovel 100, and the determination result from the avoidance evaluation unit 230. Specifically, if the avoidance evaluation unit 230 determines that there is an area that should be avoided, the route generation unit 240 generates a travel route that bypasses that area.

[0194] Furthermore, if the route generation unit 240 determines that there are no areas to be avoided, it adopts the shortest route generated first.

[0195] The command transmission unit 250 transmits a travel instruction to the shovel 100 based on the travel route generated by the route generation unit 240.

[0196] Next, the operation of the control system SYS of this embodiment will be described with reference to Figure 8. Figure 8 is a sequence diagram illustrating the operation of the control system of the first embodiment.

[0197] The processes from step S801 to step S803 in Figure 8 are map update processes that update the 3D map data held by the control device 200. Furthermore, the processes from step S804 to step S808 in Figure 8 are processes that generate the travel route for the shovel 100, and are pre-travel processing performed by the control device 200 before the shovel 100 starts traveling.

[0198] The map update process and the pre-driving pre-processing in this embodiment may be executed at independent times, but it is preferable that the map update process is executed before the pre-driving pre-processing is executed.

[0199] Specifically, for example, the map update process may be performed on the night before the day the Shovel 100 is to be used for work, and the pre-operation processing may be performed on the morning of the day the Shovel 100 is to be used for work.

[0200] In this embodiment, the excavator 100 acquires operational information and environmental information (step S801) and transmits it to the management device 200 (step S802). When the management device 200 acquires operational information and environmental information from the excavator 100 using the information acquisition unit 210, the map update unit 220 updates the 3D map data (step S803).

[0201] Furthermore, the information acquisition unit 210 of the management device 200 may acquire environmental information of the work site from sources other than the shovel 100. Specifically, for example, the management device 200 may acquire weather information, map information, etc., as environmental information from an external server via the internet or the like.

[0202] In other words, during the processing from step S801 to step S803, the management device 200 acquires environmental information of the work site and updates the 3D map data based on the acquired environmental information.

[0203] In the control system SYS, the excavator 100 acquires current position information indicating its current location and transmits it to the management device 200 (step S804).

[0204] The control device 200 acquires target position information indicating the target position of the shovel 100 using the information acquisition unit 210 (step S805). Subsequently, the control device 200 extracts environmental information for the area including the shortest route from the current position of the shovel 100 to the target position using the avoidance evaluation unit 230 (step S806).

[0205] Next, the control device 200 determines, based on the environmental information extracted by the avoidance evaluation unit 230, whether or not there is an area where the excavator 100 should avoid driving (step S807).

[0206] Next, the management device 200 generates a travel route from the current location to the target location using the route generation unit 240, according to the result of the determination by the avoidance evaluation unit 230 (step S808).

[0207] Specifically, the route generation unit 240 generates a route that bypasses areas determined by the avoidance evaluation unit 230 to be areas that should be avoided.

[0208] Next, the control device 200 transmits a travel command to the shovel 100 according to the travel route via the command transmission unit 250 (step S809).

[0209] When the shovel 100 receives a travel command, it inputs the travel command to the controller 30 via the information input device 72 and starts traveling (step S811).

[0210] Next, the operation of the control system SYS will be described in detail with reference to Figure 9. Figure 9 is a diagram illustrating the operation of the control system according to the first embodiment.

[0211] Figure 9 schematically shows an example of a work site. The work site includes a river G4, an irrigation canal G5, a levee G6, a paved road G7, an unpaved road G8, an office G9, and an embankment G10.

[0212] Levee G6 includes the river-side slope (front slope) G6A, the top surface of the levee (crown surface) G6B, and the urban-side slope (back slope) G6C.

[0213] Furthermore, it is assumed that embankment G10 was created, for example, by work on the previous day and did not exist on the day work began.

[0214] In the example shown in Figure 9, the current position of shovel 100 is point J1, and the target position is point J2.

[0215] In this case, the avoidance evaluation unit 230 of the management device 200 extracts environmental information for the area including points J1 and J2. Specifically, the avoidance evaluation unit 230 extracts environmental information for the area surrounding the shortest route, which is the driving route R1, including points J1 and J2.

[0216] The avoidance evaluation unit 230 then determines, based on environmental information, whether or not there is an area where the excavator 100 should avoid traveling.

[0217] In the example shown in Figure 9, an embankment G10 exists in the middle of the driving route R1. Therefore, the avoidance evaluation unit 230 determines that the area where the embankment G10 exists is an area that should be avoided. In other words, the avoidance evaluation unit 230 determines that the embankment G10 is an obstacle that should be avoided.

[0218] Upon receiving this determination, the route generation unit 240 generates a driving route R1 and a driving route R2 that bypasses the embankment G10.

[0219] Thus, in this embodiment, even if the environment of the work site changes during the work period, a travel route that corresponds to the environment can be generated and set for the shovel 100.

[0220] In this embodiment, if the travel route is changed, a notification indicating that the travel route has been changed may be sent to a support device or the like held by the worker at the work site.

[0221] (Second Embodiment) A second embodiment will be described below with reference to the drawings. In the second embodiment, even when the shovel 100 starts traveling based on the travel route generated by the management device 200, it determines whether or not there is an object to be avoided based on environmental information acquired during travel, which is different from the first embodiment. Therefore, in the following description of the second embodiment, the differences from the first embodiment will be explained, and components having the same functional configuration as in the first embodiment will be given the same reference numerals used in the description of the first embodiment, and their descriptions will be omitted.

[0222] Figure 10 is a sequence diagram illustrating the operation of the control system in the second embodiment. The processes from step S1001 to step S1010 shown in Figure 10 are the same as the processes from step S801 to step S810 in Figure 8, so their explanation is omitted.

[0223] Following step S1010, the shovel 100 acquires environmental information about its surroundings using the spatial recognition device 70, etc. (step S1011). At this time, the controller 30 may also acquire image data captured by other spatial recognition devices installed at the work site, such as fixed-point cameras or drones, as part of the environmental information.

[0224] The following explanation describes the process when an object is detected around shovel 100 based on the environmental information acquired by shovel 100.

[0225] When the excavator 100 detects an object from the information output from the spatial recognition device 70 using the object detection unit F6 of the controller 30, the obstacle evaluation unit F11 determines whether the detected object is an obstacle that should be bypassed (step S1012). Here, the information output from the spatial recognition device 70 is part of the environmental information.

[0226] Here, for example, if the detected object is a weed or the like, the obstacle evaluation unit F11 will not determine this object as an obstacle and will not take a detour. However, if the detected object is something that has been placed by a worker, such as a road cone, the obstacle evaluation unit F11 will determine this object as an obstacle. In this embodiment, the controller 30 may maintain a list of the types of objects that should be considered obstacles, and the obstacle evaluation unit F11 may refer to this list to determine whether or not an object is an obstacle.

[0227] Next, if the detected object is an obstacle, the obstacle evaluation unit F11 instructs the intermediate target setting unit F4 to change the intermediate target and alter the travel route (step S1013).

[0228] Figure 11 illustrates the operation of the control system in the second embodiment. Figure 11 schematically shows an example of a work site. The work site includes a river G4, an irrigation canal G5, an embankment G6, a paved road G7, an unpaved road G8, and an office G9. In the example in Figure 11, a road cone RC is assumed to be placed on the unpaved road G8 just before the shovel 100 starts moving.

[0229] In the example shown in Figure 11, the current position of shovel 100 is point J1a, and the target position is point J2a.

[0230] In this case, the avoidance evaluation unit 230 of the management device 200 extracts environmental information for the area including points J1a and J2a. Specifically, the avoidance evaluation unit 230 extracts environmental information for the area surrounding the shortest route, which is the driving route R1a, including points J1a and J2a.

[0231] The avoidance evaluation unit 230 then determines, based on environmental information, whether or not there is an area where the excavator 100 should avoid traveling. At this time, since no road cones RC were set up at the work site, the control device 200 transmits a travel command based on the travel route R1a to the excavator 100. The excavator 100 starts traveling based on this travel command.

[0232] At this point, the shovel 100 begins collecting environmental information using the spatial recognition device 70. Then, when the shovel 100 reaches point J3, it detects the road cone RC.

[0233] In this case, the shovel 100 identifies the road cone RC as an obstacle and changes its travel route from point J3 to point J2a from travel route R1a to travel route R2a.

[0234] Thus, according to this embodiment, the shovel 100 can also generate a travel route in accordance with environmental information acquired during travel. Therefore, according to this embodiment, if an obstacle is placed on the travel route generated by the management device 200 just before the shovel 100 starts traveling or while traveling, it can avoid it.

[0235] Furthermore, in this embodiment, the driving route is changed according to environmental information during driving, making it possible to generate a driving route that matches the current state of the work site.

[0236] (Third embodiment) A third embodiment will be described below with reference to the drawings. The third embodiment differs from the first embodiment in that the management device 200 updates the travel route according to environmental information collected by the shovel 100 while it is traveling. Therefore, in the following description of the third embodiment, the differences from the first embodiment will be explained, and components having the same functional configuration as in the first embodiment will be given the same reference numerals used in the description of the first embodiment, and their descriptions will be omitted.

[0237] Figure 12 is a sequence diagram illustrating the operation of the control system in the third embodiment. The processes from step S1201 to step S1211 shown in Figure 10 are the same as the processes from step S1001 to step S1011 in Figure 10, so their explanation is omitted.

[0238] In step S1211, the shovel 100 acquires environmental information about its surroundings using the spatial recognition device 70, etc., and then transmits the acquired environmental information to the management device 200 (step S1212).

[0239] When the control device 200 receives environmental information acquired from the excavator 100 while it is in motion, the avoidance evaluation unit 230 determines whether or not there is an area that should be avoided in the direction of travel of the excavator 100 (step S1213).

[0240] The following explanation describes the operation when there is an area that needs to be avoided in the direction of travel of the shovel 100.

[0241] If the control device 200 detects an area that should be avoided in the direction of travel of the shovel 100, the route generation unit 240 updates the travel route based on environmental information acquired from the shovel 100 (step S1214).

[0242] Next, the control device 200 transmits a travel command to the excavator 100 based on the updated travel route via the command transmission unit 250 (step S1215). The excavator 100 receives this travel command and changes its travel route (step S1216).

[0243] Figure 13 illustrates the operation of the control system in the third embodiment. Figure 11 schematically shows an example of a work site. The work site includes a river G4, an irrigation canal G5, a levee G6, a paved road G7, an unpaved road G8, an office G9, and a grassy area G12. In the example in Figure 13, there is also a puddle G13 in the grassy area G12.

[0244] In the example shown in Figure 13, the current position of shovel 100 is point J1b, and the target position is point J2b.

[0245] In this case, the avoidance evaluation unit 230 of the management device 200 extracts environmental information for the area including points J1b and J2b. Specifically, the avoidance evaluation unit 230 extracts environmental information for the area surrounding the shortest route, which is the driving route R1b, including points J1b and J2b.

[0246] The avoidance evaluation unit 230 then determines, based on environmental information, whether or not there is an area where the shovel 100 should avoid traveling. In the example in Figure 13, there is a grassy area G12 around the travel route R1b, but since the grassy area G12 does not obstruct the travel of the shovel 100, the avoidance evaluation unit 230 determines that there is no area to avoid. The management device 200 then transmits a travel command to the shovel 100 based on the travel route R1b.

[0247] Excavator 100 begins its journey from point J1b. During its journey, Excavator 100 acquires environmental information based on its attitude data and transmits it to the control device 200.

[0248] Here, the control device 200, using the avoidance evaluation unit 230, detects from environmental information acquired when the shovel 100 reaches point J4 that there is a muddy area (soft ground) G13 within the grassy area G12.

[0249] Specifically, the avoidance evaluation unit 230 of the control device 200 refers to a value indicating the depth to which the crawler 1C sinks, which is included in the environmental information acquired from the shovel 100, and determines whether the crawler 1C has sunk to a depth greater than or equal to a certain value. If the crawler 1C has sunk to a depth greater than or equal to a certain value, the avoidance evaluation unit 230 may determine that the muddy area G13 is an area that should be avoided.

[0250] When the control device 200 determines that the muddy area G13 should be avoided, it updates the travel route from point J4 from travel route R1b to travel route R2b and sends a travel command to the excavator 100. The excavator 100 travels along travel route R2b in response to this command. The trajectory traveled by the excavator 100 is recorded in the storage medium 208. The recorded travel trajectory may be set as a travel route when other construction machinery travels.

[0251] Thus, according to this embodiment, the management device 200 can update the travel route in accordance with environmental information acquired from the shovel 100 during travel. Therefore, according to this embodiment, it is possible to always generate a travel route based on the latest environmental information. In other words, in this embodiment, it is possible to generate a travel route that matches the current state of the work site.

[0252] Although the embodiments described above describe the case in which the shovel 100 operates autonomously, the embodiments are not limited to this. The embodiments described above may also be applied to cases in which the shovel 100 is operated from a remote control room, for example.

[0253] The embodiments for carrying out the present invention have been described above, but the above description does not limit the scope of the invention, and various modifications and improvements are possible within the scope of the present invention. [Explanation of symbols]

[0254] 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 30 controllers 100 Shovel 200 Management device 210 Information Acquisition Department 220 Map Update Section 230 Avoidance Evaluation Unit 240 Route generation unit 250 Command Transmission Unit

Claims

1. Lower running body and An upper rotating body is mounted on the lower traveling body so as to be rotatable, A travel actuator that drives the lower traveling body, A control device provided on the upper rotating body, and an excavator having the above, The control device operates the travel actuator according to a travel command corresponding to a travel route generated based on environmental information of the work site, which includes information generated from the work history of the excavator indicated by the posture information of the excavator.

2. A control system for an excavator, including an excavator and a control device, The aforementioned control device is A route generation unit generates a travel route for the excavator based on environmental information of the work site, including information generated from the work history of the excavator as indicated by the posture information of the excavator. A command transmission unit that transmits a travel command corresponding to the generated travel route to the excavator, It has, The aforementioned shovel is, Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, A travel actuator that drives the lower traveling body, The upper rotating body has a control device, The control device is a control system for an excavator that operates the travel actuator according to a travel command corresponding to the travel route.

3. The aforementioned control device is The system includes an avoidance evaluation unit that determines, based on the aforementioned environmental information, whether or not there is an area to be avoided in the work site, including the current position and target position of the excavator. The excavator control system according to claim 2, wherein the route generation unit changes the travel route according to the determination result of the avoidance evaluation unit.

4. The aforementioned environmental information is, A control system for a shovel according to claim 2 or 3, comprising at least one of: information acquired by a spatial recognition device other than the spatial recognition device of the shovel; and information acquired by a shovel other than the shovel.

5. The aforementioned control device is The unit has an acquisition unit that acquires the environmental information from the aforementioned shovel, The excavator control system according to claim 4, wherein the environmental information is updated before the excavator is driven.

6. The control system for an excavator according to claim 2, wherein the environmental information includes weather information indicating the weather conditions during the time period in which the operating information for the excavator was acquired.

7. The control device is An object detection unit that detects objects present around the excavator based on the output of the excavator's spatial recognition device while it is in motion, The system includes an obstacle evaluation unit that determines whether or not the object detected by the object detection unit should be avoided, The travel route is changed when the aforementioned object is an object that should be avoided, as described in claim 2. Excavator control system.

8. The aforementioned control device is It has an information acquisition unit that acquires the environmental information from the shovel while it is in motion, The excavator control system according to claim 2, wherein the route generation unit changes the travel route according to the environmental information during travel.

9. The aforementioned route is, A control system for an excavator according to claim 2, which is generated using three-dimensional map data that is periodically updated based on the aforementioned environmental information.

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