Device for controlling shovel

Abstract

A device for controlling a shovel having a lower traveling body, an upper turning body that is turnably mounted on the lower traveling body, and attachments that are attached to the upper turning body, the attachments including a boom, an arm, and an end attachment, the control device being configured so as to operate the arm in accordance with a command value such that a prescribed work site on the end attachment moves while conforming to a target surface, and being configured so as to operate at least one of the boom and the end attachment in accordance with operation of the arm, and the control device controlling the operation of at least one of the arm and the boom such that the movement speed of a control subject, which is a prescribed site on an attachment following the target surface, reaches a prescribed speed.

Description

Excavator control device

[0001] The present disclosure relates to a control device for a shovel.

[0002] 2. Description of the Related Art Conventionally, there is known a shovel that can operate an attachment so that the toe of a bucket moves along a target construction surface (see Patent Document 1).

[0003] International Publication No. 2020 / 101006

[0004] The above-described excavator can move the working portion of the bucket along the target construction surface at a constant speed when the amount of operation of the arm operating lever is maintained at a constant amount.

[0005] When the angle or other characteristics of a target surface change while the operation amount of the attachment's control lever is maintained constant, the operation of the attachment changes in order to align the working part of the attachment with the target surface, which can cause a large change in the movement speed of the working part. This change in the movement speed of the working part can cause discomfort to the excavator operator.

[0006] Therefore, it is desirable to improve the operability of the attachment by controlling the movement speed of the working part so that it does not change significantly.

[0007] A control device for a shovel according to an embodiment of the present disclosure is a control device for a shovel having a lower running body, an upper rotating body rotatably mounted on the lower running body, and an attachment including a boom, an arm, and an end attachment attached to the upper rotating body, wherein the control device is configured to operate the arm in accordance with a command value so as to move a predetermined working portion of the end attachment while aligning it with a target surface, and to operate at least one of the boom and the end attachment in accordance with the operation of the arm, and controls the operation of at least one of the arm and the boom so that the movement speed of a controlled object, which is a predetermined portion of the attachment, along the target surface becomes a predetermined speed.

[0008] The above-described control device for a shovel can improve the operability of the attachment by controlling the movement speed of a predetermined part to a predetermined speed.

[0009] FIG. 1 is a side view of an excavator according to an embodiment of the present disclosure. FIG. 2 is a top view of an excavator according to an embodiment of the present disclosure. FIG. 3 is a diagram illustrating an example of a configuration of a hydraulic system mounted on the excavator. FIG. 4 is a diagram of a part of a hydraulic system related to operation of an arm cylinder. FIG. 5 is a diagram of a part of a hydraulic system related to operation of a boom cylinder. FIG. 6 is a diagram of a part of a hydraulic system related to operation of a bucket cylinder. FIG. 7 is a diagram of a part of a hydraulic system related to operation of a swing hydraulic motor. FIG. 8 is a diagram of a part of a hydraulic system related to operation of a left traveling hydraulic motor. FIG. 9 is a diagram of a part of a hydraulic system related to operation of a right traveling hydraulic motor. FIG. 10 is a diagram illustrating an example of a configuration of a control system for the excavator. FIG. 11 is a diagram illustrating an example of a configuration of a controller according to the first embodiment. FIG. 12 is a diagram illustrating an example of a configuration of a controller according to the first embodiment. FIG. 13 is a schematic diagram illustrating movement of an attachment. FIG. 14 is a conceptual diagram illustrating speed control of a working part performed by a controller according to a second embodiment. FIG. 15 is an explanatory diagram illustrating a speed change of the tip of the bucket corresponding to operation by an operator in an excavator according to a second embodiment. FIG. 16 is a diagram illustrating an example of a configuration of a controller according to the second embodiment. FIG. 17 is a diagram illustrating an example of a configuration of a controller according to the second embodiment. FIG. 18 is a diagram illustrating a movement path of the tip of the bucket according to the second embodiment.

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, the same or corresponding components are denoted by the same reference numerals, and descriptions thereof may be omitted.

[0011] First Embodiment First, a shovel 100 as an excavator according to a first embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view of the shovel 100, and Figure 2 is a top view of the shovel 100.

[0012] In this embodiment, the undercarriage 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the undercarriage 1. However, the traveling hydraulic motor 2M may be a traveling motor-generator serving as an electric actuator. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The undercarriage 1 functions as a driven body because it is driven by the crawler 1C.

[0013] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2, which serves as a driven body, is driven by a hydraulic rotating motor 2A mounted on the upper rotating body 3. However, the hydraulic rotating motor 2A may also be a rotating motor-generator serving as an electric actuator. The upper rotating body 3 functions as a driven body because it is driven by the rotating mechanism 2.

[0014] A boom 4 serving as a driven body is attached to the upper rotating body 3. An arm 5 serving as a driven body is attached to the tip of the boom 4, and a bucket 6 serving as a driven body and an end attachment is attached to the tip of the arm 5. The end attachment is a member attached to the tip of the arm 5, and may be a breaker, grapple, lifting magnet, or the like. The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0015] 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.

[0016] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised.

[0017] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. For example, the arm angle is at its smallest when the arm 5 is fully closed, and increases as the arm 5 opens.

[0018] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 opens.

[0019] 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 that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like. The boom angle sensor S1 may also be an operation detection unit (operation sensor 29LA, described below) that detects the amount of operation of a boom operation lever (described below). 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 the bucket angle sensor S3.

[0020] The upper rotating body 3 is provided with a cabin 10 serving as a driver's cab, and is equipped with a power source such as an engine 11. The power source may be an electric motor. The upper rotating body 3 is also equipped with an exterior alarm 45A, an object detection device 70, a positioning device 85, a machine body tilt sensor S4, a rotation angular velocity sensor S5, etc. The interior of the cabin 10 is equipped with an operation device 26, a controller 30, a display device 40, an interior alarm 45B, etc. For convenience, in this specification, the side of the upper rotating body 3 to which the boom 4 is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

[0021] The controller 30 is an example of a processing circuit, and functions as a control device for controlling the shovel 100. In this embodiment, the controller 30 is configured by a computer including a CPU, RAM, NVRAM, ROM, etc. The controller 30 reads out programs corresponding to each function from the ROM, loads them into the RAM, and causes the CPU to execute the corresponding processing.

[0022] The display device 40 is configured to be able to display image information. In the illustrated example, the display device 40 is an organic EL display, and is configured to be able to present image information to the operator of the shovel 100.

[0023] The exterior alarm 45A is configured to be able to output sound toward the outside of the cabin 10. In the illustrated example, the exterior alarm 45A is an exterior speaker, and is configured to be able to output sound to attract the attention of workers working around the excavator 100.

[0024] The indoor alarm 45B is configured to be able to output sound toward the inside of the cabin 10. In the illustrated example, the indoor alarm 45B is an indoor speaker, and is configured to be able to output sound to attract the attention of the operator operating the excavator 100.

[0025] The object detection device 70 is configured to detect objects present around the excavator 100. Examples of objects include people, animals, vehicles, construction machinery, buildings, holes, etc. The object detection device 70 is, for example, an ultrasonic sensor, a millimeter-wave radar, an imaging device, or an infrared sensor. Examples of the imaging device include a monocular camera, a stereo camera, a LIDAR, or a distance image sensor. In this embodiment, the object detection device 70 includes a rear camera 70B attached to the rear end of the upper surface of the upper rotating body 3, a front camera 70F attached to the front end of the upper surface of the cabin 10, a left camera 70L attached to the left end of the upper surface of the upper rotating body 3, and a right camera 70R attached to the right end of the upper surface of the upper rotating body 3.

[0026] The object detection device 70 may be configured to be able to detect a predetermined object (e.g., a person) within a predetermined area set around the shovel 100. For example, the object detection device 70 may be configured to be able to distinguish between people and non-human objects when detecting them.

[0027] The positioning device 85 is configured to measure the position of the shovel 100. In this embodiment, the positioning device 85 is a GNSS receiver with an integrated electronic compass, and calculates and outputs the latitude, longitude, and altitude of the shovel 100 based on the received GNSS signal, and also calculates and outputs the orientation of the shovel 100.

[0028] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the inclination angle about the longitudinal axis and the lateral axis of the upper rotating body 3 with respect to a horizontal plane. The longitudinal axis and the lateral axis of the upper rotating body 3 are, for example, perpendicular to each other and pass through the shovel center point, which is a point on the rotation axis of the shovel 100.

[0029] The swing angular velocity sensor S5 is configured to detect the swing angular velocity of the upper swing body 3. In this embodiment, the swing angular velocity sensor S5 is a gyro sensor. The swing angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The swing angular velocity sensor S5 may be configured to output at least one of a swing speed and a swing angle. In this case, at least one of the swing speed and the swing angle may be calculated from the swing angular velocity.

[0030] Hereinafter, any combination of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body tilt sensor S4, and turning angular velocity sensor S5 will also be collectively referred to as an attitude sensor.

[0031] Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to Fig. 3. Fig. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100. In Fig. 3, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0032] The hydraulic system of the excavator 100 mainly includes an engine 11, a pump regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and a control valve 60.

[0033] In FIG. 3, the hydraulic system circulates hydraulic oil from a main pump 14 driven by an engine 11 to a hydraulic oil tank via a center bypass line CB or a parallel line PC.

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

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

[0036] The pump regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the pump regulator 13 controls the discharge rate (displacement volume) of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0037] The pilot pump 15 is configured to supply pilot oil to hydraulic control devices including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a function to supply the hydraulic oil as pilot oil to the operating device 26, the solenoid valve 31 (see FIGS. 4A to 4F), etc. after reducing the pressure of the hydraulic oil by using a throttle or the like, in addition to the function of supplying the hydraulic oil to the control valve unit 17.

[0038] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 can selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0039] The operating device 26 is a device used by an operator to operate the actuators. The actuators include at least one of hydraulic actuators and electric actuators. In this embodiment, the operating device 26 supplies pilot oil discharged from the pilot pump 15 to pilot ports of corresponding control valves in the control valve unit 17 via pilot lines. The pressure of the pilot oil (pilot pressure) supplied to each pilot port is a pressure that corresponds to the operation direction and operation amount of a lever or pedal (not shown) of the operating device 26 that corresponds to each hydraulic actuator.

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

[0041] The operation sensor 29 is configured to detect the operation of the operation device 26 by the operator. In this embodiment, the operation sensor 29 is an angle sensor that detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each actuator in the form of an angle, and outputs the detected value to the controller 30. The operation of the operation device 26 may be detected using a sensor other than an angle sensor.

[0042] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to a hydraulic oil tank via a left center bypass line CBL or a left parallel line PCL, and the right main pump 14R circulates hydraulic oil to a hydraulic oil tank via a right center bypass line CBR or a right parallel line PCR.

[0043] The left center bypass line CBL is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line CBR is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0044] The control valve 171 is a spool valve that supplies the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and switches the flow of hydraulic oil to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank, and is also referred to as the "control valve for the left traveling hydraulic motor."

[0045] The control valve 172 is a spool valve that supplies the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and switches the flow of hydraulic oil to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to a hydraulic oil tank, and is also referred to as the "right traveling hydraulic motor control valve."

[0046] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank, and is also called the "control valve for the swing hydraulic motor."

[0047] The control valve 174 is a spool valve that supplies the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and switches the flow of hydraulic oil to discharge the hydraulic oil in the bucket cylinder 9 to a hydraulic oil tank, and is also referred to as a "bucket cylinder control valve."

[0048] Control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by left main pump 14L to boom cylinder 7. Control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by right main pump 14R to boom cylinder 7 and to discharge the hydraulic oil in boom cylinder 7 to the hydraulic oil tank. Control valve 175 is also referred to as the "boom cylinder control valve."

[0049] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. The control valve 176 is also called the "arm cylinder control valve."

[0050] Left parallel line PCL is a hydraulic oil line that runs parallel to left center bypass line CBL. Left parallel line PCL can supply hydraulic oil to downstream control valves when the flow of hydraulic oil through left center bypass line CBL is restricted or blocked by any of control valves 171, 173, or 175L. Right parallel line PCR is a hydraulic oil line that runs parallel to right center bypass line CBR. Right parallel line PCR can supply hydraulic oil to downstream control valves when the flow of hydraulic oil through right center bypass line CBR is restricted or blocked by any of control valves 172, 174, or 175R.

[0051] The pump regulator 13 includes a left pump regulator 13L and a right pump regulator 13R. The left pump regulator 13L controls the discharge rate (displacement volume) of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in response to the discharge pressure of the left main pump 14L. Specifically, for example, the left pump regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to reduce the discharge rate (displacement volume). The same applies to the right pump regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge rate, from exceeding the output power (output horsepower) of the engine 11.

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

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

[0054] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces pilot oil to the right pilot port of the control valve 176L and also introduces pilot oil to the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces pilot oil to the left pilot port of the control valve 176L and also introduces pilot oil to the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces pilot oil to the left pilot port of the control valve 173, and when operated in the right turning direction, it introduces pilot oil to the right pilot port of the control valve 173. In this way, the left operating lever 26L functions as an "arm operating lever" when operated in the forward / backward direction, and functions as a "swing operating lever" when operated in the left / right direction.

[0055] 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 pilot oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the operation amount into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the pilot oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the operation amount into the pilot port of the control valve 174.

[0056] Specifically, when the right operating lever 26R is operated in the boom-lowering direction, it introduces pilot oil to the right pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-raising direction, it introduces pilot oil to the right pilot port of the control valve 175L and also introduces pilot oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the bucket-closing direction, it introduces pilot oil to the right pilot port of the control valve 174, and when operated in the bucket-opening direction, it introduces pilot oil to the left pilot port of the control valve 174. In this way, the right operating lever 26R functions as a "boom operating lever" when operated in the forward / backward direction, and functions as a "bucket operating lever" when operated in the left / right direction.

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

[0058] The discharge pressure sensor 28 includes a left discharge pressure sensor 28L and a right discharge pressure sensor 28R. The left 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 the right discharge pressure sensor 28R.

[0059] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the forward / backward operation of the left control lever 26L by the operator in the form of an angle and outputs the detected value to the controller 30. The operation includes, for example, the lever operation direction and the lever operation amount (lever operation angle). Similarly, the operation sensor 29LB detects the left / right operation of the left control lever 26L by the operator in the form of an angle and outputs the detected value to the controller 30. The operation sensor 29RA detects the forward / backward operation of the right control lever 26R by the operator in the form of an angle and outputs the detected value to the controller 30. The operation sensor 29RB detects the left / right operation of the right control lever 26R by the operator in the form of an angle and outputs the detected value to the controller 30. The operation sensor 29DL detects the operation of the left travel lever 26DL by the operator in the forward / backward direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29DR detects the operation of the right travel lever 26DR by the operator in the forward / backward direction in the form of an angle, and outputs the detected value to the controller 30.

[0060] The controller 30 receives the output of the operation sensor 29 and outputs a control command to the pump regulator 13 as necessary to change the discharge rate of the main pump 14 .

[0061] Here, a description will be given of negative control using the throttle 18 and the control pressure sensor 19. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0062] A left throttle 18L is disposed in the left center bypass line CBL between the hydraulic oil tank and the control valve 176L, which is located most downstream. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left pump regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate 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 rate of the left main pump 14L as the control pressure increases, and increases the discharge rate of the left main pump 14L as the control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0063] Specifically, as shown in FIG. 3 , when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the left main pump 14L passes through the left center bypass line CBL and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the minimum allowable discharge rate, thereby suppressing pressure loss (pumping loss) that occurs when the discharged hydraulic oil passes through the left center bypass line CBL. On the other hand, when one of the hydraulic actuators is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching 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 rate of the left main pump 14L, allowing sufficient hydraulic oil to flow into the hydraulic actuator to be operated, ensuring reliable drive of the hydraulic actuator. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0064] With the above-described configuration, the hydraulic system of Fig. 3 can suppress unnecessary energy consumption in the main pump 14 in a standby state. The unnecessary energy consumption includes pumping loss caused in the center bypass line CB by the hydraulic oil discharged from the main pump 14. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 3 can reliably supply a necessary and sufficient amount of hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0065] The control valve 60 is configured to switch between an enabled state and an disabled state of the operating device 26. The enabled state of the operating device 26 is a state in which the operator can operate the operating device 26 to move the associated driven body, and the disabled state of the operating device 26 is a state in which the operator cannot operate the operating device 26 to move the associated driven body.

[0066] In this embodiment, the control valve 60 is a solenoid valve that can switch between a connected state and a cut-off state of the pilot line CD1 that connects the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch between a connected state and a cut-off state of the pilot line CD1 in response to a command from the controller 30.

[0067] The control valve 60 may be configured to operate in conjunction with a gate lock lever (not shown). Specifically, the control valve 60 may be configured to cut off the pilot line CD1 when the gate lock lever is pushed down and to open the pilot line CD1 when the gate lock lever is pulled up. However, the control valve 60 may be a solenoid valve separate from the solenoid valve that can switch the pilot line CD1 between the open and closed states in conjunction with the gate lock lever.

[0068] Next, the configuration for the controller 30 to operate the actuators will be described with reference to Figures 4A to 4F. Figures 4A to 4F are diagrams illustrating portions of the hydraulic system. Specifically, Figure 4A is a diagram illustrating the hydraulic system portion related to the operation of the arm cylinder 8, and Figure 4B is a diagram illustrating the hydraulic system portion related to the operation of the boom cylinder 7. Figure 4C is a diagram illustrating the hydraulic system portion related to the operation of the bucket cylinder 9, and Figure 4D is a diagram illustrating the hydraulic system portion related to the operation of the swing hydraulic motor 2A. Figure 4E is a diagram illustrating the hydraulic system portion related to the operation of the left traveling hydraulic motor 2ML, and Figure 4F is a diagram illustrating the hydraulic system portion related to the operation of the right traveling hydraulic motor 2MR.

[0069] 4A to 4F, the hydraulic system includes a solenoid valve 31. The solenoid valve 31 includes solenoid valves 31AL to 31FL and solenoid valves 31AR to 31FR.

[0070] The solenoid valve 31 is disposed in a pipe connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to be able to change the flow path area of ​​the pipe by changing the opening area. In this embodiment, the solenoid valve 31 is a proportional solenoid valve and operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the solenoid valve 31 in response to operation of the operating device 26 by the operator, or regardless of operation of the operating device 26 by the operator. The controller 30 can then apply the pilot pressure generated by the solenoid valve 31 to the pilot port of the corresponding control valve.

[0071] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 not only when an operation is being performed on the specific operating device 26, but also when no operation is being performed on the specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when an operation is being performed on the specific operating device 26.

[0072] For example, as shown in FIG. 4A , the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses pilot oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to operation in the forward / backward direction to the pilot port of the control valve 176. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Furthermore, when the left operating lever 26L is operated in the arm opening direction (forward), it applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0073] The operation device 26 is provided with switches SW. In this embodiment, the switches SW include switches SW1 and SW2. Switch SW1 is a push button switch provided at the tip of the left operation lever 26L. The operator can operate the left operation lever 26L by pressing switch SW1. Switch SW1 may be provided on the right operation lever 26R or at another position within the cabin 10. Switch SW2 is a push button switch provided at the tip of the left travel lever 26DL. The operator can operate the left travel lever 26DL by pressing switch SW2. Switch SW2 may be provided on the right travel lever 26DR or at another position within the cabin 10.

[0074] The operation sensor 29LA detects the operation of the left operation lever 26L in the forward and backward directions by the operator, and outputs the detected value to the controller 30.

[0075] The solenoid valve 31AL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil 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 solenoid valve 31AL. The solenoid valve 31AR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil 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 solenoid valve 31AR. The solenoid valve 31AL can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position. Similarly, the solenoid valve 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0076] With this configuration, the controller 30 can supply the pilot oil discharged 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 solenoid valve 31AL in response to the arm closing operation by the operator. Furthermore, the controller 30 can supply the pilot oil discharged 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 solenoid valve 31AL, regardless of the arm closing operation by the operator. In other words, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or regardless of the arm closing operation by the operator. In this way, the solenoid valve 31AL functions as an "arm solenoid valve" or an "arm closing solenoid valve."

[0077] Furthermore, in response to an arm-opening operation by the operator, the controller 30 can supply pilot oil discharged 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 solenoid valve 31AR. Furthermore, regardless of an arm-opening operation by the operator, the controller 30 can supply pilot oil discharged 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 solenoid valve 31AR. In other words, the controller 30 can open the arm 5 in response to an arm-opening operation by the operator or regardless of an arm-opening operation by the operator. In this way, the solenoid valve 31AR functions as an "arm solenoid valve" or an "arm-opening solenoid valve."

[0078] Furthermore, with this configuration, even when the operator is performing an arm closing operation, the controller 30 can, as necessary, reduce the pilot pressure acting on the closing-side pilot ports of the control valve 176 (the left pilot port of the control valve 176L and the right pilot port of the control valve 176R) to forcibly stop the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm-opening operation.

[0079] Alternatively, even when the operator is performing an arm closing operation, the controller 30 may control the solenoid valve 31AR as necessary to increase the pilot pressure acting on the opening pilot ports of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) that are located opposite the closing pilot port of the control valve 176, thereby forcibly returning the control valve 176 to the neutral position, thereby forcibly stopping the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.

[0080] 4B to 4F, the same applies to the case where the operation of the boom 4 is forcibly stopped when the operator is performing a boom-raising operation or a boom-lowering operation, the case where the operation of the bucket 6 is forcibly stopped when the operator is performing a bucket-closing operation or a bucket-opening operation, and the case where the swing operation of the upper swing body 3 is forcibly stopped when the operator is performing a swing operation.The same also applies to the case where the traveling operation of the lower traveling body 1 is forcibly stopped when the operator is performing a traveling operation.

[0081] Furthermore, in order to improve the responsiveness of the arm operation (arm closing operation and arm opening operation), the controller 30 may be configured to apply a small pilot pressure to the pilot ports on both sides of the control valve 176 before the arm operation is performed. The same applies to other operations such as boom operation (boom raising operation and boom lowering operation). In other words, the controller 30 can improve the responsiveness of the hydraulic actuator by using a larger amount of pilot oil.

[0082] 4B , the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses pilot oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to operation in the forward / backward direction to the pilot port of the control valve 175. More specifically, when the right operating lever 26R is operated in the boom-up direction (rearward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-down direction (forward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0083] The operation sensor 29RA detects the operation of the right operating lever 26R in the forward and backward directions by the operator, and outputs the detected value to the controller 30.

[0084] The solenoid valve 31BL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil 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 solenoid valve 31BL. The solenoid valve 31BR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR. The solenoid valve 31BL can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position. The solenoid valve 31BR can also adjust the pilot pressure so that the control valve 175R can be stopped at any valve position.

[0085] With this configuration, the controller 30 can supply pilot oil discharged 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 solenoid valve 31BL in response to the boom-raising operation by the operator. Furthermore, the controller 30 can supply pilot oil discharged 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 solenoid valve 31BL, regardless of the boom-raising operation by the operator. In other words, the controller 30 can raise the boom 4 in response to the boom-raising operation by the operator or regardless of the boom-raising operation by the operator. In this way, the solenoid valve 31BL functions as a "boom solenoid valve" or a "boom-raising solenoid valve."

[0086] Furthermore, in response to the boom lowering operation by the operator, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR. Furthermore, regardless of the boom lowering operation by the operator, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR. In other words, the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator or regardless of the boom lowering operation by the operator. In this way, the solenoid valve 31BR functions as a "boom solenoid valve" or a "boom lowering solenoid valve."

[0087] 4C , right operating lever 26R is also used to operate bucket 6. Specifically, right operating lever 26R uses pilot oil discharged from pilot pump 15 to apply a pilot pressure corresponding to operation in the left-right direction to the pilot port of control valve 174. More specifically, when right operating lever 26R is operated in the bucket closing direction (leftward), it applies a pilot pressure corresponding to the operation amount to the left pilot port of control valve 174. When right operating lever 26R is operated in the bucket opening direction (rightward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of control valve 174.

[0088] The operation sensor 29RB detects the operation of the right operating lever 26R in the left and right directions by the operator, and outputs the detected value to the controller 30.

[0089] The solenoid valve 31CL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the solenoid valve 31CL. The solenoid valve 31CR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the solenoid valve 31CR. The solenoid valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position. Similarly, the solenoid valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

[0090] With this configuration, in response to the bucket closing operation by the operator, controller 30 can supply pilot oil discharged from pilot pump 15 to the left pilot port of control valve 174 via solenoid valve 31CL. Furthermore, regardless of the bucket closing operation by the operator, controller 30 can supply pilot oil discharged from pilot pump 15 to the left pilot port of control valve 174 via solenoid valve 31CL. In other words, controller 30 can close bucket 6 in response to the bucket closing operation by the operator, or regardless of the bucket closing operation by the operator. In this way, solenoid valve 31CL functions as a "bucket solenoid valve" or a "bucket closing solenoid valve."

[0091] Furthermore, in response to the bucket opening operation by the operator, controller 30 can supply pilot oil discharged from pilot pump 15 to the right pilot port of control valve 174 via solenoid valve 31CR. Furthermore, regardless of the bucket opening operation by the operator, controller 30 can supply pilot oil discharged from pilot pump 15 to the right pilot port of control valve 174 via solenoid valve 31CR. In other words, controller 30 can open bucket 6 in response to the bucket opening operation by the operator, or regardless of the bucket opening operation by the operator. In this way, solenoid valve 31CR functions as a "bucket solenoid valve" or a "bucket opening solenoid valve."

[0092] 4D , the left operating lever 26L is also used to operate the swing mechanism 2. Specifically, the left operating lever 26L uses pilot oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to operation in the left-right direction to the pilot port of the control valve 173. More specifically, when the left operating lever 26L is operated in the left swing direction (leftward), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. When the left operating lever 26L is operated in the right swing direction (rightward), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0093] The operation sensor 29LB detects the operation of the left operation lever 26L by the operator in the left and right directions, and outputs the detected value to the controller 30.

[0094] The solenoid valve 31DL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL. The solenoid valve 31DR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR. The solenoid valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the solenoid valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0095] With this configuration, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL in response to a left turning operation by the operator. Furthermore, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL, regardless of a left turning operation by the operator. In other words, the controller 30 can rotate the turning mechanism 2 left in response to a left turning operation by the operator, or regardless of a left turning operation by the operator. In this way, the solenoid valve 31DL functions as a "solenoid valve for turning" or a "solenoid valve for turning left."

[0096] Furthermore, in response to a right turning operation by the operator, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR. Furthermore, regardless of a right turning operation by the operator, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR. In other words, the controller 30 can rotate the swing mechanism 2 to the right in response to a right turning operation by the operator or regardless of a right turning operation by the operator. In this way, the solenoid valve 31DR functions as a "swing solenoid valve" or a "right turning solenoid valve."

[0097] 4E , the left travel lever 26DL is used to operate the left crawler 1CL. Specifically, the left travel lever 26DL uses pilot oil discharged from the pilot pump 15 to apply pilot pressure corresponding to forward / rearward operation to the pilot port of the control valve 171. More specifically, when the left travel lever 26DL is operated in the forward direction (forward), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 171. When the left travel lever 26DL is operated in the reverse direction (rearward), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 171.

[0098] The operation sensor 29 DL electrically detects the operation of the left travel lever 26 DL in the forward / backward direction by the operator, and outputs the detected value to the controller 30 .

[0099] The solenoid valve 31EL operates in response to a current command output by the controller 30. The solenoid valve 31EL adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 via the solenoid valve 31EL to the left pilot port of the control valve 171. The solenoid valve 31ER operates in response to a current command output by the controller 30. The solenoid valve 31ER adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 via the solenoid valve 31ER to the right pilot port of the control valve 171. The solenoid valves 31EL and 31ER can adjust the pilot pressure so that the control valve 171 can be stopped at any valve position.

[0100] With this configuration, the controller 30 can supply pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 171 via the solenoid valve 31EL, regardless of the left forward movement operation by the operator. In other words, the left crawler 1CL can move forward. Furthermore, the controller 30 can supply pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 171 via the solenoid valve 31ER, regardless of the left reverse movement operation by the operator. In other words, the left crawler 1CL can move backward. In this way, the solenoid valve 31EL functions as a "left traveling solenoid valve" or a "left forward movement solenoid valve," and the solenoid valve 31ER functions as a "left traveling solenoid valve" or a "left reverse movement solenoid valve."

[0101] 4F , the right travel lever 26DR is used to operate the right crawler 1CR. Specifically, the right travel lever 26DR uses pilot oil discharged from the pilot pump 15 to apply pilot pressure corresponding to the forward / rearward movement of the lever to the pilot port of the control valve 172. More specifically, when the right travel lever 26DR is operated in the forward direction (forward), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 172. When the right travel lever 26DR is operated in the reverse direction (rearward), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 172.

[0102] The operation sensor 29DR electrically detects the operation of the right travel lever 26DR in the forward or backward direction by the operator, and outputs the detected value to the controller 30.

[0103] The solenoid valve 31FL operates in response to a current command output by the controller 30. The solenoid valve 31FL adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 via the solenoid valve 31FL to the left pilot port of the control valve 172. The solenoid valve 31FR operates in response to a current command output by the controller 30. The solenoid valve 31FR adjusts the pilot pressure of the pilot oil introduced from the pilot pump 15 via the solenoid valve 31FR to the right pilot port of the control valve 172. The solenoid valves 31FL and 31FR can adjust the pilot pressure so that the control valve 172 can be stopped at any valve position.

[0104] With this configuration, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the right pilot port of the control valve 172 via the solenoid valve 31FL, regardless of the right forward movement operation by the operator. In other words, the right crawler 1CR can move forward. Furthermore, the controller 30 can supply pilot oil discharged from the pilot pump 15 to the left pilot port of the control valve 172 via the solenoid valve 31FR, regardless of the right reverse movement operation by the operator. In other words, the right crawler 1CR can move backward. In this way, the solenoid valve 31FL functions as a "right traveling solenoid valve" or a "right forward movement solenoid valve," and the solenoid valve 31FR functions as a "right traveling solenoid valve" or a "right reverse movement solenoid valve."

[0105] Furthermore, the excavator 100 may be configured to automatically operate the bucket tilt mechanism. In this case, the hydraulic system portion related to the bucket tilt cylinder that constitutes the bucket tilt mechanism may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0106] Although the description has been given of an electric control lever as the form of the operating device 26, a hydraulic control lever may be used instead. In this case, the amount of operation of the hydraulic control lever may be detected in the form of pressure by a pressure sensor and input to the controller 30. Furthermore, a solenoid valve may be disposed between the operating device 26 as a hydraulic control lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the operating device 26 as a hydraulic control lever, the operating device 26 can move each control valve by increasing or decreasing the pilot pressure in response to the amount of operation. Furthermore, each control valve may be configured as an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 that corresponds to the amount of operation of the electric control lever.

[0107] Next, an overview of the machine guidance function and the machine control function of the shovel 100 will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the configuration of a control system for the shovel 100. Specifically, Fig. 5 shows an example of the configuration relating to the machine guidance function and the machine control function of the shovel 100.

[0108] The controller 30 is configured to be able to execute a machine guidance function that guides the operator in manually operating the shovel 100 .

[0109] Specifically, the controller 30 transmits work information such as the distance between the target construction surface, such as the design surface, and a specified work area of ​​the bucket 6, which is the tip of the attachment AT (for example, the tip of the bucket 6 or the back of the bucket 6) (hereinafter simply referred to as the "work area"), to the operator via the display device 40 and the indoor alarm 45B, etc.

[0110] More specifically, the controller 30 acquires information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, swing angular velocity sensor S5, operation sensor 29, object detection device 70, positioning device 85, switch SW, etc. Then, for example, based on the acquired information, the controller 30 calculates the distance between the bucket 6 and the target construction surface and notifies the operator of the calculated distance by an image displayed on the display device 40 and a sound output from the interior alarm 45B, etc. Data regarding the target construction surface is stored in the internal memory of the controller 30 or an external storage device connected to the controller 30, for example, based on setting input by the operator via an information input device (not shown) or by downloading from an external device (for example, a predetermined management server). The data regarding the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, its X axis pointing toward the intersection of the Greenwich meridian and the equator, its Y axis pointing toward 90 degrees east longitude, and its Z axis pointing toward the North Pole. The operator may, for example, define any point on the construction site as a reference point and set a target construction surface based on its relative position to the reference point via the information input device. This enables the controller 30 to notify the operator of work information via the display device 40, the indoor alarm 45B, etc., and to guide the operator in operating the excavator 100 via the operating device 26.

[0111] The controller 30 is also configured to be able to execute machine control functions such as assisting the operator in manually operating the shovel 100 and causing the shovel 100 to operate automatically or autonomously.

[0112] Specifically, when the operator is manually performing an excavation operation, a leveling operation, or the like, the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface coincides with the tip of the attachment AT, specifically, a shape element to be controlled (hereinafter simply referred to as the "control object") set on the working portion of the bucket 6, or the like. The control object may include, for example, a plane or curved surface that constitutes the tip of the bucket 6 as the working portion, a line segment defined on the plane or curved surface, a point defined on the plane or curved surface, or the like. The control object may also include, for example, a plane or curved surface that constitutes the back surface of the bucket 6 as the working portion, a line segment defined on the plane or curved surface, a point defined on the plane or curved surface, or the like. The control object may also be set as the arm top pin (bucket connecting pin).

[0113] More specifically, when the operator operates the left operating lever 26L to move the arm 5 while operating (pressing) the switch SW, the controller 30 automatically operates the boom 4, arm 5, and bucket 6 in response to the operator's operation of the left operating lever 26L so that the target construction surface coincides with the controlled object. More specifically, as described above, the controller 30 controls the solenoid valve 31 to automatically operate the boom 4, arm 5, and bucket 6. This allows the operator to cause the excavator 100 to perform excavation work, leveling work, or the like along the target construction surface simply by operating the left operating lever 26L in the forward / backward direction.

[0114] The working position of the bucket 6 may be set, for example, in accordance with a setting input by an operator or the like via an information input device. Furthermore, the working position of the bucket 6 may be set automatically, for example, in accordance with the work content of the shovel 100. Specifically, the working position of the bucket 6 may be set at the tip of the bucket 6 when the work content of the shovel 100 is excavation work or the like, and may be set at the back surface of the bucket 6 when the work content of the shovel 100 is leveling work, compaction work, or the like. In this case, the work content of the shovel 100 may be automatically determined based on an image captured by the front camera 70F or the like, or may be set in accordance with the selected or input content by the operator or the like selecting or inputting it via the information input device.

[0115] The control object in the working portion of the bucket 6 (hereinafter simply referred to as the "control object of the bucket 6") may be set at a point on a curved or flat surface that constitutes the tip of a specific one of the multiple claws of the bucket 6, if the working portion is the tip of the bucket 6. Furthermore, for example, if the working portion is the back surface of the bucket 6, the control object of the bucket 6 may be set arbitrarily on the curved or flat surface that constitutes the back surface of the bucket 6. In this case, the controller 30 may set the control object on the back surface of the bucket 6 in accordance with a setting operation by an operator or the like via an information input device, or may automatically set (change) the control object on the back surface of the bucket 6 based on predetermined conditions.

[0116] Next, an example of a detailed configuration related to the machine control function will be described with reference to Figures 6A and 6B. Figures 6A and 6B are diagrams showing an example of the configuration of the controller 30. Specifically, Figures 6A and 6B show an example of a detailed configuration related to the machine control function. Note that the following description with reference to Figures 6A and 6B relates to the machine control function that is executed when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated with the switch SW operated.

[0117] The controller 30 includes, as functional units related to the machine control function, an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, an operation command generation unit 3006, a pilot command generation unit 3007, an attitude angle calculation unit 3008, a control object speed calculation unit 3009, and a limiting unit 3010. In the illustrated example, each of the 10 functional units is realized by software. However, each of the 10 functional units may also be realized by hardware (electronic circuits, etc.) or a combination of software and hardware. Furthermore, in the illustrated example, when the switch SW is operated, each of the 10 functional units repeatedly executes the processing described below at each predetermined control period.

[0118] The operation content acquisition unit 3001 acquires the operation content of the arm control lever based on the detection signal received from the operation sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (whether the arm is opened or closed) and the operation amount as the operation content.

[0119] The target construction surface acquisition unit 3002 acquires data relating to the target construction surface from, for example, an internal memory or an external storage device.

[0120] Based on data relating to the target construction surface, the target trajectory setting unit 3003 sets information relating to the target trajectory of the control object of the bucket 6, which is the tip of the attachment AT, for moving the control object along the target construction surface. For example, the target trajectory setting unit 3003 may set the tilt angle in the fore-and-aft direction of the target construction surface relative to the body (upper rotating body 3) of the shovel 100 as the information relating to the target trajectory.

[0121] The current position calculation unit 3004 calculates the position (current position) of the control target of the bucket 6. Specifically, the position of the control target of the bucket 6 may be calculated based on the boom angle β1, the arm angle β2, and the bucket angle β3 calculated by the attitude angle calculation unit 3008.

[0122] The target position calculation unit 3005 calculates a target position of the controlled object of the bucket 6 based on the operation details (operation direction and operation amount) of the arm control lever, information related to the set target trajectory, and the current position of the controlled object of the bucket 6. The target position is a position on the target construction surface (in other words, the target trajectory) that is to be reached during the current control cycle, assuming that the arm 5 operates according to the operation direction and operation amount of the arm control lever. The target position calculation unit 3005 may calculate the target position of the controlled object of the bucket 6 using a map or an arithmetic expression stored in advance in an internal memory or the like.

[0123] The motion command generator 3006 generates a command value for the motion of the boom 4 (hereinafter referred to as the "boom command value β1r"), a command value for the motion of the arm 5 (hereinafter referred to as the "arm command value β2r"), and a command value for the motion of the bucket 6 (hereinafter referred to as the "bucket command value β3r") based on the target position of the controlled object of the bucket 6. In the illustrated example, the boom command value β1r, the arm command value β2r, and the bucket command value β3r are the boom angle, the arm angle, and the bucket angle, respectively, when the controlled object of the bucket 6 achieves the target position. Note that the boom command value β1r, the arm command value β2r, and the bucket command value β3r may be the angular velocity and the angular acceleration of the boom 4, the arm 5, and the bucket 6 that are required for the controlled object of the bucket 6 to achieve the target position.

[0124] The motion command generator 3006 includes a master command generator 3006A and a slave command generator 3006B. The master command generator 3006A generates a command value (hereinafter referred to as a "master command value") related to the operation of a work element (hereinafter referred to as a "master element") that operates in response to the operation content of the operation device 26. The operation lever for operating the master element is also referred to as a "master operation lever." In the illustrated example, the master element is the arm 5, the master operation lever is the arm operation lever, and the master command generator 3006A generates an arm command value β2r and outputs it to the arm pilot command generator 3007B. Specifically, the master command generator 3006A generates an arm command value β2r corresponding to the operation content (operation direction and operation amount) of the arm operation lever. The master command generator 3006A may generate and output the arm command value β2r based on a predetermined map or conversion formula that defines the relationship between the operation content of the arm operation lever and the arm command value β2r.

[0125] The slave command generation unit 3006B generates a command value (hereinafter referred to as a "slave command value") for the operation of a work element (hereinafter referred to as a "slave element") that operates so that the controlled object of the bucket 6 moves along the target construction surface in accordance with (synchronization with) the operation of the master element (arm 5) among the work elements that make up the attachment AT. In the illustrated example, the slave elements are the boom 4 and the bucket 6, and the slave command generation unit 3006B generates a boom command value β1r and a bucket command value β3r and outputs them to the boom pilot command generation unit 3007A and the bucket pilot command generation unit 3007C, respectively. Specifically, the slave command generation unit 3006B generates a boom command value β1r and a bucket command value β3r in accordance with (synchronization with) the operation of the arm 5 corresponding to the arm command value β2r so that at least one of the boom 4 and the bucket 6 operates and the controlled object of the bucket 6 achieves the target position (i.e., moves along the target construction surface). As a result, the controller 30 operates the boom 4 and bucket 6 of the attachment AT in accordance with (i.e., synchronized with) the operation of the arm 5 corresponding to the operation of the arm operation lever, thereby moving the controlled object of the bucket 6 along the target construction surface. In other words, the arm 5 (arm cylinder 8) operates in response to the operation input to the arm operation lever, and the operation of the boom 4 (boom cylinder 7) and bucket 6 (bucket cylinder 9) is controlled in accordance with the operation of the arm 5 (arm cylinder 8) so that the tip of the attachment AT, such as the toe of the bucket 6, moves along the target construction surface.

[0126] The master element may be the upper rotating body 3 that is rotatable relative to the lower traveling body 1. In this case, the slave elements may be the boom 4, arm 5, and bucket 6. As a result, the controller 30 can move the controlled object of the bucket 6 along the target construction surface by operating the boom 4, arm 5, and bucket 6 of the attachment AT in accordance with (i.e., in synchronization with) the swing operation of the upper rotating body 3 that corresponds to the operation of the swing operation lever. In other words, the upper rotating body 3 (swing hydraulic motor 2A) operates in response to an operation input to the swing operation lever, and the operations of the boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), and bucket 6 (bucket cylinder 9) are controlled in accordance with the operation of the upper rotating body 3 (swing hydraulic motor 2A) so that the tip of the attachment AT, such as the toe of the bucket 6, moves along the target construction surface.

[0127] Pilot command generating unit 3007 generates command values ​​for pilot pressures (hereinafter referred to as "pilot pressure command values") to be applied to control valves 174 to 176, respectively, in order to achieve the boom angle, arm angle, and bucket angle corresponding to boom command value β1r, arm command value β2r, and bucket command value β3r. Pilot command generating unit 3007 includes a boom pilot command generating unit 3007A, an arm pilot command generating unit 3007B, and a bucket pilot command generating unit 3007C.

[0128] The boom pilot command generation unit 3007A generates a pilot pressure command value to be applied to the control valves 175L, 175R corresponding to the boom cylinders 7 that drive the boom 4, based on the deviation between the boom command value β1r and the current boom angle calculation value (measurement value) calculated by the boom angle calculation unit 3008A. Then, the boom pilot command generation unit 3007A outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31BL, 31BR. This allows the solenoid valves 31BL, 31BR to apply a pilot pressure corresponding to the pilot pressure command value to the corresponding pilot ports of the control valves 175L, 175R. When the pilot pressure is applied to the pilot ports, the control valves 175L, 175R operate. Furthermore, when the control valves 175L, 175R operate, the boom cylinders 7 operate, and the boom 4 operates to achieve a boom angle corresponding to the boom command value β1r.

[0129] The arm pilot command generation unit 3007B generates a pilot pressure command value to be applied to the control valves 176L, 176R corresponding to the arm cylinder 8 that drives the arm 5, based on the deviation between the arm command value β2r and the current arm angle calculation value (measurement value) calculated by the arm angle calculation unit 3008B. Then, the arm pilot command generation unit 3007B outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31AL, 31AR. This allows the solenoid valves 31AL, 31AR to apply a pilot pressure corresponding to the pilot pressure command value to the corresponding pilot ports of the control valves 176L, 176R. When the pilot pressure acts on the pilot ports, the control valves 176L, 176R operate. Furthermore, when the control valves 176L, 176R operate, the arm cylinder 8 operates, and the arm 5 operates to achieve an arm angle corresponding to the arm command value β2r.

[0130] Bucket pilot command generation unit 3007C generates a pilot pressure command value to be applied to control valve 174 corresponding to bucket cylinder 9 that drives bucket 6, based on the deviation between bucket command value β3r and the current bucket angle calculation value (measurement value) calculated by bucket angle calculation unit 3008C. Bucket pilot command generation unit 3007C then outputs a control current corresponding to the generated pilot pressure command value to solenoid valves 31CL, 31CR. This allows solenoid valves 31CL, 31CR to apply a pilot pressure corresponding to the pilot pressure command value to the corresponding pilot port of control valve 174. When the pilot pressure acts on the pilot port, control valve 174 operates. Furthermore, when control valve 174 operates, bucket cylinder 9 operates, and bucket 6 operates to achieve a bucket angle corresponding to bucket command value β3r.

[0131] The attitude angle calculation unit 3008 calculates (measures) the boom angle β1, arm angle β2, and bucket angle β3 based on the detection signals from the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3. The attitude angle calculation unit 3008 includes a boom angle calculation unit 3008A, an arm angle calculation unit 3008B, and a bucket angle calculation unit 3008C. The boom angle calculation unit 3008A calculates (measures) the boom angle β1 based on the detection signal received from the boom angle sensor S1. The arm angle calculation unit 3008B calculates (measures) the arm angle β2 based on the detection signal received from the arm angle sensor S2. The bucket angle calculation unit 3008C calculates (measures) the bucket angle β3 based on the detection signal received from the bucket angle sensor S3.

[0132] The controlled object speed calculation unit 3009 is configured to calculate the moving speed of the controlled object. In the illustrated example, the controlled object speed calculation unit 3009 is configured to calculate the moving speed of the tip of the bucket 6, which is the controlled object moving along the target construction surface. Specifically, the controlled object speed calculation unit 3009 can derive the coordinates of the tip of the bucket 6 based on the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, and preset information on the dimensions of the boom 4, the arm 5, and the bucket 6. The controlled object speed calculation unit 3009 can then derive the moving speed of the tip of the bucket 6 at a second time point based on the coordinates of the tip of the bucket 6 at a first time point and the coordinates of the tip of the bucket 6 at a second time point, which is a time point when a unit time has elapsed since the first time point.

[0133] The limiting unit 3010 is configured to perform control to limit the operation amount of the arm operating lever acquired (calculated) by the operation content acquiring unit 3001 (hereinafter referred to as the "calculated operation amount") to a predetermined amount or less. In the illustrated example, when the calculated operation amount of the arm operating lever exceeds the predetermined amount, the limiting unit 3010 is configured to output a predetermined amount that is smaller than the calculated operation amount to each of the target position calculating unit 3005 and the motion command generating unit 3006. Furthermore, when the calculated operation amount of the arm operating lever is equal to or less than the predetermined amount, the limiting unit 3010 is configured to output the calculated operation amount as is to each of the target position calculating unit 3005 and the motion command generating unit 3006.

[0134] In the illustrated example, the predetermined amount is a value that is stored in advance in an internal memory or an external storage device, etc. Specifically, the predetermined amount is a value that is determined according to the amount of operation of the arm operating lever, and is set to increase as the amount of operation of the arm operating lever increases. The limiting unit 3010 may calculate the predetermined amount that corresponds to the amount of operation of the arm operating lever using a map or an arithmetic expression that is stored in advance in an internal memory or an external storage device, etc.

[0135] Specifically, the limiting unit 3010 is configured to determine whether to limit the calculated operation amount of the arm operating lever to a predetermined amount and output it as is, based on the movement speed of the control object calculated by the control object speed calculating unit 3009. In the illustrated example, the limiting unit 3010 is configured to limit the calculated operation amount of the arm operating lever to a predetermined amount and output it as is, when the movement speed of the control object exceeds a predetermined speed.

[0136] When the calculated operation amount of the arm operating lever is limited to a predetermined amount and output, control is performed to limit the opening / closing (rotation) speed of the arm 5. In other words, by limiting the calculated operation amount of the arm operating lever to a predetermined amount and outputting it, the controller 30 can perform control to limit the movement speed of the tip of the bucket 6 moving along the target construction surface.

[0137] With this configuration, when the controller 30 moves the tip of the bucket 6 along a target construction surface that includes a slope portion and a horizontal portion, for example, if the amount of operation of the arm operating lever remains unchanged, the movement speed of the tip of the bucket moving along the slope portion can be made the same as the movement speed of the tip of the bucket moving along the horizontal portion.

[0138] 6A, limiting unit 3010 is arranged subsequent to operation content acquiring unit 3001, but may also be integrated into motion command generating unit 3006. In this case, limiting unit 3010 may be configured to adjust arm command value β2r downward when the movement speed of the control target (the tip of bucket 6) exceeds a predetermined speed, and to increase or decrease at least one of boom command value β1r and bucket command value β3r in accordance with the adjusted-down arm command value β2r.

[0139] Next, the effect of the limiting unit 3010 will be described with reference to Fig. 7. Fig. 7 is a schematic diagram showing the movement of the attachment AT of the shovel 100 when the control object CP is moved along a target construction surface TP, which is an example of a target surface.

[0140] Specifically, in Fig. 7, the current state of the attachment AT is shown by a solid line, and the state of the attachment AT after a predetermined time has elapsed is shown by a dotted line. In the schematic diagram of Fig. 7, the boom 4, arm 5, and bucket 6 are represented by straight line segments, with the upper rotating body 3 and the lower end of the boom 4 connected by a boom foot pin 4F, the boom 4 and arm 5 connected by a boom top pin 4T, and the arm 5 and bucket 6 connected by an arm top pin 5T. The control object CP is the tip of the bucket 6.

[0141] More specifically, the upper diagram of Fig. 7 shows the movement of the attachment AT when restriction by the restriction unit 3010 is not performed, and the lower diagram of Fig. 7 shows the movement of the attachment AT when restriction by the restriction unit 3010 is performed. Furthermore, in the upper diagram of Fig. 7, the symbols of each element representing the state of the attachment AT after a predetermined time has elapsed are given the subscript "a", such as "attachment ATa" for "attachment AT". Similarly, in the lower diagram of Fig. 7, the symbols of each element representing the state of the attachment AT after a predetermined time has elapsed are given the subscript "b", such as "bucket 6b" for "bucket 6". Furthermore, the target construction surface TP represented by the dashed line in the upper diagram of Fig. 7 and the target construction surface TP represented by the dashed line in the lower diagram of Fig. 7 are the same, and include a gentle slope portion GP, ​​a steep slope portion SP, and a horizontal surface portion HP.

[0142] When the limiting unit 3010 is not executing the restriction, when the arm operating lever is operated in the arm closing direction, the controller 30 moves the toe of the bucket 6, which is the control object CP, in the direction of the solid arrow at a movement speed MV1 along the gentle slope portion GP of the target construction surface TP, as shown by the solid line in the upper diagram of Figure 7. At this time, the controller 30 closes the arm 5 at a rotation speed AV1. The controller 30 also automatically raises the boom 4 in response to the closing operation of the arm 5.

[0143] Then, when the arm control lever is continuously operated in the arm closing direction with the same amount of operation, after a predetermined time has elapsed, the controller 30 moves the toe of the bucket 6a, which is the control object CPa, at a movement speed MV1a in the direction of the dotted arrow along the steep slope portion SP of the target construction surface TP, as shown by the dotted line in the upper diagram of Figure 7. At this time, the controller 30 closes the arm 5 at a rotation speed AV1a that is the same as the rotation speed AV1. The controller 30 also automatically raises the boom 4 in response to the closing operation of the arm 5.

[0144] In this way, when the controller 30 does not execute the restriction by the restriction unit 3010, if the operation amount of the arm control lever when moving the toe of the bucket 6 along the target construction surface TP remains unchanged, the controller 30 adjusts the rotation speed of at least one of the boom 4 and the bucket 6 while maintaining the rotation speed AV1 of the arm 5, so as to align the toe of the bucket 6 with the target construction surface TP. Therefore, the controller 30 may excessively increase the movement speed MV1a of the control object CPa moving along the steep slope portion SP of the target construction surface TP.

[0145] Therefore, the controller 30 is configured to be able to suppress a sudden change in the movement speed MV1 of the control object CP by executing the restriction by the restriction unit 3010.

[0146] Specifically, even when the limiting unit 3010 is executing a restriction, when the arm operating lever is operated in the arm closing direction, the controller 30 moves the toe of the bucket 6, which is the control object CP, along the gentle slope portion GP of the target construction surface TP at a movement speed MV1 in the direction of the solid arrow, as shown by the solid line in the lower diagram of Figure 7. At this time, the controller 30 closes the arm 5 at a rotation speed AV1. The controller 30 also automatically raises the boom 4 in response to the closing operation of the arm 5.

[0147] Then, when the arm operating lever is continued to be operated in the arm closing direction with the same amount of operation, after a predetermined time has elapsed, the controller 30 moves the tip of the bucket 6b, which is the control object CPb, in the direction of the dotted arrow at a movement speed MV1b along the steep slope portion SP of the target construction surface TP, as shown by the dotted line in the lower diagram of Figure 7.

[0148] When the movement speed MV1b of the tip of the bucket 6b exceeds a predetermined speed, the controller 30 limits the movement of the arm 5. In the illustrated example, the predetermined speed is the movement speed MV1 of the control object CP moving along the gentle slope portion GP of the target construction surface TP. Specifically, the limiting unit 3010 of the controller 30 replaces the calculated operation amount of the arm control lever with a predetermined amount, and then outputs the replaced predetermined amount to each of the target position calculation unit 3005 and the motion command generation unit 3006. As a result, the rotation speed AV1b of the arm 5 is limited to be smaller than the rotation speed AV1, and the movement speed MV1b of the tip of the bucket 6b is also limited to the predetermined speed.

[0149] In this way, when executing restriction by the limiting unit 3010, if the operation amount of the arm operating lever when moving the toe of the bucket 6 along the target construction surface TP remains unchanged, the controller 30 adjusts the rotation speed of the arm 5 and the rotation speed of at least one of the boom 4 and the bucket 6 while maintaining the movement speed MV1 of the control object CP (the toe of the bucket 6b) so as to align the toe of the bucket 6 with the target construction surface TP. Therefore, the controller 30 can prevent the movement speed MV1b of the control object CPb moving along the steep slope portion SP of the target construction surface TP from becoming excessively large.

[0150] 1 and 2 , the excavator 100 according to the embodiment of the present disclosure includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, an attachment AT including a boom 4, an arm 5, and an end attachment (bucket 6) attached to the upper rotating body 3, an arm operating lever (left operating lever 26L (see FIG. 3 )) for operating the arm 5, and a control device (controller 30) configured to operate the arm 5 in accordance with the amount of operation of the arm operating lever (left operating lever 26L) so as to move a predetermined working portion of the end attachment (bucket 6) while aligning it with a target surface (target construction surface TP (see FIG. 7 )), and to operate at least one of the boom 4 and the end attachment (bucket 6) in accordance with the operation of the arm 5. The control device (controller 30) is configured to limit the operation of the arm 5 so that the moving speed MV1 of a control object CP, which is a predetermined portion of the attachment AT, along the target surface (target construction surface TP) becomes a predetermined speed, as shown in FIG. Note that moving a predetermined working part while aligning it with a target surface means that the predetermined working part moves on the target surface. The target surface may be a surface (a surface other than the target construction surface TP) that is set based on the position of the target construction surface TP, or may be a surface that is set independently of the target construction surface TP. This configuration enables the excavator 100 to improve the operability of the attachment AT when a master-slave control system is employed.

[0151] Furthermore, in the excavator 100, the control object CP may be a predetermined working portion of the end attachment (bucket 6) or the arm top pin. The predetermined working portion of the end attachment (bucket 6) may be the tip or back surface of the bucket 6.

[0152] 3 , the excavator 100 may include a main pump 14 mounted on the upper rotating body 3, a pilot pump 15 mounted on the upper rotating body 3, an arm cylinder control valve (control valve 176) provided in a hydraulic oil line connecting the arm cylinder 8 and the main pump 14, and arm solenoid valves (solenoid valves 31AL, 31AR (see FIG. 4A )) provided in a pilot line connecting the pilot port of the arm cylinder control valve (control valve 176) and the pilot pump 15. The control device (controller 30) may be configured to adjust the value of a control command output to the arm solenoid valves (solenoid valves 31AL, 31AR) to adjust the pilot pressure acting on the pilot port of the arm cylinder control valve (control valve 176), thereby limiting the operating speed of the arm 5.

[0153] 7, the excavator 100 may be configured so that the movement speed MV1 of the control object CP along the target surface (target construction surface TP) changes depending on the amount of operation of the arm control lever (left control lever 26L). For example, the movement speed MV1 of the control object CP along the target surface (target construction surface TP) may be configured to increase as the amount of operation of the arm control lever (left control lever 26L) increases.

[0154] Furthermore, as shown in FIG. 7 , the target surface (target construction surface TP) may include a steep slope portion SP and a gentle slope portion GP or a horizontal surface portion HP. In this case, the control device (controller 30) may be configured to operate the arm 5 so that, as shown in the lower diagram of FIG. 7 , the movement speed MV1 of the control object CP when the working part (the tip of the bucket 6) is moved while aligning with the gentle slope portion GP or the horizontal surface portion HP is the same as the movement speed MV1b of the control object CPb when the working part (the tip of the bucket 6) is moved while aligning with the steep slope portion SP, provided that the operation amount of the arm operation lever (left operation lever 26L) is the same. This configuration can prevent the excavator operator from feeling that the excavator is "difficult to operate." This is because it can prevent a situation in which the movement speed MV1 of the control object CP suddenly changes even though the operation amount of the arm operation lever remains unchanged.

[0155] 7 , the working portion may include a first working portion (e.g., the toe of the bucket 6) that comes into contact with the gentle slope portion GP or the horizontal surface portion HP, and a second working portion (e.g., the back surface of the bucket 6) that comes into contact with the steep slope portion SP. For example, the controller 30 may move the toe of the bucket 6 while aligning it with the gentle slope portion GP, ​​and then move the back surface of the bucket 6 while aligning it with the steep slope portion SP, and further thereafter move the toe of the bucket 6 while aligning it with the horizontal surface portion HP.

[0156] Furthermore, the restriction imposed by the above-mentioned restricting section 3010 is applied when the bucket 6 is moved along a target construction surface TP that includes a downward slope portion, but may also be applied when the bucket 6 is moved along a target construction surface TP that includes an upward slope portion.

[0157] Second Embodiment In the above-described embodiment, an example has been described in which the limiting unit 3010 controls the speed of the working part by limiting the operation amount of the arm operating lever acquired by the operation content acquiring unit 3001 to a predetermined amount or less. However, the above-described embodiment shows only one example of a method for controlling the speed of the working part, and other methods may also be used. Therefore, in the second embodiment, another method for controlling the speed of the working part will be described.

[0158] The shovel 100 according to this embodiment is an example in which a controller 30A that executes different processes is provided instead of the controller 30. The other configurations are the same as those of the above-described embodiment, and therefore description thereof will be omitted.

[0159] FIG. 8 is a conceptual diagram showing the speed control of the work part performed by the controller 30A according to this embodiment. In the example shown in FIG. 8, the tip of the bucket 6 moves along a target construction surface. The target construction surface is a first construction surface (an example of a first target surface) and is angled at an angle θ slope1 ), and the second construction surface (an example of the second target surface, angle θ slope2 The tip of the bucket 6 is aligned with the first construction surface (angle θ slope1 ) and then move along the second construction surface (angle θ slope2) is controlled to move along the first construction plane (angle θ slope1 ) is a horizontal plane that is approximately parallel to the ground surface of the shovel 100, and the second construction plane (angle θ slope1 ) is a downwardly inclined slope (at least in the height direction | angle θ slope1 |>10 degrees).

[0160] First construction surface (angle θ slope1 When the tip of the bucket 6 is moved along the arm 5, the moving speed of the tip of the bucket 6 is mainly determined by the angular velocity ω arm The movement of the boom 4 is based on the angle θ slope1 ) and has only been adjusted to conform to it.

[0161] The plane on which the tip of the bucket 6 moves is the first construction plane (angle θ slope1 ) to the second construction surface (angle θ slope2 ), control is required to move the boom 4 significantly in addition to the arm 5.

[0162] In the conventional semi-automatic control, the second construction surface (angle θ slope2 ), the boom cylinder 7 is operated largely in addition to the arm cylinder 8. As a result, the tip of the bucket is moved along the second construction plane (angle θ slope2 ) can be moved along the

[0163] In such a conventional semi-automatic control, the first construction surface (angle θ slope1 ) Angular velocity ω of the arm when moving arm While maintaining the angular velocity of the boom, boom As a result, the tip of the bucket increases from travel speed Vt1 to travel speed Vt2. This is because, when the arm moves at a constant speed and the operation is switched from a horizontal plane to a slope that is angled relative to the horizontal plane, the amount of movement in the vertical direction is large, resulting in a large movement of the boom. In other words, with conventional semi-automatic control, there is a possibility that the tip of the bucket will suddenly accelerate.

[0164] In response to this, when the controller 30A of the excavator 100 according to this embodiment receives an operation on the arm 5, it controls the boom cylinder 7 and the arm cylinder 8 so that the movement speed corresponds to the amount of operation. Then, in response to the operation, when the controller 30A moves the tip of the bucket 6 (an example of a predetermined work site) while aligning it with a construction surface (an example of a target surface), the controller 30A adjusts the plane that the tip of the bucket 6 is aligned with to the first construction surface (angle θ slope1 ) to the second construction surface (angle θ slope2 ), the operation of at least one of the arm 5 and the boom 4 is controlled so that the movement speed of the tip of the bucket 6 is the same. In this embodiment, an example is described in which the operation of the arm 5, which is the master element, is adjusted. In this embodiment, an example is described in which the boom cylinder 7 and the arm cylinder 8 are targeted as the multiple hydraulic actuators that operate the attachment, but this embodiment does not limit the types of the multiple actuators that operate the attachment, and other aspects may be used.

[0165] 9 is an explanatory diagram showing a change in the speed of the tip of the bucket 6 in response to arm operation by the operator in the shovel 100 according to this embodiment. The first construction surface and the second construction surface shown in FIG. 9 are the same as the surfaces shown in FIG. 8, and therefore a description thereof will be omitted.

[0166] The example shown in Figure 9 shows a change 1901 in the velocity of the tip of the bucket 6, a change 1902 in the angular velocity of the arm 5, and a change 1903 in the pilot pressure acting on the pilot port of the control valve for the arm cylinder.

[0167] 9 shows a case where the operator operates the left operating lever 26L in the arm closing direction at time t0. In this embodiment, the controller 30A controls the toe of the bucket 6 to move along a first construction surface and then along a second construction surface in accordance with data related to a target construction surface (not shown) stored in the shovel 100.

[0168] In the example shown in Figure 9, after the operation starts at time t0, at time t1, the pilot pressure acting on the pilot port of the arm cylinder control valve reaches pressure pi1. Accordingly, the angular velocity of the arm 5 also reaches angular velocity ω arm1 Accordingly, the tip of the bucket 6 reaches a moving speed Vt1.

[0169] At time t2, the surface of the toe of the bucket 6 that is to be aligned is the first construction surface (angle θ slope1 ) to the second construction surface (angle θ slope2 ) In the past, as shown by the line 1931, the pilot pressure acting on the pilot port of the control valve for the arm cylinder was maintained at pressure p. For this reason, as shown by the line 1921, the angular velocity of the arm 5 also changes to the angular velocity ω arm1 In this case, the angular velocity ω of the boom 4 changes in accordance with the change in the surface that the tip of the bucket 6 contacts. boom1 Therefore, as shown by a line 1911, the tip of the bucket 6 changes to a moving speed Vt2, causing a sudden acceleration.

[0170] Therefore, the controller 30A according to the present embodiment determines whether the surface to which the tip of the bucket 6 is to be fitted is the first construction surface (angle θ slope1 ) to the second construction surface (angle θ slope2 ) at time t2, as shown by line 1932, control is performed to switch the pilot pressure acting on the pilot port of the arm cylinder control valve from pressure pi1 to pressure pi2.

[0171] Since the pilot pressure has been switched to the pressure p, the angular velocity of the arm 5 also changes to the angular velocity ω arm1 from angular velocity ω arm2 At time t2, the angular velocity ω of the boom 4 is reduced to ω boom2 That is, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, while controlling the boom cylinder 7 to increase the angular velocity of the boom 4, so that the toe of the bucket 6 is maintained at the moving velocity Vt1, as shown by the line 1912.

[0172] In this embodiment, the controller 30A adjusts the pilot pressure acting on the pilot port of the arm cylinder control valve in accordance with changes in the surface on which the toe of the bucket 6 moves, thereby controlling the movement speed of the toe of the bucket 6 to be constant. Therefore, it is possible to prevent sudden acceleration from occurring at the toe of the bucket 6. A specific method of adjusting the pilot pressure will be described later.

[0173] Next, an example of a detailed configuration related to the machine control function will be described with reference to Figures 10A and 10B. Figures 10A and 10B are diagrams showing an example of the configuration of the controller 30A. Specifically, Figures 10A and 10B show an example of a detailed configuration related to the machine control function. Note that the following description with reference to Figures 10A and 10B relates to the machine control function that is executed when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated while the switch SW is operated.

[0174] The controller 30A includes functional units related to the machine control function, including an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, a motion command generation unit 3006, a pilot command generation unit 3007, an attitude angle calculation unit 3008, a boom pilot command adjustment unit 3107A, and an arm pilot command adjustment unit 3107B. In the illustrated example, each functional unit of the controller 30A is implemented by software. However, each functional unit of the controller 30A may also be implemented by hardware (electronic circuits, etc.) or a combination of software and hardware. In addition, in the illustrated example, each functional unit of the controller 30A repeatedly executes the processing described below at predetermined control intervals when the switch SW is operated. Note that the functional units of the controller 30A shown in FIGS. 10A and 10B that have the same configuration as the functional units shown in FIGS. 6A and 6B are assigned the same reference numerals, and the description thereof will be omitted.

[0175] Compared to controller 30, controller 30A according to this embodiment has a boom pilot command adjustment unit 3107A and an arm pilot command adjustment unit 3107B added thereto, but has the controlled object velocity calculation unit 3009 and the limiting unit 3010 deleted therefrom.

[0176] As a result, the motion command generation unit 3006 generates a command value related to the operation of the work element according to the calculated operation amount of the arm operating lever, without being limited to a predetermined amount by the limiting unit 3010, as in the first embodiment. Specifically, the master command generation unit 3006A generates the arm command value β2r based on a predetermined map or conversion formula or the like that defines the relationship between the operation content of the arm operating lever and the arm command value β2r, and the slave command generation unit 3006B generates a boom command value β1r and a bucket command value β3r so that at least one of the boom 4 and the bucket 6 operates in accordance with (synchronization with) the operation of the arm 5 corresponding to the arm command value β2r, and so that the controlled object of the bucket 6 achieves the target position (i.e., so that it moves along the target construction surface).

[0177] Then, pilot command generation unit 3007 generates command values ​​for pilot pressures (hereinafter referred to as "pilot pressure command values") to be applied to each of control valves 174 to 176 in order to achieve the boom angle, arm angle, and bucket angle corresponding to boom command value β1r, arm command value β2r, and bucket command value β3r. Pilot command generation unit 3007 includes a boom pilot command generation unit 3007A, an arm pilot command generation unit 3007B, and a bucket pilot command generation unit 3007C. Note that the processes performed by boom pilot command generation unit 3007A, arm pilot command generation unit 3007B, and bucket pilot command generation unit 3007C are similar to those in the above-described embodiment.

[0178] The boom pilot command adjustment unit 3107A and the arm pilot command adjustment unit 3107B adjust the pilot pressure command value so that the movement speed of the tip of the bucket 6 is maintained even when the angle of the target construction surface changes when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated while the switch SW is operated.

[0179] Next, a description will be given of the pilot pressure command value that is adjusted to maintain the moving speed Vt of the tip of the bucket 6. In this embodiment, the pilot pressure command value is adjusted so that the moving speed Vt remains approximately constant.

[0180] The moving speed Vt of the tip of the bucket 6 is expressed by the tip coordinate (x(θ ｂ , θ ａ ), y(θ ｂ , θ ａ )) where the function x is the first derivative of the angle θ of the boom 4. ｂ and the angle θ of the arm 5 ａ The function y is used to calculate the x-coordinate position of the tip of the bucket 6 based on the angle θ of the boom 4. ｂ and the angle θ of the arm 5 ａ is a function for calculating the y-coordinate position of the tip of the bucket 6 based on the above.

[0181] In addition, the angle θ of the boom 4 ｂ The differential value of the angular velocity ω boom and the angle θ of the arm 5 ａ The differential value of the angular velocity ω arm The moving speed Vt is expressed as follows: ｂ , θ ａ ), y(θ ｂ , θ ａ )) first derivative, in other words, the angular velocity ω boom and angular velocity ω arm and the angle θ of the boom 4 ｂ and the angle θ of the arm 5 ａ The tip of the bucket 6 is at an angle θ slope When moving on the construction surface of boom is the angle θ of the boom 4 ｂ , the angle θ of the arm 5 ａ , angular velocity ω arm, and angle θ slope That is, the moving speed Vt is determined according to the angle θ slope , angular velocity ω arm , boom 4 angle θ ｂ and the angle θ of the arm 5 ａ can be derived if there is

[0182] The construction surface is at an angle of θ slope1 from angle θ slope2 When the angle θ slope1 The angular velocity ω of the arm 5 when it was moving along arm1 and the angle θ slope2 Angular velocity ω of arm 5 when moving along arm2 Let's say.

[0183] The construction surface is at an angle of θ slope1 from angle θ slope2 When the angular velocity ω of the arm 5 is changed to ω, the angular velocity ω of the arm 5 is changed to ω arm2 Considering the above calculation, the angle θ slope1 , angle θ slope2 , and the angular velocity ω of the arm 5 arm1 When the angle of the construction surface changes, the angle θ of the boom 4 ｂ and the angle θ of the arm 5 ａ are almost identical and can be omitted.

[0184] Angular velocity ω of arm 5 arm and the opening surface of the solenoid valve 31 that controls the arm cylinder 8. Therefore, when the angle of the construction surface changes, the controller 30A calculates the derived angular velocity ω of the arm 5. arm2 The opening area A of the solenoid valve 31 that controls the arm cylinder 8 corresponding to PC2 By controlling the movement speed Vt so that the movement speed Vt is equal to or greater than the specified value, the movement speed Vt is maintained at approximately the same value. The arm pilot command adjustment unit 3107B holds opening diagram information (not shown). The opening diagram information is information that holds the correspondence between the opening area and the pilot pressure.

[0185] Then, the arm pilot command adjustment unit 3107B adjusts the angle θ slope1 from angle θ slope2 When the opening area A is changed toPC2 Pilot pressure command value Pi arm2 The angle θ is calculated and output. slope1 from angle θ slope2 Whether the angle θ has changed can be determined from the information input from the target construction plane acquisition unit 3002 and the calculation results of the boom angle calculation unit 3008A and the arm angle calculation unit 3008B. slope1 from angle θ slope2 Instead of starting the adjustment at the timing when the voltage Vcc changes to , the adjustment may be started at a timing a predetermined control cycle before the voltage Vcc changes to .

[0186] Furthermore, since the pilot pressure of the arm 5 has been adjusted, it is also necessary to adjust the pilot pressure of the boom 4. The pilot pressure of the boom 4 may be adjusted in accordance with the adjustment ratio of the pilot pressure of the arm 5.

[0187] Therefore, the arm pilot command adjustment unit 3107B adjusts the calculated pilot pressure command value Pi arm2 and the pilot pressure command value Pi input from the arm pilot command generation unit 3007B. arm1 and outputs the pilot pressure adjustment ratio to the boom pilot command adjustment unit 3107A.

[0188] The boom pilot command adjustment unit 3107A adjusts the pilot pressure command value Pi input from the boom pilot command generation unit 3007A. boom1 is adjusted according to the input adjustment ratio, and the adjusted command value Pi boom2 Since the pilot pressure of the arm 5 and the pilot pressure of the boom 4 are adjusted at the same adjustment ratio, the tip of the bucket 6 can be controlled to follow the construction surface.

[0189] As mentioned above, the angle θ of the construction surface slope2 The command value Pi of the pilot pressure of the arm 5 adjusted in accordance with the change arm2 and the command value Pi of the pilot pressure of the boom 4 boom2 and are output, so that the moving speed |Vt| of the tip of the bucket 6 can be maintained.

[0190] Fig. 11 is a diagram showing a movement path of the toe of the bucket 6 according to this embodiment. In the example shown in Fig. 11, the controller 30A performs control so that the toe of the bucket 6 moves along the target construction surface TP.

[0191] The target construction surface TP includes a first construction surface TP11, a second construction surface TP12, a third construction surface TP13, a fourth construction surface TP14, and a fifth construction surface TP15.

[0192] The first construction surface TP11, the third construction surface TP13, and the fifth construction surface TP15 are all substantially horizontal. The second construction surface TP12 is inclined upward by an angle β1 relative to the horizontal plane RP. The fourth construction surface TP14 is inclined downward by an angle β2 relative to the horizontal plane RP.

[0193] The controller 30A then performs control so that the moving speed of the tip of the bucket 6 is maintained substantially constant regardless of the angle of the target construction surface TP.

[0194] Specifically, when the tip of the bucket 6 is moving along the first construction surface TP11, the moving speed of the tip of the bucket 6 (6A) is Vt.

[0195] Then, when the toe of the bucket 6 reaches the toe P11 of the slope, the arm pilot command adjuster 3107B and the boom pilot command adjuster 3107A adjust the pilot pressure in accordance with the angle β1 of the second construction surface TP12. This maintains the moving speed Vt of the toe of the bucket 6 (6B). In other words, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, while controlling the boom cylinder 7 to increase the angular velocity of the boom 4.

[0196] Then, when the toe of the bucket 6 reaches the slope top P12, the adjustment of the pilot pressure by the arm pilot command adjuster 3107B and the boom pilot command adjuster 3107A is released. Therefore, the moving speed Vt of the toe of the bucket 6 (6C) is maintained. In other words, the controller 30A controls the arm cylinder 8 to increase the angular velocity of the arm 5. On the other hand, because the movement of the boom 4 is suppressed in the horizontal plane, the controller 30A controls the boom cylinder 7 to reduce the angular velocity of the boom 4.

[0197] Thereafter, when the toe of the bucket 6 reaches the slope shoulder P13, the arm pilot command adjuster 3107B and the boom pilot command adjuster 3107A adjust the pilot pressure in accordance with the angle β2 of the fourth construction surface TP14. This maintains the movement speed Vt of the toe of the bucket 6 (6D). In other words, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, while controlling the boom cylinder 7 to increase the angular velocity of the boom 4.

[0198] Thereafter, when the toe of the bucket 6 reaches the bottom of the slope P14, the adjustment of the pilot pressure by the arm pilot command adjuster 3107B and the boom pilot command adjuster 3107A is released. This maintains the moving speed Vt of the toe of the bucket 6 (6E). In other words, the controller 30A controls the arm cylinder 8 to increase the angular velocity of the arm 5, and controls the boom cylinder 7 to decrease the angular velocity of the boom 4.

[0199] Thereafter, the moving speed Vt of the tip of the bucket 6 (6F) is maintained until the construction is completed.

[0200] The controller 30A according to this embodiment, having the above-described configuration, can maintain a substantially constant moving speed of the tip of the bucket 6 even when working on a complex surface that combines a horizontal surface and a slope. Therefore, when working switches from a horizontal surface to a slope, sudden acceleration of the tip of the bucket 6 based on the movement of the boom 4 can be suppressed.

[0201] The controller 30A in this embodiment controls the boom cylinder 7 and arm cylinder 8 so that, when arm operation is being performed, the bucket 6 moves along the construction surface at its tip, based on the height and angle of the construction surface indicated in the target construction surface data.

[0202] Then, controller 30A predicts the timing when the toe of bucket 6 will perform construction on the slope from the construction information, and arm pilot command adjuster 3107B starts adjusting the pilot pressure at a timing a predetermined control cycle before that timing. As a result, boom pilot command adjuster 3107A also adjusts the pilot pressure. Therefore, the movement speed of the toe of bucket 6 is maintained. Note that this embodiment has described an example in which control is performed to maintain the toe movement speed Vt.

[0203] The controller 30A according to this embodiment may switch whether or not to adjust the pilot pressure by the arm pilot command adjuster 3107B and the boom pilot command adjuster 3107A, depending on the angle of the construction surface. For example, the controller 30A may cancel the pilot pressure adjustment by the arm pilot command adjuster 3107B and the boom pilot command adjuster 3107A, start pilot pressure adjustment when the construction surface has a slope of 10 degrees or more, and cancel pilot pressure adjustment when the construction surface is approximately horizontal. In this way, this embodiment can maintain the moving speed of the tip of the bucket 6 regardless of how the angle of the construction surface changes.

[0204] In the present embodiment, an example has been described in which the command value for the pilot pressure of the arm 5 and the command value for the pilot pressure of the boom 4 are adjusted. However, in this embodiment, the objects to be adjusted are not limited to the boom 4 and the arm 5. For example, the boom 4, the arm 5, and the bucket 6 may be controlled in combination to maintain the moving speed of the tip of the bucket 6.

[0205] The control shown in this embodiment is shown as an example, and it is not necessary to precisely match the toe movement speed Vt before and after a change in the angle of the construction surface. In other words, it is sufficient for the controller 30A to adjust the movement speed to an extent that does not cause discomfort to the operator, in other words, to an extent that the movement speed appears to be approximately the same from the operator's perspective.

[0206] In this embodiment, the pilot pressure is adjusted so as to maintain the movement speed Vt of the tip of the bucket 6 corresponding to the amount of arm operation. In other words, when the amount of arm operation lever is changed, the movement speed of the tip of the bucket 6 is adjusted to correspond to the changed amount of operation. Therefore, the operator can control the movement of the tip of the bucket 6 at the desired movement speed regardless of the angle of the construction surface, thereby achieving improved operability.

[0207] In this embodiment, the case where the movement speed Vt of the tip of the bucket 6 is maintained in accordance with the amount of arm operation has been described. However, in this embodiment, the operation for which the movement speed Vt is maintained is not limited to arm operation, and may be, for example, boom operation.

[0208] Furthermore, in this embodiment, the arm pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A adjust the opening area at a magnification corresponding to the amount of change in the angle of the construction surface, making control easy and reducing the processing burden.

[0209] Furthermore, in the above-described embodiment, by providing the shovel 100 with the above-described configuration, it is possible to prevent sudden acceleration from occurring in the working portion of the bucket 6 when the angle of the target construction surface is changed. This prevents the operator from feeling uncomfortable when operating the shovel, thereby improving operability. Furthermore, in the above-described embodiment, sudden acceleration and the like are prevented, thereby improving safety.

[0210] Furthermore, in the above-described embodiment, the master element is the arm 5 and the master control lever is the arm control lever, but the master element may be the boom 4 and the master control lever may be the boom control lever. In this case, the limiting unit 3010 may be configured to limit the rotation speed of the boom 4, for example, when switching from a downwardly sloping portion of the target construction surface to a horizontal portion.

[0211] The shovel 100 may also be a remote-controlled shovel or an unmanned (autonomous) shovel.

[0212] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0213] This application claims priority based on Japanese Patent Application No. 2022-102996, filed on June 27, 2022, the entire contents of which are incorporated herein by reference.

[0214] REFERENCE SIGNS LIST 1... Lower traveling body 1C... Crawler 1CL... Left crawler 1CR... Right crawler 2... Swing mechanism 2A... Swing hydraulic motor 2M... Travel hydraulic motor 2ML... Left traveling hydraulic motor 2MR... Right traveling hydraulic motor 3... Upper rotating body 4, 4a, 4b... Boom 4F... Boom foot pin 4T, 4Ta, 4Tb... Boom top pin 5, 5a, 5b... Arm 5T, 5Ta, 5Tb... Arm top pin 6, 6a, 6b... Bucket 7... Boom cylinder 8... Arm cylinder 9... Bucket cylinder 10... Cabin 11... Engine 13... Pump regulator 14... Main pump 15... Pilot pump 17... Control valve unit 18... Throttle 19... Control pressure sensor 26... Operating device 26D... Travel lever 26DL... Left traveling lever 26DR... Right traveling lever 26L... Left operating lever 26R... Right operation lever 28... Discharge pressure sensor 29, 29LA, 29LB, 29RA, 29RB, 29DL, 29DR... Operation sensors 30, 30A... Controller 31, 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, 31DR, 31EL, 31ER, 31FL, 31FR... Solenoid valve 40... Display device 45A... Outdoor alarm 45B... Indoor alarm 60... Control valve 70... Object detection device 70B... Rear camera 70F... Front camera 70L... Left camera 70R... Right camera 85... Positioning device 100... Shovel 171 to 175, 175L, 175R, 176, 176L,176R...Control valve 3001...Operation content acquisition unit 3002...Target construction surface acquisition unit 3003...Target trajectory setting unit 3004...Current position calculation unit 3005...Target position calculation unit 3006...Motion command generation unit 3006A...Master command generation unit 3006B...Slave command generation unit 3007...Pilot command generation unit 3007A...Boom pilot command generation unit 3007B...Arm pilot command generation unit 3007C...Bucket pilot command generation unit 3008...Attitude angle calculation unit 3008A...Boom angle calculation unit 3008B...Arm angle calculation unit 3008C...Bucket angle calculation unit 3009...Control object speed calculation unit 3010...Restriction unit 3107A...Boom pilot command adjustment unit 3107B...Arm pilot command adjustment unit AT, ATa, ATb...Attachment CD1...Pilot line CP, CPa, CPb...Control object S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine inclination sensor S5...Slewing angular velocity sensor SW, SW1, SW2...Switch,

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; and an attachment including a boom, an arm, and an end attachment attached to the upper rotating body. the control device is configured to operate the arm in response to a command value so as to move a predetermined working portion of the end attachment while aligning it with a target surface, and to operate at least one of the boom and the end attachment in accordance with the operation of the arm, and to control the operation of at least one of the arm and the boom so that the movement speed of a control object, which is a predetermined portion of the attachment, along the target surface becomes a predetermined speed; When the target surface includes a steep slope portion and a gentle slope portion or a horizontal surface portion, the control device operates the arm so that, if the operation amount of the arm operation lever is the same, the moving speed of the controlled object when the working part is moved while aligning with the gentle slope portion or the horizontal surface portion is the same as the moving speed of the controlled object when the working part is moved while aligning with the steep slope portion. Control device for excavator.

2. The control object is a predetermined working part in the end attachment or an arm top pin. The control device for a shovel according to claim 1.

3. A main pump mounted on the upper rotating body; A pilot pump mounted on the upper rotating body; an arm cylinder control valve provided in a hydraulic oil line connecting the arm cylinder and the main pump; an arm solenoid valve provided in a pilot line connecting a pilot port of the arm cylinder control valve and the pilot pump, the control device adjusts a value of a control command output to the arm solenoid valve to adjust a pilot pressure acting on the pilot port of the arm cylinder control valve, thereby limiting the motion speed of the arm. The control device for a shovel according to claim 1.

4. The moving speed of the control object along the target surface varies depending on the operation amount of an arm operating lever. The control device for a shovel according to claim 1.

5. (delete)

6. The working portion includes a first working portion adapted to be fitted to the gentle slope portion or the horizontal surface portion, and a second working portion adapted to be fitted to the steep slope portion. The control device for a shovel according to claim 1.

7. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; and an attachment including a boom, an arm, and an end attachment attached to the upper rotating body. the control device is configured to operate a master element in response to a command value so as to move a predetermined working portion of the end attachment while aligning it with a target surface, and to operate one or more slave elements in accordance with the operation of the master element, and to limit the operation of at least one of the master element and the slave element so that a moving speed of a control object, which is a predetermined portion of the attachment, along the target surface becomes a predetermined speed; When the target surface includes a steep slope portion and a gentle slope portion or a horizontal surface portion, the control device operates the master element so that, if the operation amount of the arm operation lever is the same, a moving speed of the controlled object when the working part is moved while aligning with the gentle slope portion or the horizontal surface portion becomes equal to a moving speed of the controlled object when the working part is moved while aligning with the steep slope portion. Control device for excavator.

8. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; and an attachment including a boom, an arm, and an end attachment attached to the upper rotating body. the control device, while moving the predetermined working part of the end attachment along a target surface, operates the arm and also operates at least one of the boom and the end attachment in accordance with the operation of the arm so that the moving speed of the predetermined working part is approximately constant when the surface along which the predetermined working part is moved changes between a substantially horizontal surface portion and a steeply inclined surface portion having an angle in the height direction compared to the substantially horizontal surface portion. Control device for excavator.

9. The control device, in response to the reception of an operation for the attachment, operates the arm so that the movement speed corresponds to an amount of operation of the received operation while moving the predetermined working part along the target surface, and operates at least one of the boom and the end attachment in accordance with the movement of the arm. The control device for a shovel according to claim 8.

10. the control device, in response to reception of an operation on the arm, controls to reduce an angular velocity of at least one of the arm and the boom while moving the predetermined work part along the target surface, so that a moving speed of the predetermined work part becomes approximately constant when a surface along which the predetermined work part is moved changes between the approximately horizontal surface portion and the steep slope portion. The control device for a shovel according to claim 9.

11. the control device controls the arm to reduce an angular velocity when moving the predetermined work part while aligning it with the substantially horizontal surface portion and then moving the predetermined work part while aligning it with the steep slope portion. The control device for a shovel according to claim 10.