JP2022156791A - Shovel and information processing device - Google Patents

Abstract

To provide a technique that can more simply suppress a shovel from overturning on a sloping land.SOLUTION: A shovel 100 according to an embodiment of the present disclosure includes: a lower traveling body 1; an upper rotating body 3 rotatably mounted on the lower traveling body 1; and an attachment AT attached to the upper rotating body 3 and including a boom 4, an arm 5, and a bucket 6, wherein on a sloping land, a safety function is activated to suppress overturning of the shovel 100 in a downward direction when the upper rotating body 3 rotates so that the gravity center of a rotating body rotating integrally with the rotation of the upper rotating body 3 and the upper rotating body 3 including the attachment AT is moved in a downward direction of a slope on the sloping land.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to excavators and the like.

Conventionally, there is known a technique for suppressing overturning of a shovel working on a slope (see, for example, Patent Literature 1).

Japanese Patent Laid-Open No. 2004-200001 discloses a technique for outputting an alarm regarding the overturning of an excavator on a slope by calculating the overturning moment of the excavator and determining the possibility of overturning.

JP-A-6-017451

However, with the above technique, for example, the load of computation processing such as overturning moment becomes relatively high, and in some cases, there is a possibility that the control processing related to the original operation of the shovel is affected.

Therefore, in view of the above problems, it is an object of the present invention to provide a technique capable of more easily suppressing overturning of a shovel on a slope.

To achieve the above objectives, in one embodiment of the present disclosure,
a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a work device attached to the upper swing structure and including a boom, an arm, and an end attachment;
When the upper revolving body turns on a slope such that the center of gravity of the revolving part, which turns integrally with the revolving of the upper revolving body including the upper revolving body and the working device, moves in the downward direction of the slope. activating the safety function that prevents the excavator from tipping downward,
A shovel is provided.

Also, in other embodiments of the present disclosure,
a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, a work device attached to the upper revolving body and including a boom, an arm, and an end attachment, and an imaging device for imaging the surroundings. a communication device that communicates with an excavator having and receives image information based on the output of the imaging device;
a display device that displays the surroundings of the excavator based on the image information received by the communication device;
In a state where the excavator is on a slope, the upper part is moved in the descending direction of the slope so that the center of gravity of the revolving part, which revolves integrally with the revolving of the upper revolving body including the upper revolving body and the working device, moves in the downward direction of the slope. activating a safety function that suppresses the excavator from overturning downward when the revolving body revolves;
An information processing device is provided.

According to the above-described embodiment, it is possible to more easily prevent the excavator from overturning on a slope.

It is a schematic diagram showing an example of an excavator management system. 1 is a block diagram showing an example of the configuration of an excavator management system; FIG. FIG. 11 is a block diagram showing another example of the configuration of the excavator management system; FIG. FIG. 4 is a diagram showing an example of the center-of-gravity position of the revolving portion of the shovel on a horizontal plane; FIG. 4 is a diagram showing an example of the center-of-gravity position of the revolving portion of the shovel on an inclined plane; FIG. 5 is a diagram illustrating an example of a change in the position of the center of gravity of the revolving portion when the shovel is revolving on an inclined surface; FIG. 9 is a diagram illustrating another example of change in the position of the center of gravity of the revolving portion when the excavator is revolving on the inclined surface; 4 is a flowchart schematically showing a first example of overturn prevention control; 7 is a flowchart schematically showing a second example of overturn prevention control; FIG. 11 is a flowchart schematically showing a third example of overturn prevention control; FIG. FIG. 11 is a flowchart schematically showing a third example of overturn prevention control; FIG. FIG. 11 is a flowchart schematically showing a fourth example of overturn prevention control; FIG. FIG. 11 is a flowchart schematically showing a fifth example of overturn prevention control; FIG.

Embodiments will be described below with reference to the drawings.

[Overview of Excavator Management System]
First, an overview of the excavator management system SYS according to the present embodiment will be described with reference to FIG.

FIG. 1 is a schematic diagram showing an example of an excavator management system SYS according to this embodiment.

As shown in FIG. 1 , the excavator management system SYS includes an excavator 100 and a management device 200 .

The excavator 100 included in the excavator management system SYS may be one or plural. Similarly, a plurality of management devices 200 may be included in the excavator management system SYS. That is, the plurality of management devices 200 may distribute and implement the processing related to the excavator management system SYS. For example, the plurality of management devices 200 mutually communicate with some of the excavators 100 that are in charge of all the excavators 100 included in the excavator management system SYS. You may perform a process to

For example, the management device 200 of the excavator management system SYS collects information from the excavator 100 and monitors various states of the excavator 100 (for example, the presence or absence of abnormalities in various devices mounted on the excavator 100).

Also, the excavator management system SYS may support remote control of the excavator 100 in the management device 200, for example.

As will be described later, when the excavator 100 performs the work by fully automatic operation, the excavator management system SYS may support remote monitoring of the work by the fully automatic operation of the excavator 100 in the management device 200, for example.

<Overview of Excavator>
As shown in FIG. 1, the excavator 100 according to the present embodiment includes a lower traveling body 1 and an upper revolving body 3 mounted on the lower traveling body 1 so as to be rotatable via a revolving mechanism 2 for performing various operations. attachment AT and a cabin 10. Below, the front of the excavator 100 (upper revolving body 3) is the attachment AT to the upper revolving body 3 when the excavator 100 is viewed from directly above along the revolving axis of the upper revolving body 3 in plan view (top view). Corresponds to the extending direction. The left and right sides of the excavator 100 (upper revolving body 3) correspond to the left and right sides of the operator seated in the operator's seat in the cabin 10, respectively.

Note that the cabin 10 may be omitted when the excavator 100 is remotely controlled or fully automated.

The undercarriage 1 includes, for example, a pair of left and right crawlers 1C. The lower traveling body 1 causes the excavator 100 to travel by hydraulically driving the respective crawlers 1C by the left traveling hydraulic motor 1ML and the right traveling hydraulic motor 1MR (see FIGS. 2 and 3).

The upper revolving structure 3 revolves with respect to the lower traveling structure 1 by hydraulically driving the revolving mechanism 2 with a revolving hydraulic motor 2A.

Attachment AT (an example of a working device) includes boom 4 , arm 5 , and bucket 6 .

The boom 4 is attached to the center of the front part of the upper rotating body 3 so as to be able to be raised. An arm 5 is attached to the tip of the boom 4 so as to be vertically rotatable. possible to be installed.

Bucket 6 is an example of an end attachment. The bucket 6 is used, for example, for excavation work or the like. Further, another end attachment may be attached to the tip of the arm 5 instead of the bucket 6, depending on the type of work and the like. Other end attachments may be other types of buckets such as, for example, large buckets, slope buckets, dredging buckets, and the like. Other end attachments may also be types of end attachments other than buckets, such as agitators, breakers, grapples, and the like.

The boom 4, arm 5, and bucket 6 are hydraulically driven by boom cylinders 7, arm cylinders 8, and bucket cylinders 9 as hydraulic actuators, respectively.

The cabin 10 is a cockpit in which an operator boards, and is mounted on the front left side of the upper revolving structure 3 .

The excavator 100 is equipped with a communication device 60 and can communicate with the management device 200 through a predetermined communication line NW. As a result, the excavator 100 can transmit (upload) various information to the management device 200 and receive various signals (for example, information signals and control signals) from the management device 200 .

The communication line NW includes, for example, a wide area network (WAN). A wide area network may include, for example, a mobile communication network terminating at a base station. The wide area network may also include, for example, a satellite communication network that uses communication satellites over the excavator 100 . The wide area network may also include, for example, the Internet network. Also, the communication line NW may include, for example, a local network (LAN: Local Area Network) such as a facility where the management device 200 is installed. The local network may be a wireless line, a wired line, or a line containing both. Also, the communication line NW may include, for example, a short-range communication line based on a predetermined wireless communication method such as WiFi or Bluetooth (registered trademark).

The excavator 100 operates actuators (for example, hydraulic actuators) in response to operations by an operator on board the cabin 10, and operates elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. (hereinafter referred to as “driven element”).

Further, instead of being configured to be operable by the operator of the cabin 10 , or in addition, the excavator 100 may be configured to be remotely controlled (remotely controlled) from the outside of the excavator 100 . When the excavator 100 is remotely controlled, the interior of the cabin 10 may be unmanned. The following description is based on the premise that the operator's operation includes at least one of an operation of the operating device 26 by the operator of the cabin 10 and a remote operation by an external operator.

Remote operation includes, for example, a mode in which the excavator 100 is operated by a user (operator)'s input regarding the actuator of the excavator 100 performed by a predetermined external device (eg, the management device 200). In this case, the excavator 100 transmits, for example, image information (hereinafter referred to as "surrounding image") around the excavator 100 based on the output of the imaging device S6, which will be described later, to the external device, and the image information is displayed on a display provided on the external device. It may be displayed on a device (hereinafter "remote display device"). Various information images (information screens) displayed on the output device 50 in the cabin 10 of the excavator 100 may also be displayed on the remote control display device of the external device. As a result, the operator of the external device remotely operates the excavator 100 while confirming the display contents such as the surrounding image representing the surroundings of the excavator 100 and various information images displayed on the remote control display device. be able to. Then, the excavator 100 operates the actuators according to a remote control signal representing the details of remote control received from an external device, and operates the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. may drive a driven element such as

In addition, the remote operation may include, for example, a mode in which the excavator 100 is operated by a person (for example, a worker) around the excavator 100 externally inputting voice or gesture to the excavator 100 . Specifically, the excavator 100 uses a voice input device (for example, a microphone), an imaging device, or the like mounted on the excavator 100 (the excavator 100), and the sounds uttered by the surrounding workers or the like, or the voices produced by the workers, etc. Recognize gestures, etc. The excavator 100 operates the actuators according to the contents of the recognized voice, gesture, etc., and drives the driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. you can

In addition, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. As a result, the excavator 100 has a function of automatically operating at least a part of the driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, that is, the so-called "automatic driving function". Alternatively, it implements a "Machine Control (MC) function".

The automatic operation function includes a function of automatically operating a driven element (actuator) other than the driven element (actuator) to be operated in accordance with the operator's operation on the operation device 26 or remote control, that is, a so-called "semi-automatic operation". functions" or "operation-assisted MC functions" may be included. In addition, the automatic operation function includes a function that automatically operates at least a part of a plurality of driven elements (hydraulic actuators) on the premise that the operator does not operate the operation device 26 or remote control, that is, the so-called "fully automatic operation". functions” or “fully automated MC functions” may be included. In the excavator 100, when the fully automatic operation function is effective, the inside of the cabin 10 may be in an unmanned state. In addition, the semi-automatic operation function, the fully automatic operation function, and the like may include a mode in which the operation contents of the driven elements (actuators) to be automatically operated are automatically determined according to predetermined rules. In the semi-automatic operation function, the fully automatic operation function, etc., the excavator 100 autonomously makes various judgments, and according to the judgment results, the driven elements (hydraulic actuators) to be automatically operated autonomously operate. A mode in which the content is determined (a so-called “autonomous driving function”) may be included.

<Overview of management device>
The management device 200 manages the excavator 100 , such as managing (monitoring) the state of the excavator 100 and managing (monitoring) the work of the excavator 100 .

The management device 200 may be, for example, an on-premises server or a cloud server installed in a management center or the like outside the work site where the excavator 100 works. Also, the management device 200 is, for example, an edge server arranged in a work site where the excavator 100 works, or in a place relatively close to the work site (for example, a communication carrier's station building, a base station, etc.). may Also, the management device 200 may be a stationary terminal device or a portable terminal device (portable terminal) arranged in a management office or the like in the work site of the excavator 100 . Stationary terminal devices may include, for example, desktop computer terminals. Portable terminal devices may include, for example, smartphones, tablet terminals, laptop computer terminals, and the like.

The management device 200 has, for example, a communication device 220 (see FIGS. 2 and 3), and communicates with the excavator 100 through the communication line NW as described above. Thereby, the management device 200 can receive various information uploaded from the excavator 100 and transmit various signals to the excavator 100 . Therefore, the user of the management device 200 can confirm various information about the excavator 100 through the output device 240 (see FIGS. 2 and 3). Also, the management device 200 can, for example, transmit an information signal to the excavator 100 to provide information necessary for work, or transmit a control signal to control the excavator 100 . The users of the management device 200 include, for example, the owner of the excavator 100, the manager of the excavator 100, the engineer of the manufacturer of the excavator 100, the operator of the excavator 100, the manager of the work site of the excavator 100, the supervisor, and the workers. may be included.

Moreover, the management device 200 may be configured to support remote operation of the excavator 100 . For example, the management device 200 includes an input device for an operator to perform remote control (hereinafter referred to as a "remote control device" for convenience), and a remote control display for displaying image information (surrounding image) around the excavator 100. may have equipment. A signal input from the remote control device is transmitted to the excavator 100 as a remote control signal. Accordingly, the user (operator) of the management device 200 can remotely operate the excavator 100 using the remote control device while checking the surroundings of the excavator 100 on the remote control display device.

Moreover, the management device 200 may be configured to be capable of supporting remote monitoring of the excavator 100 that performs work in fully automatic operation. For example, the management device 200 may have a display device (hereinafter referred to as a “monitoring display device”) that displays image information (surrounding image) around the excavator 100 . Accordingly, the user (monitoring person) of the management device 200 can monitor the state of the work of the excavator 100 on the monitoring display device. Further, for example, the management device 200 may have an input device (hereinafter referred to as an “intervention operation device” for convenience) for performing an intervention operation on the operation of the excavator 100 by the automatic driving function. The intervention operating device may include, for example, an input device for emergency stopping the excavator 100 . Also, the intervention control device may include the remote control device described above. As a result, the user (monitoring person) of the management device 200 can make an emergency stop of the excavator 100 or perform an appropriate It is also possible to carry out remote operations to perform actions.

2 and 3 are block diagrams showing one example and another example of the configuration of the excavator management system SYS according to this embodiment. 2 and 3, the path through which mechanical power is transmitted is a double line, the path through which high-pressure hydraulic oil that drives the hydraulic actuator flows is a solid line, the path through which pilot pressure is transmitted is a broken line, and an electrical signal is transmitted. Each route is indicated by a dotted line. 2 and 3 differ from each other only in the configuration of the excavator 100 of the excavator 100 and the management device 200. FIG.

<Excavator configuration>
The excavator 100 includes a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with the user, a communication system for communication with the outside, a control system for various controls, and the like. including each component of

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

The engine 11 is a prime mover and a main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, on the rear portion of the upper revolving body 3 . The engine 11 rotates at a preset target speed under direct or indirect control by a controller 30 to be described later, and drives the main pump 14 and the pilot pump 15 .

The regulator 13 controls (adjusts) the discharge amount of the main pump 14 under the control of the controller 30 . For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as “tilt angle”) according to a control command from the controller 30 .

The main pump 14 supplies hydraulic fluid to the control valve 17 through a high pressure hydraulic line. The main pump 14 is mounted, for example, on the rear portion of the upper rotating body 3, similar to the engine 11. As shown in FIG. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the regulator 13 adjusts the tilting angle of the swash plate, thereby adjusting the stroke length of the piston and discharging. The flow rate (discharge pressure) is controlled.

The control valve 17 is a hydraulic control device that controls a hydraulic actuator according to the content of an operator's operation on the operation device 26 or remote operation, or an operation command relating to the automatic operation function output from the controller 30 . The control valve 17 is mounted, for example, in the central portion of the upper revolving body 3 . The control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line, as described above, and supplies the hydraulic oil supplied from the main pump 14 according to the operator's operation or the operation command output from the controller 30. , selectively feeding the respective hydraulic actuators. Specifically, the control valve 17 includes a plurality of control valves (also referred to as "direction switching valves") 17A to 17F that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each hydraulic actuator. . Hereinafter, the control valves 17A to 17F may be collectively referred to as a "control valve 17X" or any one of the control valves 17A to 17F may be referred to individually.

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

The control valve 17B is configured to be able to supply working oil to the travel hydraulic motor 1MR, discharge the working oil from the travel hydraulic motor 1MR, and return it to the tank. Thereby, the control valve 17B can drive the traveling hydraulic motor 1MR with the pilot pressure supplied from the operating device 26 or the hydraulic control valve 31. FIG.

The control valve 17C is configured to be able to supply hydraulic fluid to the hydraulic swing motor 2A, discharge the hydraulic fluid from the hydraulic hydraulic motor 2A, and return it to the tank. Thereby, the control valve 17C can drive the swing hydraulic motor 2A by the pilot pressure supplied from the operation device 26 or the hydraulic control valve 31. As shown in FIG.

The control valve 17D is configured to be able to supply hydraulic fluid to the boom cylinder 7, discharge the hydraulic fluid from the boom cylinder 7, and return it to the tank. Thereby, the control valve 17</b>D can drive the boom cylinder 7 according to the pilot pressure supplied from the operating device 26 or the hydraulic control valve 31 .

The control valve 17E is configured to supply hydraulic fluid to the arm cylinder 8, discharge the hydraulic fluid from the arm cylinder 8, and return it to the tank. Thereby, the control valve 17E can drive the arm cylinder 8 by the pilot pressure supplied from the operating device 26 or the hydraulic control valve 31. As shown in FIG.

The control valve 17F is configured to supply the hydraulic oil to the bucket cylinder 9, to discharge the hydraulic oil from the bucket cylinder 9, and to return it to the tank. Thereby, the control valve 17</b>F can drive the bucket cylinder 9 according to the pilot pressure supplied from the operating device 26 or the hydraulic control valve 31 .

The control valve 17X is, for example, a spool valve having two ports supplied with pilot pressure. The control valve 17X incorporates an axially movable spool, and the spool is biased toward the opposite end so as to be balanced at a predetermined neutral position by spring members provided also at both ends of the spool. there is

When hydraulic oil is supplied to one port of the control valve 17X, its pressure (pilot pressure) acts on one axial end of the spool, and the spool moves axially toward the other end with respect to the neutral position. As a result, the control valve 17X communicates a path for supplying hydraulic oil to one of the two hydraulic oil supply/discharge ports of the hydraulic actuator and discharging hydraulic oil from the other in accordance with the movement of the spool. It can be driven in one direction.

On the other hand, when hydraulic oil is supplied to the other port of the control valve 17X, its pressure (pilot pressure) acts on the other end of the spool in the axial direction, and the spool moves axially to the one end side with reference to the neutral position. do. As a result, the control valve 17X communicates a path for supplying hydraulic fluid to the other of the two hydraulic fluid supply/discharge ports of the hydraulic actuator and discharging hydraulic fluid from the other, as the spool moves. It can be driven in other directions.

<<Operating System>>
As shown in FIGS. 2 and 3 , the operating system of the excavator 100 according to this embodiment includes a pilot pump 15 , an operating device 26 and a hydraulic control valve 31 . Further, as shown in FIG. 2, the operating system of the excavator 100 according to the present embodiment includes a shuttle valve 32 and a hydraulic control valve 33 when the operating device 26 is of a hydraulic pilot type.

Pilot pump 15 supplies pilot pressure to various hydraulic devices via pilot line 25 . The pilot pump 15 is mounted, for example, on the rear portion of the upper revolving body 3 in the same manner as the engine 11 . The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The operating device 26 is provided near the cockpit of the cabin 10, and is used by the operator to operate various driven elements (lower running body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc.). . In other words, the operating device 26 includes hydraulic actuators (that is, traveling hydraulic motors 1ML and 1MR, turning hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) for the operator to drive respective driven elements. is used to perform operations on The operating device 26 includes, for example, lever devices that operate the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), the bucket 6 (bucket cylinder 9), and the upper rotating body 3 (swing hydraulic motor 2A). include. Further, the operating device 26 includes, for example, a pedal device or a lever device for operating the left and right crawlers (traveling hydraulic motors 1ML and 1MR) of the lower traveling body 1, respectively.

For example, as shown in FIG. 2, the operating device 26 is hydraulically piloted. Specifically, the operating device 26 utilizes the hydraulic oil supplied from the pilot pump 15 through the pilot line 25 and the pilot line 25A branched therefrom, and applies the pilot pressure according to the operation content to the secondary side pilot line. 27A. The pilot line 27A is connected to one inlet port of the shuttle valve 32 and connected to the control valve 17 via the pilot line 27 connected to the outlet port of the shuttle valve 32 . As a result, a pilot pressure can be input to the control valve 17 through the shuttle valve 32 according to the operation details of various driven elements (hydraulic actuators) in the operating device 26 . Therefore, the control valve 17 can drive each hydraulic actuator according to the operation content of the operating device 26 such as an operator.

Also, for example, as shown in FIG. 3, the operating device 26 is electric. Specifically, the operation device 26 outputs an electric signal (hereinafter referred to as “operation signal”) corresponding to the content of the operation, and the operation signal is captured by the controller 30 . Then, the controller 30 outputs to the hydraulic control valve 31 a control command corresponding to the content of the operation signal, that is, a control signal corresponding to the content of the operation on the operating device 26 . As a result, the pilot pressure corresponding to the operation content of the operation device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 drives the respective hydraulic actuators according to the operation content of the operation device 26. can be done.

Also, the control valves 17X (direction switching valves) incorporated in the control valve 17 and driving respective hydraulic actuators may be of the electromagnetic solenoid type. In this case, the operation signal output from the operation device 26 may be directly input to the control valve 17, that is, to the electromagnetic solenoid type control valve 17X.

The hydraulic control valve 31 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26 . That is, the hydraulic control valve 31 includes, for example, a left crawler (traveling hydraulic motor 1ML), a right crawler (traveling hydraulic motor 1MR), an upper revolving body 3 (revolving hydraulic motor 2A), a boom 4 (boom cylinder 7), an arm 5 (arm cylinder 8) and bucket 6 (bucket cylinder 9). The hydraulic control valve 31 is provided, for example, in the pilot line 25B between the pilot pump 15 and the control valve 17, and is configured such that its passage area (that is, the cross-sectional area through which hydraulic oil can flow) can be changed. good. As a result, the hydraulic control valve 31 can output a predetermined pilot pressure to the secondary side pilot line 27B using the hydraulic fluid of the pilot pump 15 supplied through the pilot line 25B. Therefore, as shown in FIG. 2, the hydraulic control valve 31 indirectly controls a predetermined pilot pressure according to the control signal from the controller 30 through the shuttle valve 32 between the pilot lines 27B and 27B. 17. Further, as shown in FIG. 3, the hydraulic control valve 31 can directly apply a predetermined pilot pressure to the control valve 17 in response to a control signal from the controller 30 through the pilot line 27B and the pilot line 27. can. Therefore, the controller 30 can cause the control valve 17 to supply the pilot pressure corresponding to the operation content of the electric operation device 26 from the hydraulic control valve 31, and can realize the operation of the excavator 100 based on the operator's operation.

Also, the controller 30 may control the hydraulic control valve 31, for example, to implement an automatic operation function. Specifically, the controller 30 outputs a control signal corresponding to an operation command related to the automatic operation function to the hydraulic control valve 31 regardless of whether or not the operation device 26 is operated. As a result, the controller 30 can cause the hydraulic control valve 31 to supply the control valve 17 with the pilot pressure corresponding to the operation command relating to the automatic operation function, thereby realizing the operation of the excavator 100 based on the automatic operation function.

Further, the controller 30 may control the hydraulic control valve 31 to realize remote control of the excavator 100, for example. Specifically, the controller 30 outputs to the hydraulic control valve 31 through the communication device 60 a control signal corresponding to the content of the remote operation designated by the remote operation signal received from the management device 200 . As a result, the controller 30 causes the hydraulic control valve 31 to supply the pilot pressure corresponding to the content of the remote operation to the control valve 17, thereby realizing the operation of the excavator 100 based on the operator's remote operation.

As shown in FIG. 2, the shuttle valve 32 has two inlet ports and one outlet port. output to The shuttle valve 32 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26 . That is, the shuttle valve 32 includes, for example, a left crawler (traveling hydraulic motor 1ML), a right crawler (traveling hydraulic motor 1MR), an upper revolving body 3 (revolving hydraulic motor 2A), a boom 4 (boom cylinder 7), and an arm 5. (arm cylinder 8) and bucket 6 (bucket cylinder 9). One of the two inlet ports of the shuttle valve 32 is connected to the pilot line 27A on the secondary side of the operating device 26 (specifically, the above-described lever device or pedal device included in the operating device 26), and the other is connected to the pilot line 27A. It is connected to the pilot line 27B on the secondary side of the hydraulic control valve 31 . The outlet port of shuttle valve 32 is connected through pilot line 27 to the corresponding control valve pilot port of control valve 17 . The corresponding control valve is a control valve that drives the hydraulic actuator that is the object of operation of the above-described lever device or pedal device that is connected to one inlet port of the shuttle valve 32 . Therefore, these shuttle valves 32 correspond to the higher one of the pilot pressure of the pilot line 27A on the secondary side of the operating device 26 and the pilot pressure of the pilot line 27B on the secondary side of the hydraulic control valve 31. It can act on the pilot port of the control valve. That is, the controller 30 causes the hydraulic control valve 31 to output a pilot pressure higher than the pilot pressure on the secondary side of the operation device 26, thereby controlling the corresponding control valve regardless of the operator's operation of the operation device 26. be able to. Therefore, the controller 30 can control the operation of the driven elements (the lower traveling body 1, the upper revolving body 3, and the attachment AT) regardless of the operating state of the operating device 26 by the operator, and can realize the automatic driving function. .

As shown in FIG. 2, the hydraulic control valve 33 is provided in a pilot line 27A that connects the operating device 26 and the shuttle valve 32. As shown in FIG. The hydraulic control valve 33 is configured, for example, so that its flow passage area can be changed. The hydraulic control valve 33 operates according to control signals input from the controller 30 . Thereby, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by the operator. Therefore, even when the operation device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator corresponding to the operation of the operation device 26 . Further, for example, even when the operating device 26 is being operated, the controller 30 reduces the pilot pressure output from the operating device 26 to be lower than the pilot pressure output from the hydraulic control valve 31. can be done. Therefore, the controller 30 controls the hydraulic control valve 31 and the hydraulic control valve 33 to apply a desired pilot pressure to the pilot port of the control valve in the control valve 17, regardless of the operation content of the operating device 26, for example. can work reliably. Therefore, by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31, the controller 30 can realize the automatic operation function and the remote control function of the excavator 100 more appropriately.

<<User interface system>>
As shown in FIGS. 2 and 3, the user interface system of the excavator 100 according to this embodiment includes an operation device 26, an output device 50, and an input device 52. FIG.

The output device 50 outputs various information to the user (operator) of the excavator 100 inside the cabin 10 .

For example, the output device 50 is provided at a location within the cabin 10 that is easily visible to a seated operator, and includes indoor lighting equipment, a display device, and the like that output various types of information in a visual manner. The lighting equipment is, for example, a warning light or the like. The display device is, for example, a liquid crystal display or an organic EL (Electroluminescence) display.

Also, for example, the output device 50 includes a sound output device that outputs various information in an auditory manner. Sound output devices include, for example, buzzers and speakers.

Also, for example, the output device 50 includes a device that outputs various information in a tactile manner such as vibration of the cockpit.

The input device 52 is provided in the cabin 10 in a range close to the seated operator, receives various inputs from the operator, and receives signals corresponding to the received inputs into the controller 30 .

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

Further, for example, the input device 52 may be a voice input device that receives voice input from the operator. Audio input devices include, for example, microphones.

Further, for example, the input device 52 may be a gesture input device that receives gesture input from the operator. The gesture input device includes, for example, an imaging device (indoor camera) installed inside the cabin 10 .

<< communication system >>
As shown in FIGS. 2 and 3 , the communication system of the excavator 100 according to this embodiment includes a communication device 60 .

The communication device 60 is connected to the communication line NW and communicates with a device provided separately from the excavator 100 (for example, the management device 200). Devices provided separately from the excavator 100 may include devices outside the excavator 100 as well as portable terminal devices brought into the cabin 10 by the user of the excavator 100 . The communication device 60 may include, for example, a mobile communication module conforming to standards such as ^4G (4th Generation) and ^5G (5th Generation). Communication device 60 may also include, for example, a satellite communication module. The communication device 60 may also include, for example, a WiFi communication module, a Bluetooth (registered trademark) communication module, and the like.

<<Control System>>
As shown in FIGS. 2 and 3 , the control system of the excavator 100 according to this embodiment includes a controller 30 . Also, the control system of the excavator 100 according to the present embodiment includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning state sensor S5, and an imaging device S6. . Further, as shown in FIG. 2, the control system of the excavator 100 according to the present embodiment includes an operation pressure sensor 29 when the operation device 26 is of a hydraulic pilot type.

The controller 30 performs various controls related to the excavator 100 . The functions of the controller 30 may be implemented by any hardware, or any combination of hardware and software. For example, the controller 30 is a computer including a CPU (Central Processing Unit), a memory device such as RAM (Random Access Memory), a non-volatile auxiliary storage device such as ROM (Read Only Memory), an interface device for various inputs and outputs, etc. is centered on The controller 30 implements various functions by, for example, loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

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

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

Further, the controller 30 may control the hydraulic actuator (driven element) of the excavator 100 by remote control with the hydraulic control valve 31 as a control target. That is, the operation of the hydraulic actuator (driven element) of the excavator 100 may include remote control of the hydraulic actuator from outside the excavator 100 .

Further, the controller 30 may control the automatic operation function of the excavator 100 with the hydraulic control valve 31 as a control target. That is, the operation of the hydraulic actuator of the excavator 100 may include an operation command of the hydraulic actuator of the excavator 100 that is output based on the automatic operation function.

Further, the controller 30 performs control for ensuring safety of the excavator 100 on a slope, for example. The controller 30 includes an inclination determination unit 301, a traveling body orientation determination unit 302, a turning body orientation determination unit 303, and a turning operation determination unit 304 as functional units related to control for ensuring safety of the excavator 100 on a slope. , and a safety control unit 306 .

Note that part of the functions of the controller 30 may be implemented by another controller (control device). In other words, the functions of the controller 30 may be distributed and implemented by a plurality of controllers.

As shown in FIG. 2, the operation pressure sensor 29 detects the pilot pressure of the secondary side (pilot line 27A) of the hydraulic pilot type operation device 26, that is, the operation of each driven element (hydraulic actuator) in the operation device 26. Detect the pilot pressure corresponding to the state. A pilot pressure detection signal corresponding to the operation state of the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, etc. in the operating device 26 by the operation pressure sensor 29 is taken into the controller 30.

The boom angle sensor S1 acquires detection information regarding the attitude angle of the boom 4 (hereinafter referred to as "boom angle") with respect to a predetermined reference (for example, a horizontal plane or one of the two ends of the movable angle range of the boom 4). The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a hexaaxial sensor, an IMU (Inertial Measurement Unit), and the like. Also, the boom angle sensor S1 may include a cylinder sensor capable of detecting the telescopic position of the boom cylinder 7 .

The arm angle sensor S2 detects the posture angle of the arm 5 (hereinafter referred to as the "arm angle ”). Arm angle sensor S2 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a hexaaxial sensor, an IMU, or the like. Also, the arm angle sensor S2 may include a cylinder sensor capable of detecting the extension/retraction position of the arm cylinder 8 .

The bucket angle sensor S3 detects the attitude angle of the bucket 6 (hereinafter referred to as "bucket angle ”). Bucket angle sensor S3 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a hexaaxial sensor, an IMU, and the like. Also, the bucket angle sensor S3 may include a cylinder sensor capable of detecting the expansion/contraction position of the bucket cylinder 9 .

The fuselage tilt sensor S4 acquires detection information regarding the tilt state of the fuselage including the lower traveling structure 1 and the upper rotating structure 3 . The fuselage tilt sensor S4 is mounted on, for example, the upper revolving structure 3, and acquires detection information regarding the tilt angles of the upper revolving structure 3 in the longitudinal direction and the lateral direction (hereinafter referred to as "forward/backward tilt angle" and "lateral tilt angle"). . The body tilt sensor S4 may include, for example, an acceleration sensor (tilt sensor), an angular velocity sensor, a hexaaxial sensor, an IMU, and the like.

The turning state sensor S5 acquires detection information regarding the turning state of the upper turning body 3 . The turning state sensor S5, for example, acquires detection information regarding the turning angle of the upper turning body 3 with respect to a predetermined reference (for example, a state in which the forward direction of the lower traveling body 1 and the front of the upper turning body 3 match). The turning state sensor S5 includes, for example, a potentiometer, rotary encoder, resolver, and the like.

In addition, it is possible to acquire detection information related to the attitude state of the upper revolving structure 3 including not only the tilt angle of the upper revolving structure 3 but also the turning angle by means of the components of the machine body tilt sensor S4 (for example, a 6-axis sensor, an IMU, etc.). In this case, the turning state sensor S5 may be omitted.

Further, for example, the excavator 100 may be further equipped with a positioning device capable of positioning the absolute position of the excavator 100 . The positioning device is, for example, a GNSS (Global Navigation Satellite System) sensor. Thereby, the estimation accuracy of the posture state of the excavator 100 can be improved.

Also, the sensors S1 to S5 may be omitted. For example, information about the surroundings of the excavator 100 acquired by the imaging device S6, a distance sensor described later, or the like includes information about surrounding objects viewed from the machine body (upper rotating body 3), the position and shape of the attachment AT, and the like. Sometimes. In this case, for example, the controller 30 can also estimate the attitude state of the excavator 100 from the information depending on the required accuracy.

The imaging device S6 (an example of an acquisition device) captures the surroundings of the excavator 100 and outputs the captured image. A captured image output from the imaging device S6 is captured by the controller 30 .

The imaging device S6 includes, for example, a monocular camera, a stereo camera, a depth camera, and the like. In addition, the imaging device S6 acquires three-dimensional data (for example, point cloud data or surface data) representing the position and outline of an object around the excavator 100 within a predetermined imaging range (angle of view) based on the captured image. may

Further, instead of or in addition to the imaging device S6, for example, a distance sensor (an example of an acquisition device) such as LIDAR (Light Detecting and Ranging), millimeter wave radar, ultrasonic sensor, infrared sensor, distance image sensor, etc. 100 may be installed. The range sensor may acquire three-dimensional data (eg, point cloud data) representing the position and shape of objects around excavator 100 within a predetermined detection range.

As shown in FIG. 1, the imaging device S6 is attached to, for example, the front end of the upper surface of the cabin 10, and acquires a captured image in front of the upper rotating body 3 including the working range of the end attachment (the bucket 6). Thereby, the controller 30 can recognize the situation in front of the excavator 100 based on the output of the imaging device S6. In addition, the controller 30 determines the position of the excavator 100, the turning state of the upper turning body 3, etc., based on changes in the positions and appearances of objects around the excavator 100 recognized from the output (captured image) of the imaging device S6. can recognize. Moreover, the imaging range of the imaging device S6 includes the boom 4, the arm 5, and the end attachment (bucket 6), that is, the attachment AT. Thereby, the controller 30 can recognize the posture state of the attachment AT (for example, the posture angle of at least one of the boom 4, the arm 5, and the bucket 6) based on the output of the imaging device S6. Therefore, when the excavator 100 is remotely operated, the controller 30 transmits information about the surrounding image and the recognition result based on the imaging device S6 to the management device 200 and the like, and provides an external operator with an image of the excavator 100 (own machine) and its surroundings. Can provide information about the situation. Further, when the excavator 100 operates with the fully automatic operation function, the control device (for example, the controller 30) related to the fully automatic operation function grasps the surrounding conditions of the excavator 100, the attitude state of the excavator itself, and the hydraulic actuator. It is possible to output operation commands related to Further, when the excavator 100 operates with the fully automatic operation function, the controller 30 transmits information about the surrounding image and the recognition result based on the imaging device S6 to the management device 200 and the like, and the user (monitoring person) who monitors the work from the outside. ) can be provided with information about the excavator 100 (self) and its surroundings.

Further, the imaging device S6 may be configured to be capable of acquiring a captured image of at least one of the left side, right side, and rear side of the upper rotating body 3 . Specifically, the imaging device S6 includes a camera capable of imaging the front of the upper rotating body 3, a camera capable of imaging the left side of the upper rotating body 3, a camera capable of imaging the right side of the upper rotating body 3, and a camera capable of imaging the rear side. At least one of the possible cameras may be included. Thereby, the controller 30 can recognize not only the situation in front of the excavator 100 (upper revolving body 3) but also the left, right and rear conditions of the excavator 100 (upper revolving body 3).

The tilt determination unit 301 determines whether or not the excavator 100 is positioned on a slope based on the output of the machine body tilt sensor S4. The tilt determination unit 301 determines that the excavator 100 is positioned on a slope when the tilt of the body of the excavator 100, which is recognized (detected) based on the output of the body tilt sensor S4, exceeds a predetermined threshold, for example. do. The predetermined threshold value is set to a value smaller than the upper limit of the angle range of the slope where the excavator 100 is allowed to work.

Based on the output of the machine body tilt sensor S4, the output of the turning state sensor S5, and the like, the traveling body orientation determination unit 302 determines the orientation of the lower traveling body 1 with respect to the direction of the slope when the excavator 100 is on a slope. conduct. For example, the running body direction determining unit 302 determines whether or not the amount of deviation of the longitudinal axis of the lower running body 1 with respect to the direction of inclination of the slope is equal to or greater than a predetermined threshold. The front-rear axis of the lower traveling body 1 means a longitudinal axis along which the lower traveling body 1 can travel. The predetermined threshold value is set to a value larger than 45 degrees within a range smaller than 90 degrees, for example.

The revolving structure orientation determination unit 303 determines the orientation of the upper revolving structure 3 with respect to the tilt direction of the slope when the excavator 100 is on the slope, based on the output of the body tilt sensor S4, the output of the swing state sensor S5, and the like. . The inclination direction of the slope means the direction in which the angle of inclination is maximized on the slope, assuming that the slope on which the shovel 100 is located is flat. Includes the downward slope direction with the maximum downward slope angle. The orientation of the upper revolving body 3 means the front direction viewed from the upper revolving body 3, that is, the direction in which the attachment AT extends from the upper revolving body 3 when the excavator 100 is viewed from above. For example, the revolving superstructure orientation determination unit 303 determines whether or not the deviation (difference) between the orientation of the upper revolving superstructure 3 and the uphill direction of the slope is equal to or less than a predetermined threshold.

The turning operation determination unit 304 determines the turning operation of the upper turning body 3 . As described above, the swing operation may include a swing operation using the operating device 26, a swing operation by remote control, and an operation command related to the upper swing body 3 (swing hydraulic motor 2A) corresponding to the automatic operation function. . For example, the turning operation determination unit 304 determines whether or not a turning operation of the upper turning body 3 in a predetermined direction has been performed. Further, for example, the turning operation determination unit 304 may determine whether or not there is a sign that the upper turning body 3 will be turned. Specifically, the turning operation determination unit 304 may determine whether or not there is a sign of turning operation of the upper turning body 3 based on image information from an imaging device (indoor camera) capable of imaging the inside of the cabin 10 . Further, the turning operation determination unit 304 may determine whether or not there is a sign of turning operation of the upper turning body 3 based on the most recent operation pattern (operation pattern) of the excavator 100 or the like.

The object detection unit 305 detects an object to be monitored (hereinafter simply “monitoring target”) in a nearby monitoring area around the excavator 100 based on the output of the imaging device S6 and the distance sensor. The monitoring targets include, for example, workers working around the excavator 100 and people such as supervisors at work sites. Objects to be monitored include, for example, materials temporarily placed at the work site, stationary obstacles such as a temporary office at the work site, and moving obstacles such as vehicles including trucks. obstacles can be included.

The object detection unit 305 detects a monitoring target in the monitoring area around the excavator 100 (upper rotating body 3) based on the output of the imaging device S6, that is, the captured image captured by the imaging device S6, for example.

The object detection unit 305 detects the horizontal direction as viewed from the excavator 100 (hereinafter, simply “horizontal direction”), that is, the plane on which the excavator 100 is working (the lower traveling body 1 is in contact with the ground) (hereinafter, “working plane”). ”), the monitored object may be detected within the monitored area extending in the direction along. Specifically, the object detection unit 305 may detect a monitoring target within a monitoring area where the horizontal distance D from the excavator 100 (upper rotating body 3) is within a predetermined distance Dth (for example, 5 meters). .

For example, the object detection unit 305 recognizes the monitoring target in the captured image by arbitrarily applying a machine learning-based classifier including various known image processing methods and artificial intelligence (AI). .

Further, by applying various known techniques, the object detection unit 305 detects a position (for example, a person's foot position) (hereafter referred to as a , “actual position”) is determined (estimated).

For example, the object detection unit 305 determines the horizontal distance (hereinafter referred to as " Estimate the horizontal distance”). This is because there is a correlation that the recognized size of the monitored object on the captured image decreases as the monitored object moves away from the shovel 100 . Specifically, since the monitoring target has an assumed size range (for example, an assumed range of human heights), from the excavator 100 to be monitored that is included in the assumed size range, A correlation between the viewed horizontal distance and the size on the captured image can be defined in advance. Therefore, the object detection unit 305 stores, for example, a map, which is stored in advance in an internal memory such as an auxiliary storage device of the controller 30, representing the correlation between the size of the monitored object on the captured image and the horizontal distance seen from the excavator 100, or the like. The horizontal distance from the monitored excavator 100 can be estimated based on the conversion formula or the like. In addition, the object detection unit 305 can estimate the direction in which the monitoring target exists as viewed from the excavator 100 (camera S6) according to the position in the lateral direction (left-right direction) on the captured image.

Further, for example, on the premise that the object to be monitored exists on the same plane as the excavator 100 (specifically, the undercarriage 1), the object detection unit 305 performs projective transformation (homography) of the captured image onto the plane. ), etc., the actual position (for example, the foot position) can be estimated. In this case, a certain portion (a certain point) that constitutes the captured image is associated with a certain position on the same plane as the excavator 100 .

The safety control unit 306 performs control to ensure the safety of the excavator 100 when the excavator 100 is on a slope. For example, the safety control unit 306 performs control (hereinafter referred to as "overturn prevention control") for activating a safety function (hereinafter simply referred to as "safety function") that suppresses overturning of the excavator 100 on a slope. Details will be described later.

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

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

For example, the control device 210 may acquire information received from the excavator 100 by the communication device 220, construct a database, or perform predetermined processing to generate processing information.

Further, for example, the control device 210 performs control related to remote operation of the excavator 100 . The control device 210 receives an input signal regarding remote operation of the excavator 100 received by the remote control device, and uses the communication device 220 to transmit a remote operation signal representing the content of the operation input, that is, the content of the remote operation of the excavator 100. It may be transmitted to the excavator 100 .

The communication device 220 connects to the communication line NW and communicates with the outside of the management device 200 (for example, the excavator 100).

The input device 230 receives input from the manager, operator, or the like of the management device 200, and outputs a signal representing the content of the input (for example, operation input, voice input, gesture input, etc.). A signal representing the content of the input is taken into the controller 210 .

Input device 230 may include, for example, a remote control device. Thereby, the worker (operator) of the management device 200 can remotely control the excavator 100 using the remote control device.

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

The output device 240 includes, for example, a lighting device and a display device that output various information to the user of the management device 200 in a visual manner. Illumination devices include, for example, warning lamps and the like. The display device includes, for example, a liquid crystal display, an organic EL display, and the like. The output device 240 also includes a sound output device that outputs various information to the user of the management device 200 in an audible manner. Sound output devices include, for example, buzzers and speakers.

The display device displays various information images regarding the management device 200 . The display device may include, for example, a remote control display device or a monitoring display device, on which the excavator 100 is uploaded from the excavator 100 under the control of the control device 210 . image information (surrounding image), etc. of the surrounding area may be displayed. Accordingly, the user (operator) of the management device 200 can remotely operate the excavator 100 while confirming the image information around the excavator 100 displayed on the remote control display device. Further, the user (monitoring person) of the management device 200 can monitor the work status of the excavator 100 while confirming the image information around the fully automatic excavator 100 displayed on the monitoring display device.

[Influence of the tilt of the working plane on the static stability of the excavator]
Next, with reference to FIGS. 4 and 5, the influence of the inclination of the work plane on the posture stability of the excavator 100 will be described.

4 and 5 are diagrams showing examples of the center-of-gravity position of the revolving portion of the excavator 100 on a horizontal plane and an inclined plane, respectively.

The revolving part of the excavator 100 means a part that revolves together with the revolving of the upper revolving body 3 . The revolving portion of the excavator 100 includes the upper revolving body 3 as well as various components mounted on the upper revolving body 3 such as the attachment AT.

As shown in FIGS. 4 and 5 , the center of gravity CG of the revolving portion of the excavator 100 exists behind the revolving center TC of the upper revolving body 3 . Therefore, if the center of gravity CG of the revolving portion of the excavator 100 of the upper revolving body 3 is horizontally behind the tipping fulcrum FL on the rear side of the excavator 100, the self weight of the revolving portion of the excavator 100 causes the shovel to move. 100 may tip over backwards. The overturning fulcrum FL means a position of the crawler 1C that becomes a fulcrum when the excavator 100 overturns.

For example, the center of gravity CG of the revolving portion of the excavator 100 changes depending on the posture of the attachment AT. Specifically, the farther the tip (bucket 6) of the attachment AT is in the horizontal direction from the upper revolving body 3, the more forward the upper revolving body 3 is, as shown in FIGS. The closer it is to 3, the more backward it moves. Therefore, the closer the tip of the attachment AT (the bucket 6 ) is to the upper revolving body 3 in the horizontal direction, the more the center of gravity CG of the revolving portion of the excavator 100 of the upper revolving body 3 will fall on the rear side of the excavator 100 . A situation in which the fulcrum FL is positioned behind the fulcrum FL in the horizontal direction is more likely to occur.

Further, for example, as shown in FIG. 4, when the excavator 100 is on the horizontal plane, the center of gravity CG of the turning portion of the excavator 100 is located on the rear side even if the orientation of the attachment AT and the orientation of the undercarriage 1 are taken into consideration. It is relatively difficult for the vehicle to exist behind the tipping fulcrum FL in the horizontal direction.

On the other hand, as shown in FIG. 5, when the excavator 100 is on an inclined surface, the center of gravity CG of the revolving portion of the excavator 100 tends to be horizontally behind the tipping fulcrum FL on the rear side. This is because the tilt causes the center of gravity CG of the turning portion of the excavator 100 to move rearward with respect to the tipping fulcrum FL on the rear side, compared to when the excavator 100 is on the horizontal plane.

Thus, when the excavator 100 is on an inclined surface, the static stability of the excavator 100 is degraded, and the weight of the revolving portion of the excavator 100 may cause the excavator 100 to overturn in the downward inclination direction. In particular, when the position of the tip of the attachment AT is relatively close to the upper revolving body 3 in the horizontal direction, when the orientation of the lower traveling body 1 deviates relatively greatly from the slope direction of the slope, and when the upper revolving body 3 This is conspicuous when the amount of deviation between the orientation and the up-sloping direction is relatively small.

[Outline of fall prevention control]
Next, an overview of the overturn prevention control (safety function) will be described with reference to FIGS. 6 and 7. FIG.

FIG. 6 is a diagram illustrating an example of changes in the position of the center of gravity when the excavator 100 turns on an inclined surface. Specifically, FIG. 6 includes side view 6A and top view 6B of excavator 100 on a slope. FIG. 7 is a diagram illustrating another example of a change in the center of gravity position of the revolving portion when the shovel 100 is revolving on an inclined surface. Specifically, FIG. 7 includes side view 7A and top view 7B of excavator 100 on a slope.

<First example of safety function>
For example, as shown in FIG. 6, when the upper revolving body 3 turns to the right from a state in which the orientation of the upper revolving body 3 is deviated from the inclination direction by approximately 90 degrees, the position of the center of gravity CG of the revolving portion of the excavator 100 is , moving downward on the slope (thick arrow in the figure). Therefore, when the upper revolving body 3 revolves to the extent that the direction of the upper revolving body 3 substantially coincides with the upward inclination direction, as described above, the center of gravity CG of the revolving portion of the excavator 100 is horizontally behind the tipping fulcrum FL on the rear side. (dotted line in the figure), and there is a possibility that the excavator will tip over in the downward direction.

Therefore, when the excavator 100 is on a slope, the safety control unit 306 has a safety function (hereinafter referred to as a "notification function") that notifies the user of the turning state of the upper turning body 3 that suppresses or encourages the overturning of the excavator 100 (see Section 3). 1) may be activated. As a result, the user (operator) can recognize the turning state of the upper turning body 3 that prevents the excavator 100 from overturning, and can perform turning operation of the upper turning body 3 to realize the turning state. In addition, the user (operator) can recognize the turning state of the upper turning body 3 that promotes overturning of the excavator 100 and perform turning operation of the upper turning body 3 to avoid the turning state. Further, the user (monitoring person) recognizes the turning state of the upper turning body 3 that suppresses or encourages the overturning of the excavator 100, and compares the turning state with the turning motion of the excavator 100 in fully automatic operation. 100 operations can be monitored. Therefore, when the turning motion of the excavator 100 greatly transitions in a direction that promotes overturning of the excavator 100 , the user (monitor) can make an emergency stop of the excavator 100 or perform an intervention operation of the excavator 100 . Therefore, the excavator 100 can be prevented from overturning in the downhill direction when on a slope.

Specifically, when the excavator 100 is operated through the operation device 26, the safety control unit 306 may activate the notification function through the output device 50 (display device or sound output device).

Further, when the excavator 100 is remotely controlled or fully automated, the safety control unit 306 outputs the , may activate the notification function. More specifically, the safety control unit 306 controls the output device 240 by transmitting a control signal for activating the notification function to the management device 200 through the communication device 60, and notifies the user of the management device 200. function can be realized.

The notification function includes, for example, a turning direction that encourages the excavator 100 to overturn in a downhill direction (higher possibility of overturning) or a turning direction that suppresses overturning (lower possibility of overturning). A notification function to notify (instruct) is included. The turning direction that encourages the shovel 100 to overturn in the downward direction on a slope is the turning direction in which the center of gravity of the turning portion of the shovel 100 moves downward. The turning direction that suppresses the excavator 100 from overturning in the downhill direction on the slope is the turning direction in which the center of gravity of the turning portion of the excavator 100 moves in the uphill direction on the slope.

<Second example of safety function>
When the excavator 100 is on a slope, the safety control unit 306 moves the tip of the attachment AT horizontally away from the upper revolving body 3 according to the surrounding conditions of the excavator 100 based on the output of the imaging device S6 and the distance sensor. A moving safety function (hereinafter, “center-of-gravity moving function”) may be activated. For example, when the excavator 100 is on a slope, when the object detection unit 305 does not detect a monitored object in the monitoring area around the excavator 100, or when the distance to the detected monitoring target is The center-of-gravity movement function may be activated when the value is equal to or greater than a predetermined threshold. Further, for example, the safety control unit 306 activates the center-of-gravity moving function when the excavator 100 is on a slope, when the upper swing body 3 is being turned, or when there is a sign that the upper swing body 3 is being turned. may be activated. As a result, the position of the center of gravity CG of the attachment AT moves to the front side of the upper revolving body 3 . Therefore, for example, as shown in FIG. 7, even if the upper revolving body 3 revolves and the position of the center of gravity CG of the revolving part moves in the downward direction of the slope (thick line arrow in the figure), the excavator 100 does not move in the horizontal direction. can be maintained in front of the rear overturning fulcrum FL (dotted line in the figure). Therefore, the excavator 100 can be prevented from overturning in the downhill direction when on a slope.

Specifically, the safety control unit 306 may realize the center-of-gravity moving function by controlling the hydraulic control valve 31 and causing the attachment AT to perform at least one of the lowering operation of the boom 4 and the opening operation of the arm 5. .

<Third example of safety function>
When the excavator 100 is on a slope, the safety control unit 306 has a safety function (hereinafter referred to as a “movement restriction function”) that restricts the movement of the upper swing body 3 in the turning direction that encourages the excavator 100 to overturn in the downward direction of the slope. ) may be activated. For example, the safety control unit 306 decelerates the turning speed for the turning operation to be relatively low when the upper turning body 3 is turned in a direction that encourages the excavator 100 to overturn in the downhill direction on the slope. . This makes it difficult for the center of gravity CG of the turning portion of the shovel 100 to move downward. Therefore, the excavator 100 can be prevented from overturning in the downhill direction when on a slope.

Specifically, the safety control unit 306 controls the hydraulic control valve 31 to relatively reduce the swing speed of the upper swing body 3 with respect to the swing operation of the upper swing body 3, thereby realizing an operation limiting function. good.

[Details of fall prevention control]
Next, details of the overturn prevention control by the controller 30 will be described with reference to FIGS. 8 to 13. FIG.

<First example of overturn prevention control>
FIG. 8 is a flow chart schematically showing a first example of overturn prevention control by the controller 30. As shown in FIG.

This flowchart is repeatedly executed at predetermined control cycles, for example, from start-up of the excavator 100 (eg, key switch ON) to stop of the excavator 100 (eg, key switch OFF). The same may be applied to the flow charts of FIGS. 9 to 13 below.

As shown in FIG. 8, the tilt determination unit 301 determines whether the excavator 100 is on a slope. If the shovel 100 is on the slope, the slope determination unit 301 proceeds to step S104, and if the shovel 100 is not on the slope, the processing of this flowchart ends.

In step S104, the revolving superstructure orientation determination unit 303 determines whether or not the deviation between the orientation of the upper revolving superstructure 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value. The revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively located on the uphill side of the slope when the difference between the orientation of the upper revolving body 3 and the uphill direction of the slope is not equal to or less than a predetermined threshold value. and proceeds to step S106. On the other hand, if the amount of deviation between the orientation of the upper rotating body 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value, the revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively on the downhill side of the slope. It judges that it is located, and progresses to step S108.

In step S<b>106 , the safety control unit 306 activates the notification function to notify the user of the turning direction of the upper turning body 3 that encourages the excavator 100 to overturn. As a result, in a situation where the center of gravity of the revolving portion of the excavator 100 is relatively on the uphill side of the slope, the excavator 100 is instructed to move the upper revolving body 3 in a direction that encourages the overturning of the excavator 100 to the user (operator). It can be urged not to perform a turning operation. In addition, in a situation where the center of gravity of the revolving portion of the excavator 100 is relatively on the uphill side of the slope, the excavator 100 may be instructed by the user (monitor) to move the upper revolving body 3 in a direction that encourages the overturning of the excavator 100 . You can be prompted to monitor for the presence or absence of pivoting motion.

When the process of step S106 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S108, the safety control unit 306 activates the notification function to notify the user of the turning direction of the upper turning body 3 that prevents the excavator 100 from overturning. As a result, the excavator 100 allows the user (operator) to move the upper revolving body 3 in the direction to prevent the excavator 100 from overturning in a situation where the center of gravity of the revolving portion of the excavator 100 is relatively on the downhill side of the slope. A turning operation can be urged. In addition, in a situation where the center of gravity of the revolving portion of the excavator 100 is relatively on the downhill side of the slope, the excavator 100 instructs the user (monitor) to move the upper revolving body 3 in the direction to prevent the excavator 100 from overturning. You can be prompted to monitor for the presence or absence of pivoting motion.

When the process of step S108 is completed, the controller 30 ends the process of this flowchart.

As described above, in this example, the controller 30 controls the excavator 100 to rotate by rotating the upper rotating body 3 so that the center of gravity of the rotating portion of the excavator 100 moves downward on the slope when the excavator 100 is on a slope. Activate a safety feature that prevents 100 from falling downhill.

Thereby, the controller 30 can activate the safety function according to the turning state of the excavator 100, for example. Therefore, the controller 30 does not need to calculate the static stability of the excavator 100, for example, in order to activate the safety function, and the processing load can be reduced. Therefore, the excavator 100 can more easily suppress overturning of the excavator 100 on a slope.

Also, in this example, the controller 30 activates a notification function as a safety function.

As a result, the excavator 100 can prompt the user (operator) to perform a turning operation to prevent the excavator 100 from overturning in the downward direction. In addition, the excavator 100 allows the user (monitoring person) to distinguish between the revolving motion of the upper revolving body 3 that encourages the overturning of the fully automatic excavator 100 and the revolving motion that suppresses the overturning of the excavator 100. can be recognized. Therefore, the excavator 100 can prompt the user (monitoring person) to more appropriately monitor the excavator 100 in fully automatic operation.

Incidentally, in this example, in step S106, the safety control section 306 may activate the operation restriction function instead of or in addition to the notification function. The same may apply to step S208 in FIG. 9, step S418 in FIG. 12, and step S510 in FIG. 13, which will be described later.

<Second example of overturn prevention control>
FIG. 9 is a flow chart schematically showing a second example of overturn prevention control by the controller 30. As shown in FIG.

As shown in FIG. 9, in step S202, the tilt determination unit 301 determines whether the excavator 100 is on a slope. If the shovel 100 is on the slope, the slope determination unit 301 proceeds to step S204, and if the shovel 100 is not on the slope, the processing of this flowchart ends.

In step S204, the running body direction determining unit 302 determines whether or not the deviation between the longitudinal axis of the lower running body 1 (crawler 1C) and the inclination direction of the slope is equal to or greater than a predetermined threshold. If the difference between the longitudinal axis of the crawler 1C and the inclination direction of the slope is equal to or greater than a predetermined threshold value, the traveling body orientation determination unit 302 determines that the excavator 100 is likely to overturn in the downhill direction of the slope, and proceeds to step S206. move on. On the other hand, when the difference between the front-rear axis of the crawler 1C and the inclination direction of the slope is not equal to or greater than the predetermined threshold value, the traveling object orientation determination unit 302 determines that the excavator 100 is unlikely to overturn on the slope. End the processing of the flowchart.

Steps S206, S208, and S210 are the same as the processing of steps S104, S106, and S108 in FIG. 8, so description thereof will be omitted.

Thus, in this example, the controller 30 activates the safety function (notification function) when the deviation between the longitudinal axis of the undercarriage 1 and the inclination direction of the slope is relatively large.

As a result, the controller 30 can activate the safety function (notification function) only when the excavator 100 is likely to overturn in the downhill direction on a slope. Therefore, the excavator 100 can suppress the user's annoyance and the decrease in work efficiency while ensuring the effectiveness of suppressing overturning in the downward direction on a slope.

Between steps S306 and S308, between steps S314 and S316, and between steps S314 and S328 of the flowchart of the third example (FIGS. 10 and 11) described later, the same processing as step S204 of this example is added. may be Similarly, even if the same processing as step S204 of this example is added between S402 and S404 and between S502 and S504 in the flowcharts of a fourth example (FIG. 12) and a fifth example (FIG. 13) to be described later. good.

<Third example of overturn prevention control>
10 and 11 are flow charts schematically showing a third example of overturn prevention control by the controller 30. FIG.

In this example, flags F1 and F2 are used. The initial values of the flags F1 and F2 are respectively "0".

The flag F1 indicates whether or not the turning direction notification function of the upper turning body 3, which encourages the excavator 100 to overturn, is activated. Specifically, when the flag F1 is "0", it indicates that the notification function is not activated, and when it is "1", it indicates that the notification function is activated.

The flag F2 indicates whether or not the function for notifying the turning direction of the upper turning body 3 that prevents the excavator 100 from overturning is activated. Specifically, when the flag F2 is "0", it indicates that the notification function is not activated, and when it is "1", it indicates that the notification function is activated.

As shown in FIG. 10, in step S302, the tilt determination unit 301 determines whether the shovel 100 is on a slope. If the excavator 100 is not on the slope, the inclination determination unit 301 proceeds to step S304, and if the excavator 100 is on the slope, the inclination determination unit 301 proceeds to step S306.

In step S304, the controller 30 stops the safety function (notification function) or maintains the stopped state, and sets both the flags F1 and F2 to "0".

When the process of step S304 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S306, the controller 30 determines whether the flags F1 and F2 are both "0". If both the flags F1 and F2 are "0", the controller 30 determines that the notification function is inactive, and proceeds to step S308. If it is 1", it is determined that the notification function is in operation, and the process proceeds to step S314.

In step S308, the revolving superstructure orientation determination unit 303 determines whether or not the deviation between the orientation of the upper revolving superstructure 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value. The revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively located on the uphill side of the slope when the difference between the orientation of the upper revolving body 3 and the uphill direction of the slope is not equal to or less than a predetermined threshold value. , and proceeds to step S310. On the other hand, if the amount of deviation between the orientation of the upper rotating body 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value, the revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively on the downhill side of the slope. It is determined that it is positioned, and the process proceeds to step S312.

In step S<b>310 , the safety control unit 306 activates a notification function that notifies the user of the turning direction of the upper turning body 3 that encourages the excavator 100 to overturn. Specifically, the safety control unit 306 starts notification by display on the display device of the cabin 10 and the management device 200, and also sets the notification by sound through the sound output device of the cabin 10 and the management device 200 to a predetermined value N1 ( An integer of 1 or more) times. That is, the safety control unit 306 always activates the notification function by display, and activates the notification function by sound for a limited time.

After completing the process of step S310, the controller 30 proceeds to step S311.

In step S311, the controller 30 sets the flag F1 to "1".

When the process of step S311 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S312, the safety control unit 306 activates a notification function that notifies the user of the turning direction of the upper turning body 3 that prevents the excavator 100 from overturning. Specifically, the safety control unit 306 starts the notification by display on the display device of the cabin 10 and the management device 200, and the notification by sound through the sound output device of the cabin 10 and the management device 200 at a predetermined value N2 ( An integer of 1 or more) times. That is, the safety control unit 306 always activates the notification function by display, and activates the notification function by sound for a limited time.

Incidentally, the predetermined values N1 and N2 may be the same or different.

After completing the process of step S312, the controller 30 proceeds to step S313.

In step S313, the controller 30 sets the flag F2 to "1".

When the process of step S313 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S314, the controller 30 determines whether the flag F1 is "1". When the flag F1 is "1", the controller 30 determines that the informing function of informing the turning direction of the upper turning body 3 that promotes overturning of the excavator 100 is in operation, and proceeds to step S316. On the other hand, if the flag F1 is not "1", the controller 30 determines that the notification function for notifying the turning direction of the upper turning body 3 that prevents the excavator 100 from overturning is in operation, and proceeds to step S328 (see FIG. 11). .

In step S316, the revolving superstructure orientation determination unit 303 determines whether or not the deviation between the orientation of the upper revolving superstructure 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value. The revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively located on the uphill side of the slope when the difference between the orientation of the upper revolving body 3 and the uphill direction of the slope is not equal to or less than a predetermined threshold value. It is determined that the state continues, and the process proceeds to step S318. On the other hand, if the amount of deviation between the orientation of the upper rotating body 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value, the revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively on the downhill side of the slope. It is determined that the state has changed to the located state, and the process proceeds to step S324.

In step S318, the safety control unit 306 continues the indication of the turning direction that encourages overturning.

After completing the process of step S318, the controller 30 proceeds to step S320.

In step S320, the safety control unit 306 determines whether or not a predetermined time T1 (>0) has elapsed since the previous activation of the turning direction notification function that encourages tipping over by voice. If the predetermined time T1 has passed, the safety control unit 306 proceeds to step S322, and if the predetermined time T1 has not passed, the processing of this flowchart ends.

In step S<b>322 , the safety control unit 306 notifies the turning direction of the upper turning body 3 that encourages overturning of the excavator 100 by voice through the sound output device of the cabin 10 and the management device 200 a predetermined number N1 times.

When the process of step S322 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S<b>324 , the safety control unit 306 activates a notification function that notifies the user of the turning direction of the upper turning body 3 that prevents the excavator 100 from overturning. Specifically, the safety control unit 306 starts the notification by display on the display device of the cabin 10 or the management device 200, and the notification by sound through the sound output device of the cabin 10 or the management device 200 a predetermined value N2 times. implement.

After completing the process of step S324, the controller 30 proceeds to step S326.

At step S326, the flag F1 is set to "0" and the flag F2 is set to "1".

When the process of step S326 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S328, the revolving superstructure orientation determination unit 303 determines whether or not the deviation between the orientation of the upper revolving superstructure 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value. The revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively located on the uphill side of the slope when the difference between the orientation of the upper revolving body 3 and the uphill direction of the slope is not equal to or less than a predetermined threshold value. It is determined that the state has changed, and the process proceeds to step S330. On the other hand, if the amount of deviation between the orientation of the upper rotating body 3 and the uphill direction of the slope is equal to or less than a predetermined threshold value, the revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively on the downhill side of the slope. It is determined that the positioned state continues, and the process proceeds to step S334.

In step S<b>330 , the safety control unit 306 activates a notification function that notifies the user of the turning direction of the upper turning body 3 that encourages the excavator 100 to overturn. Specifically, the safety control unit 306 starts the notification by display on the display device of the cabin 10 or the management device 200, and the notification by sound through the sound output device of the cabin 10 or the management device 200 A predetermined value N1 times implement.

After completing the process of step S330, the controller 30 proceeds to step S332.

At step S332, the controller 30 sets the flag F1 to "1" and sets the flag F2 to "0".

When the process of step S332 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S334, the safety control unit 306 continues the indication of the turning direction for suppressing overturning.

After completing the process of step S334, the controller 30 proceeds to step S336.

In step S336, the safety control unit 306 determines whether or not a predetermined time T2 (>0) has elapsed since the turning direction notification function for suppressing overturning by voice was activated last time. If the predetermined time T2 has passed, the safety control unit 306 proceeds to step S338, and if the predetermined time T2 has not passed, the process of this flowchart ends.

Note that the predetermined times T1 and T2 may be the same or different.

In step S<b>338 , the safety control unit 306 notifies the turning direction of the upper turning body 3 to prevent the excavator 100 from overturning by voice through the sound output device of the cabin 10 and the management device 200 a predetermined number N2 times.

When the process of step S338 is completed, the controller 30 ends the process of this flowchart.

Thus, in this example, when the excavator 100 is on a slope, the controller 30 activates the visual notification function and operates the auditory notification function more than the visual notification function. Operate less frequently.

As a result, the excavator 100 can continuously maintain the effectiveness of suppressing the overturning of the excavator 100 in the downward direction on the slope, and can suppress the user's annoyance due to the activation of the notification function by an auditory method. .

In this example, in steps S310, S318, and S338, the safety control section 306 may activate the operation restriction function in addition to the notification function.

<Fourth example of overturn prevention control>
FIG. 12 is a flowchart schematically showing a fourth example of overturn prevention control by the controller 30. As shown in FIG.

As shown in FIG. 12, steps S402 and S404 are the same as steps S102 and S204 in FIG. 8, so description thereof will be omitted.

The revolving body orientation determining unit 303 determines that the center of gravity of the revolving part of the excavator 100 is relatively located on the downhill side of the slope when the difference between the orientation of the upper revolving body 3 and the uphill direction of the slope is equal to or less than a predetermined threshold. It is determined that there is, and the process proceeds to step S406. On the other hand, if the amount of deviation between the orientation of the upper revolving structure 3 and the uphill direction of the slope is not equal to or less than the predetermined threshold value, the revolving body orientation determination unit 303 determines that the center of gravity of the revolving part of the excavator 100 is positioned relatively on the uphill side of the slope. It judges that it does, and progresses to step S408.

Since step S406 is the same as the processing of step S108 in FIG. 8, the description is omitted.

When the process of step S406 is completed, the controller 30 ends the process of this flowchart.

On the other hand, in step S408, the turning operation determination unit 304 determines whether or not there is a sign that the upper turning body 3 will be turned. If there is an indication that the upper rotating body 3 will be rotated, the turning operation determination unit 304 proceeds to step S410, and if there is no indication, ends the processing of this flowchart.

Since step S410 is the same as the processing of step S106 in FIG. 8, the description is omitted.

When the process of step S410 is completed, the controller 30 ends the process of this flowchart.

Thus, in this example, the controller 30 activates the safety function when the excavator 100 is on a slope and there is a possibility that the upper swing body 3 will be operated to swing.

Thereby, the controller 30 can activate the safety function in accordance with, for example, the operator's turning operation of the upper turning body 3 . Therefore, the excavator 100 can suppress the user's annoyance and the decrease in work efficiency while ensuring the effectiveness of suppressing overturning in the downward direction on a slope.

In this example, in step S410, the safety control unit 306 may activate the center-of-gravity moving function instead of or in addition to the notification function.

<Fifth example of overturn prevention control>
FIG. 13 is a flowchart schematically showing a fifth example of overturn prevention control by the controller 30. As shown in FIG.

As shown in FIG. 13, steps S502, S504, S506, S508, and S510 are the same as steps S402, S404, S406, S408, and S410 in FIG.

After completing the process of step S506, the controller 30 proceeds to step S516.

Further, when the process of step S510 is completed, the controller 30 proceeds to step S512.

In step S512, the turning operation determination unit 304 determines whether or not a turning operation has been performed in a direction that encourages the excavator 100 to overturn in the downhill direction on the slope. If the turning operation determination unit 304 does not perform a turning operation in a direction that encourages the excavator 100 to overturn in the downhill direction on the slope, the turn operation determination unit 304 advances to step S514 to encourage the overturn of the excavator 100 in the downhill direction on the slope. If the turning operation in the direction has been performed, the process proceeds to step S516.

In step S514, the controller 30 determines whether or not a predetermined period of time T3 has elapsed since the start of notification in step S510. If the predetermined time T3 has not elapsed, the controller 30 returns to step S512, and if the predetermined time T3 has elapsed, the controller 30 determines that the turning operation in the direction that encourages the overturning of the excavator 100 on the slope is not performed. , the processing of this flowchart ends.

On the other hand, in step S<b>516 , the object detection unit 305 determines whether or not a monitored object exists within the monitored area around the excavator 100 . If the object detection unit 305 does not detect a monitored object in the monitoring area around the excavator 100, it determines that the attachment AT can be operated, and proceeds to step S518. On the other hand, when the object detection unit 305 detects the monitored object in the monitoring area around the excavator 100, it determines that it is impossible to operate the attachment AT from the viewpoint of safety, and ends this flowchart. .

In step S<b>518 , the safety control unit 306 activates the center-of-gravity moving function to move the tip (bucket 6 ) of the attachment AT horizontally away from the upper swing body 3 .

When the process of step S518 is completed, the controller 30 ends the process of this flowchart.

Thus, in this example, the controller 30 activates the notification function of notifying the turning direction of the upper revolving body 3 that encourages the excavator 100 to overturn when there is a sign that the upper revolving body 3 will be turned. After that, when the revolving operation of the upper revolving body 3 that promotes overturning of the excavator 100 is actually performed, the controller 30 moves the tip of the attachment AT (the bucket 6 ) away from the upper revolving body 3 in the horizontal direction. Activate the center of gravity movement function that moves to In other words, the controller 30 gradually activates the notification function and the center-of-gravity moving function in accordance with the signs of the turning operation of the upper revolving body 3 and the flow of the actual turning operation of the upper revolving body 3 that encourages the overturning of the excavator 100 . activate.

As a result, the excavator 100 can suppress the user's annoyance and the decrease in work efficiency while ensuring the effectiveness of suppressing overturning in the downhill direction on a slope.

[Transformation/change]
Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the claims.

Also, for example, in the above-described embodiment, the functions of the safety control unit 306 may be transferred to the management device 200 (an example of an information processing device). In addition to the functions of the safety control unit 306, at least part of the functions of the tilt determination unit 301, the traveling body orientation determination unit 302, the turning body orientation determination unit 303, the turning operation determination unit 304, and the object detection unit 305 may be transferred to the management device 200 (control device 210). In this case, the control device 210 of the management device 200 may determine the trigger for activating the safety function by receiving information signals including various information from the excavator 100 through the communication device 220 . In addition, the control device 210 may realize the operation of the notification function, the center-of-gravity movement function, and the operation restriction function on the excavator 100 side by transmitting a control signal to the excavator 100 through the communication device 220 .

Further, for example, in the above-described embodiments and the like, the main pump 14 and the pilot pump 15 may be driven by another prime mover (for example, an electric motor) or the like instead of or in addition to the engine 11 . That is, the excavator 100 may be a hybrid excavator, an electric excavator, or the like in which the main pump 14 and the pilot pump 15 are driven by an electric motor.

Further, for example, in the above-described embodiments, the excavator 100 has a configuration in which some of the driven elements such as the lower travel body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6 are electrically driven. may That is, the excavator 100 may be a hybrid excavator, an electric excavator, or the like in which some of the driven elements are driven by electric actuators.

1 lower running body 1ML, 1MR traveling hydraulic motor 2A turning hydraulic motor 3 upper rotating body 4 boom 5 arm 6 bucket (end attachment)
7 boom cylinder 8 arm cylinder 9 bucket cylinder 10 cabin 11 engine 13 regulator 14 main pump 15 pilot pump 17 control valve 25 pilot line 26 operating device 30 controller 50 output device 52 input device 100 excavator 200 management device (information processing device)
301 Inclination determination unit 302 Traveling object orientation determination unit 303 Revolving object orientation determination unit 304 Turning operation determination unit 305 Object detection unit 306 Safety control unit AT attachment (working device)
S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Body tilt sensor S5 Turning state sensor S6 Imaging device

Claims (8)

a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a work device attached to the upper swing structure and including a boom, an arm, and an end attachment;
When the upper revolving body turns on a slope such that the center of gravity of the revolving part, which turns integrally with the revolving of the upper revolving body including the upper revolving body and the working device, moves in the downward direction of the slope. activating the safety function that prevents the excavator from tipping downward,
Excavator. activating the safety function when the excavator is on a slope and there is a possibility that the upper rotating body will be rotated;
Shovel according to claim 1 . The safety function includes a first turning direction of the upper revolving body in which the center of gravity of the revolving section moves downward on the slope as a turning direction that promotes overturning of the excavator on a slope, or a first turning direction of the upper revolving body in which the center of gravity of the revolving section moves to the downhill side of the slope. a first function of notifying a user of a second turning direction of the upper turning body in which the center of gravity of the turning part moves upward on a slope,
A shovel according to claim 1 or 2. When the excavator is on a slope, activating the first function by visual means and activating the first function by audible means less frequently than the first function by visual means. let
Shovel according to claim 3. an acquisition device for acquiring data about objects in the vicinity of the shovel;
The safety function includes, in accordance with the surrounding conditions of the excavator based on the output of the acquisition device, when the upper swing structure swings on a slope such that the center of gravity of the swing unit moves downward on the slope. a second function of operating the working device so that its tip is away from the upper rotating body;
Shovel according to any one of claims 1 to 4. The safety function includes a third function of restricting the swinging motion of the upper swing structure in which the center of gravity of the swing unit moves downward on a slope.
Shovel according to any one of claims 1 to 5. activating the safety function when the amount of deviation of the traveling direction of the undercarriage with respect to the slope direction of the slope is equal to or greater than a predetermined standard;
Shovel according to any one of claims 1 to 6. a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, a work device attached to the upper revolving body and including a boom, an arm, and an end attachment, and an imaging device for imaging the surroundings. a communication device that communicates with an excavator having and receives image information based on the output of the imaging device;
a display device that displays the surroundings of the excavator based on the image information received by the communication device;
In a state where the excavator is on a slope, the upper part is moved in the descending direction of the slope so that the center of gravity of the revolving part, which revolves integrally with the revolving of the upper revolving body including the upper revolving body and the working device, moves in the downward direction of the slope. activating a safety function that suppresses the excavator from overturning downward when the revolving body revolves;
Information processing equipment.

Images