JP2024001736A - Shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a burden of an operator related with drilling work.

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

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present disclosure relates to excavators.

BACKGROUND ART Conventionally, excavators have been known that execute a tracing excavation control mode in which the cutting edge of a bucket is moved along a design surface that indicates a target shape of an excavation target (see Patent Document 1).

Japanese Patent Application Publication No. 2013-217137

The above-mentioned excavator is configured to execute the digging performance control mode when the arm operating lever is operated.

However, the above-mentioned excavator is not configured to be able to perform excavation work, including the operation of taking earth and sand into the bucket and lifting the earth and sand taken into the bucket, simply by operating the arm control lever. . Therefore, the burden on the operator regarding excavation work cannot be sufficiently reduced.

Therefore, it is desirable to provide a shovel that can reduce the burden on the operator regarding excavation work.

An excavator according to an embodiment of the present invention includes a lower traveling body, an upper rotating body mounted on the lower traveling body via a turning mechanism, an attachment attached to the upper rotating body, and a plurality of structures for driving the attachment. An attachment actuator, a swing actuator for rotating the upper rotating body, and a control device, the control device configured to output an output from the first operating lever when the first operating lever is tilted in a first operating direction. The plurality of attachment actuators are operated in accordance with the above to cause the attachment to perform an excavation operation, and the turning is performed in response to an output from the first operating lever when the first operating lever is tilted in a second operating direction. Operate the actuator to perform a turning motion.

The above-described shovel can reduce the burden on the operator regarding excavation work.

FIG. 1 is a side view of an excavator according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration example of a drive system of the excavator shown in FIG. 1. FIG. FIG. 2 is a schematic diagram showing a configuration example of a hydraulic system installed in the excavator of FIG. 1. FIG. 1 is a diagram of a portion of a hydraulic system related to the operation of a hydraulic actuator; FIG. 1 is a diagram of a portion of a hydraulic system related to the operation of a hydraulic actuator; FIG. 1 is a diagram of a portion of a hydraulic system related to the operation of a hydraulic actuator; FIG. 1 is a diagram of a portion of a hydraulic system related to the operation of a hydraulic actuator; FIG. 1 is a diagram of a portion of a hydraulic system related to the operation of a hydraulic actuator; FIG. 1 is a diagram of a portion of a hydraulic system related to the operation of a hydraulic actuator; FIG. 2 is a block diagram showing another configuration example of the drive system of the excavator shown in FIG. 1. FIG. FIG. 7 is a diagram illustrating a series of work procedures covered by another example of the excavator machine control function. FIG. 2 is a functional block diagram showing an example of a detailed configuration of a machine control function of the excavator. FIG. 2 is a functional block diagram showing an example of a detailed configuration of a machine control function of the excavator. It is a diagram showing the state of the work site. It is a diagram showing the state of the work site. It is a diagram showing the state of the work site.

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

The boom 4, the arm 5, and the bucket 6 constitute a digging attachment as an example of the attachment AT. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. In the following, each of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 is also referred to as an attachment actuator. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 with respect to the upper rotating structure 3 (hereinafter referred to as "boom angle"). For example, the boom angle becomes the minimum angle when the boom 4 is lowered the most, and increases as the boom 4 is raised.

The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"). For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"). For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.

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

The upper revolving body 3 is provided with a cabin 10 which is a driver's room, and is equipped with a power source such as an engine 11. The upper revolving body 3 also includes a controller 30, an audio output device 43, a display device 45, an input device 46, a storage device 47, a body tilt sensor S4, a turning angular velocity sensor S5, a camera S6, a communication device T1, a positioning device P1, etc. is installed.

The controller 30 is configured to function as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, ROM, and the like. Various functions of the controller 30 are realized, for example, by the CPU executing programs stored in the ROM. The various functions include, for example, a machine guidance function that guides the manual operation of the shovel 100 by the operator, and a machine control function that automatically supports the manual operation of the shovel 100 by the operator. Machine controller 50 included in controller 30 is configured to perform machine guidance and machine control functions.

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

The input device 46 is configured to allow an operator to input various information to the controller 30. The input device 46 includes a touch panel, a knob switch, a membrane switch, etc. installed in the cabin 10.

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

The storage device 47 is configured to store various information. The storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the shovel 100 is in operation, or may store information acquired via the various devices before the shovel 100 starts operating. The storage device 47 may store, for example, information regarding the target construction surface (design surface) acquired via the communication device T1 or the like. The target construction surface may be set by the operator of the excavator 100, or may be set by a construction manager or the like.

The body inclination sensor S4 is configured to detect the inclination of the upper revolving body 3 with respect to a virtual horizontal plane. In this embodiment, the body inclination sensor S4 is an acceleration sensor that detects the inclination angle around the longitudinal axis and the inclination angle around the left-right axis of the upper rotating body 3. The longitudinal axis and the lateral axis of the upper revolving body 3 are perpendicular to each other at, for example, the center point of the shovel, which is one point on the swing axis of the shovel 100.

The turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper rotating structure 3. The turning angular velocity sensor S5 may be configured to detect or calculate the turning angle of the upper rotating body 3. In this embodiment, the turning angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

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

The camera S6 is, for example, a monocular camera having an image sensor such as a CCD or a CMOS, and outputs a captured image to the display device 45. The camera S6 may be a stereo camera, a distance image camera, or the like. Further, the camera S6 may be replaced with another space recognition device such as an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another space recognition device and a camera.

The front camera S6F is attached to the ceiling of the cabin 10, that is, inside the cabin 10, for example. However, the front camera S6F may be attached to the roof of the cabin 10, that is, to the outside of the cabin 10. The left camera S6L is attached to the left end of the upper surface of the revolving upper structure 3, the right camera S6R is attached to the right end of the upper surface of the upper revolving structure 3, and the rear camera S6B is attached to the rear end of the upper surface of the revolving upper structure 3. .

The space recognition device is configured to recognize the position, size, etc. of objects in the space around the excavator 100. The spatial recognition device may be configured to calculate the distance between the recognized object and the spatial recognition device or shovel 100, and may be configured to specify the direction in which the object exists. . When a millimeter wave radar, ultrasonic sensor, laser radar, etc. is used as a spatial recognition device, the spatial recognition device emits a large number of signals (laser light, etc.) toward an object and receives the reflected signals. By doing so, the distance may be calculated or the direction may be specified from the reflected signal.

The spatial recognition device may be configured to detect objects existing around the excavator 100. Examples of objects include dump trucks, terrain (slants, holes, etc.), electric wires, telephone poles, people, animals, vehicles, construction machines, buildings, walls, helmets, safety vests, work clothes, or predetermined marks on helmets. It is. The spatial recognition device may be configured to be able to identify at least one of the type, position, shape, etc. of an object. For example, the spatial recognition device may be configured to be able to distinguish between humans and non-human objects.

The controller 30 is configured not to operate the actuator even if the operating device 26 is subsequently operated if a person is detected by the spatial recognition device before the actuator operates. Good too. The actuator includes at least one of a hydraulic actuator and an electric actuator. Further, the controller 30 may be configured to stop the operation of the actuator if a person is detected by the spatial recognition device while the actuator is operating.

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

The positioning device P1 is configured to measure the position of the upper revolving structure 3. The positioning device P1 may be configured to be able to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can function as a direction detection device that detects the direction of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper revolving body 3.

FIG. 2 is a block diagram showing an example of the configuration of the drive system of the excavator 100, with the mechanical power system, hydraulic oil line, pilot line, and electric control system shown by double lines, solid lines, broken lines, and dotted lines, respectively.

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

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

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

The regulator 13 is configured to control the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in accordance with a control command from the controller 30 . For example, the controller 30 receives the output of the operation sensor 29 and the like, and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

The pilot pump 15 supplies hydraulic oil to various hydraulic control devices including the proportional valve 31 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the functions performed by the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 is provided with a circuit separate from the function of supplying hydraulic oil to the control valve unit 17, and supplies hydraulic oil to the proportional valve 31 etc. after reducing the supply pressure of hydraulic oil by a throttle or the like. It may also have a function.

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

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

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

The operation sensor 29 is configured to detect the contents of an operation by an operator using the operating device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each of the actuators, and outputs the detected value to the controller 30. In this embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. Then, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is, in principle, a pressure that corresponds to the operating direction and operating amount of the operating device 26 corresponding to each hydraulic actuator. In this way, the operating device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

The proportional valve 31, which functions as a control valve for machine control, is arranged in a conduit connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, so that the flow area of the conduit can be changed. It is configured. In this embodiment, the proportional valve 31 operates according to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated.

Next, the machine control device 50 included in the controller 30 will be explained. Machine controller 50 is configured, for example, to perform a machine guidance function. In this embodiment, the machine control device 50 conveys work information such as the distance between the target construction surface and the work site of the attachment AT to the operator. Information regarding the target construction surface is stored in advance in the storage device 47, for example. The machine control device 50 may acquire information regarding the target construction surface from an external device via the communication device T1. Information regarding the target construction surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ system whose origin is at the center of gravity of the Earth, with the X axis pointing toward the intersection of the Greenwich meridian and the equator, the Y axis pointing toward 90 degrees East longitude, and the Z axis pointing toward the North Pole. It is a coordinate system. The target construction surface may be set based on the relative positional relationship with the reference point. In this case, the operator may determine any point on the construction site as the reference point. The work site of the attachment AT is, for example, the tip (toe 6T (see FIG. 1)) of the bucket 6 or the back surface of the bucket 6. The machine control device 50 may be configured to guide the operation of the shovel 100 by conveying work information to the operator via the display device 45, the audio output device 43, or the like.

The machine control device 50 may perform a machine control function that automatically supports manual operation of the shovel 100 by an operator. For example, the machine control device 50 controls at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface and the tip position of the bucket 6 match when the operator manually performs an excavation operation. may be operated automatically.

In this embodiment, the machine control device 50 is incorporated into the controller 30, but it may be a control device provided separately from the controller 30. In this case, the machine control device 50 is configured, for example, like the controller 30, by a computer including a CPU and internal memory. Various functions of the machine control device 50 are realized by the CPU executing programs stored in the internal memory. Furthermore, the machine control device 50 and the controller 30 are communicably connected to each other through a communication network such as CAN.

Next, with reference to FIG. 3, a configuration example of a hydraulic system mounted on the excavator 100 will be described. FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100. FIG. 3 shows the mechanical power transmission system, the hydraulic oil line, the pilot line, and the electrical control system with double lines, solid lines, dashed lines, and dotted lines, respectively.

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

In FIG. 3, the hydraulic system is configured so that hydraulic oil can be circulated from a main pump 14 driven by an engine 11 to a hydraulic oil tank via a center bypass line 40 or a parallel line 42.

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

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

The regulator 13 is configured to be able to control the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in accordance with a control command from the controller 30 .

The pilot pump 15 is an example of a pilot pressure generation device, and is configured to be able to supply hydraulic oil to hydraulic control equipment via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generation device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line as well as a function of supplying hydraulic oil to various hydraulic control devices via a pilot line. In this case, the pilot pump 15 may be omitted.

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

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

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

The operation sensor 29 is configured to be able to detect the content of the operation of the operating device 26 by the operator. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each of the actuators, and outputs the detected value to the controller 30.

The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank via the left center bypass line 40L or the left parallel line 42L, and the right main pump 14R circulates the hydraulic oil through the right center bypass line 40R or the right parallel line 42R. The hydraulic oil is circulated through to the hydraulic oil tank.

The left center bypass line 40L is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 40R is a hydraulic oil line that passes through the control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

The control valve 171 controls the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and to discharge the hydraulic oil discharged by the left travel hydraulic motor 2ML to the hydraulic oil tank. It is a switching spool valve.

The control valve 172 controls the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR, and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank. It is a switching spool valve.

The control valve 173 is a spool that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the hydraulic swing motor 2A, and to discharge the hydraulic oil discharged by the hydraulic swing motor 2A into the hydraulic oil tank. It is a valve.

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

The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. .

The control valve 176L is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .

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

The left parallel line 42L is a hydraulic oil line that runs parallel to the left center bypass line 40L. The left parallel line 42L supplies hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass line 40L is restricted or blocked by any of the control valves 171, 173, and 175L. can. The right parallel line 42R is a hydraulic oil line that runs parallel to the right center bypass line 40R. The right parallel line 42R supplies hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass line 40R is restricted or blocked by any of the control valves 172, 174, and 175R. can.

The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge amount by adjusting the swash plate tilt angle of the left main pump 14L, for example, in response to an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to prevent the absorbed power (absorbed horsepower) of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, from exceeding the output power (output horsepower) of the engine 11.

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

The left operating lever 26L is used for turning operations and operating the arm 5. When the left operating lever 26L is operated in the front-back direction, the control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 176 using hydraulic oil discharged by the pilot pump 15. Further, when the lever is operated in the left-right direction, a control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 173 using hydraulic oil discharged by the pilot pump 15 .

Specifically, when the left operating lever 26L is operated in the arm closing direction, hydraulic oil is introduced into the right pilot port of the control valve 176L, and hydraulic oil is introduced into the left pilot port of the control valve 176R. . Further, when the left operating lever 26L is operated in the arm opening direction, hydraulic oil is introduced into the left pilot port of the control valve 176L, and hydraulic oil is introduced into the right pilot port of the control valve 176R. Furthermore, when the left operating lever 26L is operated in the left rotation direction, hydraulic oil is introduced into the left pilot port of the control valve 173, and when it is operated in the right rotation direction, the right pilot port of the control valve 173 is introduced. introduce hydraulic oil.

The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the front-rear direction, the control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 175 using hydraulic oil discharged by the pilot pump 15. Further, when the lever is operated in the left-right direction, a control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 174 using hydraulic oil discharged by the pilot pump 15 .

Specifically, when the right operating lever 26R is operated in the boom lowering direction, hydraulic oil is introduced into the left pilot port of the control valve 175R. Further, when the right operating lever 26R is operated in the boom raising direction, hydraulic oil is introduced into the right pilot port of the control valve 175L, and hydraulic oil is introduced into the left pilot port of the control valve 175R. Further, the right operating lever 26R causes hydraulic oil to be introduced into the right pilot port of the control valve 174 when operated in the bucket closing direction, and into the left pilot port of the control valve 174 when operated in the bucket opening direction. Introduce hydraulic oil.

Hereinafter, the left operating lever 26L operated in the left-right direction may be referred to as a "swivel operating lever", and the left operating lever 26L operated in the front-back direction may be referred to as an "arm operating lever". Further, the right operating lever 26R that is operated in the left-right direction is sometimes referred to as a "bucket operating lever," and the right operating lever 26R that is operated in the front-back direction is sometimes referred to as a "boom operating lever."

The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to work in conjunction with the left travel pedal. When the left travel lever 26DL is operated in the front-back direction, the control pressure corresponding to the lever operation amount is introduced into the pilot port of the control valve 171 using hydraulic oil discharged by the pilot pump 15. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to work in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the front-back direction, the control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 172 using hydraulic oil discharged by the pilot pump 15.

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

The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the operation of the left operation lever 26L by the operator in the front-rear direction, and outputs the detected value to the controller 30. The contents of the operation include, for example, the direction of lever operation, the amount of lever operation (lever operation angle), and the like.

Similarly, the operation sensor 29LB detects the contents of the left-right direction operation of the left operation lever 26L by the operator, and outputs the detected value to the controller 30. The operation sensor 29RA detects the content of the operation of the right operation lever 26R by the operator in the front-back direction, and outputs the detected value to the controller 30. The operation sensor 29RB detects the content of the operation of the right operation lever 26R in the left-right direction by the operator, and outputs the detected value to the controller 30. The operation sensor 29DL detects the content of the operation of the left running lever 26DL by the operator in the front-back direction, and outputs the detected value to the controller 30. The operation sensor 29DR detects the operation of the right travel lever 26DR by the operator in the front-rear direction, and outputs the detected value to the controller 30.

The controller 30 receives the output of the operation sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. Further, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14. The aperture 18 includes a left aperture 18L and a right aperture 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

In the left center bypass pipe 40L, a left throttle 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure becomes larger, and increases the discharge amount of the left main pump 14L as the control pressure becomes smaller. The discharge amount of the right main pump 14R is similarly controlled.

Specifically, as shown in FIG. 3, when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe 40L and flows to the left side. The aperture reaches 18L. The flow of hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, and suppresses pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of hydraulic oil discharged by the left main pump 14L reduces or disappears in the amount reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic fluid to the hydraulic actuator to be operated, and ensures the drive of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.

With the above configuration, the hydraulic system shown in FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state. The wasteful energy consumption includes pumping loss caused by the hydraulic fluid discharged by the main pump 14 in the center bypass line 40. Furthermore, when operating a hydraulic actuator, the hydraulic system shown in FIG. 3 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

Next, with reference to FIGS. 4A to 4D, FIG. 5A, and FIG. 5B, a configuration for the controller 30 to operate the actuator using the machine control function will be described. 4A to 4D, FIG. 5A, and FIG. 5B are partially extracted views of the hydraulic system. Specifically, FIG. 4A is an extracted diagram of the hydraulic system part related to the operation of the arm cylinder 8, and FIG. 4B is an extracted diagram of the hydraulic system part related to the operation of the boom cylinder 7. FIG. 4C is an extracted diagram of the hydraulic system portion related to the operation of the bucket cylinder 9, and FIG. 4D is an extracted diagram of the hydraulic system portion related to the operation of the swing hydraulic motor 2A. Further, FIG. 5A is an extracted diagram of the hydraulic system portion related to the operation of the left travel hydraulic motor 2ML, and FIG. 5B is an extracted diagram of the hydraulic system portion related to the operation of the right travel hydraulic motor 2MR.

As shown in FIGS. 4A-4D, 5A, and 5B, the hydraulic system includes a proportional valve 31. As shown in FIGS. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is arranged in a conduit connecting the pilot pump 15 and a pilot port of a corresponding control valve in the control valve unit 17, and is configured to be able to change the flow area of the conduit. In this embodiment, the proportional valve 31 operates according to a control command output by the controller 30. Therefore, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator. can. The controller 30 can then cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. Further, even if a specific operating device 26 is being operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.

For example, as shown in FIG. 4A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 176 in accordance with the operation in the longitudinal direction. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), the left operating lever 26L applies pilot pressure according to the operating amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Let it work. Further, when the left operating lever 26L is operated in the arm opening direction (forward direction), a pilot pressure corresponding to the operating amount is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

The operating device 26 is provided with a switch SW. In this embodiment, the switch SW includes a switch SW1 and a switch SW2. The switch SW1 is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch SW1. The switch SW1 may be provided on the right operating lever 26R, or may be provided at another position within the cabin 10. The switch SW2 is a push button switch provided at the tip of the left travel lever 26DL. The operator can operate the left traveling lever 26DL while pressing the switch SW2. The switch SW2 may be provided on the right travel lever 26DR, or may be provided at another position within the cabin 10.

The operation sensor 29LA detects the operation of the left operation lever 26L by the operator in the front-rear direction, and outputs the detected value to the controller 30.

The proportional valve 31AL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL. The proportional valve 31AR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. The pilot pressure of the proportional valve 31AL can be adjusted so that the control valve 176L and the control valve 176R can be stopped at any valve position. Similarly, the pilot pressure of the proportional valve 31AR can be adjusted so that the control valve 176L and the control valve 176R can be stopped at any valve position.

With this configuration, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL in response to the arm closing operation by the operator. can. In addition, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the arm closing operation by the operator. can. That is, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or regardless of the arm closing operation by the operator.

Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR in response to the arm opening operation by the operator. In addition, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR, regardless of the arm opening operation by the operator. can. That is, the controller 30 can open the arm 5 in response to the arm opening operation by the operator or independently of the arm opening operation by the operator.

Further, with this configuration, the controller 30 can control the closing side pilot port of the control valve 176 (the left pilot port of the control valve 176L) as needed even when the operator performs an arm closing operation. The closing operation of the arm 5 can be forcibly stopped by reducing the pilot pressure acting on the right pilot port of the control valve 176R. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing the arm opening operation.

Alternatively, the controller 30 controls the proportional valve 31AR as necessary even when the operator performs an arm closing operation, and controls the proportional valve 31AR on the opposite side of the closing side pilot port of the control valve 176. The arm 5 may be forcibly stopped. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.

Further, although explanations with reference to FIGS. 4B to 4D, FIG. 5A, and FIG. 5B below will be omitted, the operation of the boom 4 is forced when the operator is performing a boom raising operation or a boom lowering operation. When the operation of the bucket 6 is forcibly stopped when the operator is performing a bucket closing operation or bucket opening operation, and when the operation of the bucket 6 is forcibly stopped when the operator is performing a turning operation, the upper The same applies to the case where the turning operation of the rotating body 3 is forcibly stopped. The same applies to the case where the traveling operation of the lower traveling body 1 is forcibly stopped when the operator is performing a traveling operation.

Further, as shown in FIG. 4B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 175 in accordance with the operation in the front-rear direction. More specifically, when the right operating lever 26R is operated in the boom raising direction (rearward direction), the right operating lever 26R applies pilot pressure according to the operating amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Let it work. Further, when the right operation lever 26R is operated in the boom lowering direction (forward direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175R.

The operation sensor 29RA detects the content of the operation of the right operation lever 26R by the operator in the front-back direction, and outputs the detected value to the controller 30.

The proportional valve 31BL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The pilot pressure of the proportional valve 31BL can be adjusted so that the control valve 175L and the control valve 175R can be stopped at any valve position. Further, the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at an arbitrary valve position.

With this configuration, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL in response to the boom raising operation by the operator. can. In addition, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL, regardless of the boom raising operation by the operator. can. That is, the controller 30 can raise the boom 4 in response to the boom raising operation by the operator or independently of the boom raising operation by the operator.

Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR in response to the boom lowering operation by the operator. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR, regardless of the boom lowering operation by the operator. That is, the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator or independently of the boom lowering operation by the operator.

Further, as shown in FIG. 4C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 according to the operation in the left and right direction. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Further, when the right operating lever 26R is operated in the bucket opening direction (rightward), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 174.

The operation sensor 29RB detects the content of the operation of the right operation lever 26R in the left-right direction by the operator, and outputs the detected value to the controller 30.

The proportional valve 31CL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The pilot pressure of the proportional valve 31CL can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position. Similarly, the pilot pressure of the proportional valve 31CR can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in response to the bucket closing operation by the operator. Moreover, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL, regardless of the bucket closing operation by the operator. That is, the controller 30 can close the bucket 6 in response to the bucket closing operation performed by the operator or regardless of the bucket closing operation performed by the operator.

Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR in response to the bucket opening operation by the operator. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR, regardless of the operator's bucket opening operation. That is, the controller 30 can open the bucket 6 in response to the bucket opening operation performed by the operator or independently of the bucket opening operation performed by the operator.

Furthermore, as shown in FIG. 4D, the left operating lever 26L is also used to operate the turning mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 in accordance with the operation in the left and right direction. More specifically, when the left operating lever 26L is operated in the left turning direction (leftward direction), the left operating lever 26L applies pilot pressure to the left pilot port of the control valve 173 in accordance with the operating amount. Further, when the left operating lever 26L is operated in the right turning direction (rightward direction), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 173.

The operation sensor 29LB detects the content of the operation of the left operation lever 26L by the operator in the left-right direction, and outputs the detected value to the controller 30.

The proportional valve 31DL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The pilot pressure of the proportional valve 31DL can be adjusted so that the control valve 173 can be stopped at an arbitrary valve position. Similarly, the pilot pressure of the proportional valve 31DR can be adjusted so that the control valve 173 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL in response to the left turning operation by the operator. Moreover, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL, regardless of the left turning operation by the operator. That is, the controller 30 can rotate the turning mechanism 2 to the left in response to the left turning operation by the operator or independently of the left turning operation by the operator.

Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR in response to a right-turn operation by the operator. Moreover, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR, regardless of the right-hand rotation operation by the operator. That is, the controller 30 can rotate the turning mechanism 2 to the right in response to the right turning operation by the operator or independently of the right turning operation by the operator.

Moreover, as shown in FIG. 5A, the left travel lever 26DL is used to operate the left crawler 1CL. Specifically, the left travel lever 26DL uses the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 171 according to the operation in the front and rear direction. More specifically, when the left traveling lever 26DL is operated in the forward direction (forward direction), a pilot pressure corresponding to the amount of operation is applied to the left pilot port of the control valve 171. Furthermore, when the left travel lever 26DL is operated in the reverse direction (rearward direction), a pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 171.

The operation sensor 29DL electrically detects the operation of the left travel lever 26DL by the operator in the front-rear direction, and outputs the detected value to the controller 30.

The proportional valve 31EL operates according to a current command output by the controller 30. The proportional valve 31EL adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL. The proportional valve 31ER operates according to a current command output by the controller 30. Then, the proportional valve 31ER adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER. The pilot pressure of the proportional valves 31EL and 31ER can be adjusted so that the control valve 171 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL, regardless of the leftward forward movement by the operator. That is, the left crawler 1CL can be moved forward. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER, regardless of the left backward movement operation by the operator. That is, the left crawler 1CL can be moved backward.

Further, as shown in FIG. 5B, the right traveling lever 26DR is used to operate the right crawler 1CR. Specifically, the right travel lever 26DR utilizes the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 172 in accordance with the operation in the longitudinal direction. More specifically, when the right travel lever 26DR is operated in the forward direction (forward direction), the right travel lever 26DR applies pilot pressure to the right pilot port of the control valve 172 in accordance with the amount of operation. Further, when the right traveling lever 26DR is operated in the reverse direction (rearward direction), a pilot pressure corresponding to the amount of operation is applied to the left pilot port of the control valve 172.

The operation sensor 29DR electrically detects the operation of the right travel lever 26DR by the operator in the front-rear direction, and outputs the detected value to the controller 30.

The proportional valve 31FL operates according to a current command output by the controller 30. The proportional valve 31FL adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FL. The proportional valve 31FR operates according to a current command output by the controller 30. The proportional valve 31FR adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FR. The pilot pressure of the proportional valves 31FL and 31FR can be adjusted so that the control valve 172 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FL, regardless of the rightward forward movement by the operator. That is, the right crawler 1CR can be moved forward. Moreover, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FR, regardless of the right reverse operation by the operator. That is, the right crawler 1CR can be moved backward.

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

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

Next, with reference to FIG. 6, a configuration example of the machine control device 50 will be described. FIG. 6 is a block diagram showing a configuration example of the machine control device 50. Specifically, the machine control device 50 includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning angular velocity sensor S5, a camera S6, a positioning device P1, a communication device T1, and an input device. 46 or the like. Then, the machine control device 50 calculates the distance between the bucket 6 and the target construction surface based on the acquired information, and displays the distance between the bucket 6 and the target construction surface using at least one of audio and image display. The magnitude of the distance is communicated to the operator of the excavator 100. The machine control device 50 also includes a position calculation section 51, a distance calculation section 52, an information transmission section 53, and an automatic control section 54.

The position calculation unit 51 is configured to calculate the position of the positioning target. In this embodiment, the position calculation unit 51 calculates the coordinate point of the work part of the attachment AT in the reference coordinate system. Specifically, the position calculation unit 51 calculates the coordinate point of the tip (toe 6T) of the bucket 6 from the rotation angles of the boom 4, the arm 5, and the bucket 6. The position calculation unit 51 may calculate not only the coordinate point at the center of the toe 6T of the bucket 6, but also the coordinate point at the left end of the toe 6T of the bucket 6, and the coordinate point at the right end of the toe 6T of the bucket 6.

The distance calculation unit 52 is configured to calculate the distance between two positioning targets. In this embodiment, the distance calculation unit 52 calculates the vertical distance between the toe 6T of the bucket 6 and the target construction surface. The distance calculation unit 52 calculates the coordinate points of the left and right ends of the toe 6T of the bucket 6 and the corresponding target construction surface so that the machine control device 50 can determine whether the shovel 100 is directly facing the target construction surface. The distance to the surface (for example, vertical distance) may be calculated.

The information transmission section 53 is configured to transmit various information to the operator of the excavator 100. In this embodiment, the information transmitting unit 53 notifies the operator of the excavator 100 of the magnitudes of the various distances calculated by the distance calculating unit 52. Specifically, the magnitude of the vertical distance between the toe 6T of the bucket 6 and the target construction surface is communicated to the operator of the excavator 100 using at least one of visual information and auditory information.

For example, the information transmission unit 53 may use intermittent sounds from the audio output device 43 to inform the operator of the vertical distance between the toe 6T of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 may shorten the interval between the intermittent sounds as the vertical distance becomes smaller. The information transmission unit 53 may use a continuous sound, or may change at least one of the pitch, intensity, etc. of the sound to represent the difference in the vertical distance. Further, the information transmission unit 53 may issue an alarm when the toe 6T of the bucket 6 is at a position lower than the target construction surface. The alarm is, for example, a continuous tone that is significantly louder than an intermittent tone.

Further, the information transmitting unit 53 may display the vertical distance between the toe 6T of the bucket 6 and the target construction surface on the display device 45 as work information. The display device 45 displays, for example, the image data received from the camera S6 and the work information received from the information transmission unit 53 on the screen. The information transmitting unit 53 may transmit the magnitude of the vertical distance to the operator using, for example, an image of an analog meter or an image of a bar graph indicator.

The automatic control unit 54 automatically supports the manual operation of the shovel 100 by the operator by automatically operating the actuator. For example, when the operator manually closes the arm, the automatic control unit 54 controls the boom cylinder 7, the arm cylinder 8, and the bucket so that the target construction surface matches the position of the toe 6T of the bucket 6. At least one of the cylinders 9 may be automatically expanded or contracted. In this case, the operator can close the arm 5 while aligning the toe 6T of the bucket 6 with the target construction surface, for example, simply by operating the arm operating lever in the closing direction. This automatic control may be configured to be executed when a predetermined switch that is one of the input devices 46 is pressed. The predetermined switch is, for example, a machine control switch (hereinafter referred to as "MC switch"), and may be arranged at the tip of the operating device 26 as a knob switch such as switch SW.

When a predetermined switch such as the MC switch is pressed, the automatic control unit 54 reduces the swing speed in order to bring the upper revolving structure 3 directly toward the target construction surface, and brings the upper revolving structure 3 directly toward the target construction surface. The upper revolving body 3 may be stopped at a position directly facing the target construction surface so as to face the target construction surface. However, the automatic control unit 54 may automatically rotate the swing hydraulic motor 2A. In this case, the operator can bring the upper revolving structure 3 directly toward the target construction surface by simply pressing a predetermined switch, or by simply operating the swing operation lever with the predetermined switch pressed. Alternatively, by simply pressing a predetermined switch, the operator can cause the revolving upper structure 3 to face the target construction surface and start the machine control function. Hereinafter, the control for causing the upper revolving structure 3 to face the target construction surface will be referred to as "face control". In the direct control, the machine control device 50 determines the left end vertical distance, which is the vertical distance between the left end coordinate point of the toe 6T of the bucket 6 and the target construction surface, and the right end coordinate point of the toe 6T of the bucket 6 and the target construction surface. When the right end vertical distance, which is the vertical distance to the construction surface, becomes equal, it is determined that the excavator 100 is directly facing the target construction surface. However, not when the left end vertical distance and the right end vertical distance become equal, that is, when the difference between the left end vertical distance and the right end vertical distance becomes zero, but when the difference becomes less than a predetermined value, It may be determined that the shovel 100 is directly facing the target construction surface. When the machine control device 50 determines that the shovel 100 is directly facing the target construction surface, it may notify the operator that the facing control has been completed using at least one of visual information and auditory information. That is, the machine control device 50 may notify the operator that the revolving upper structure 3 is directly facing the target construction surface.

In this embodiment, the automatic control unit 54 can automatically operate each actuator by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator. For example, in the front-facing control, the automatic control unit 54 may operate the swing hydraulic motor 2A based on the difference between the left end vertical distance and the right end vertical distance. Specifically, when the swing operation lever is operated while a predetermined switch is pressed, the automatic control unit 54 determines whether the swing operation lever is operated in a direction that causes the upper rotating structure 3 to face the target construction surface. Decide whether or not. For example, when the swing operation lever is operated in a direction that increases the vertical distance between the toe 6T of the bucket 6 and the target construction surface (uphill surface), the automatic control unit 54 does not perform the facing control. On the other hand, when the swing operation lever is operated in a direction in which the vertical distance between the toe 6T of the bucket 6 and the target construction surface (uphill surface) becomes smaller, the automatic control unit 54 executes the facing control. As a result, the automatic control unit 54 can operate the swing hydraulic motor 2A so that the difference between the left end vertical distance and the right end vertical distance becomes smaller. Thereafter, when the difference is less than a predetermined value or becomes zero, the automatic control unit 54 stops the swing hydraulic motor 2A. Alternatively, the automatic control unit 54 sets a turning angle at which the difference is less than a predetermined value or zero as a target angle, and turns so that the angular difference between the target angle and the current turning angle (detected value) becomes zero. Angle control may also be performed. In this case, the turning angle is, for example, the angle of the longitudinal axis of the upper rotating body 3 with respect to the reference direction.

The automatic control unit 54 also maintains the state in which the upper revolving body 3 faces the target construction surface when an operation related to the target construction surface, such as an excavation operation or a slope finishing operation, is being performed. The actuator may be operated automatically. For example, when the direction of the upper rotating structure 3 changes due to excavation reaction force or the like and the upper rotating structure 3 no longer faces the target construction surface, the automatic control unit 54 promptly directs the upper rotating structure 3 to directly face the target construction surface. In order to do this, the swing hydraulic motor 2A may be automatically operated. Alternatively, the automatic control unit 54 may preventively operate the actuator so that the orientation of the upper revolving structure 3 does not change due to excavation reaction force or the like while an operation related to the target construction surface is being performed.

The machine control device 50 further includes a turning angle calculation section 55 and a relative angle calculation section 56.

The turning angle calculation unit 55 calculates the turning angle of the upper rotating body 3. This is to specify the current orientation of the upper revolving body 3. In this embodiment, the turning angle calculation unit 55 calculates the angle of the longitudinal axis of the upper rotating body 3 with respect to the reference direction as the turning angle based on the output of the GNSS compass as the positioning device P1. The turning angle calculation unit 55 may calculate the turning angle based on the output of the turning angular velocity sensor S5. Furthermore, when a reference point is set at the construction site, the turning angle calculation unit 55 may set the direction seen from the turning axis to the reference point as the reference direction.

The pivot angle indicates the direction in which the attachment working surface extends. The attachment operating plane is, for example, a virtual plane that traverses the attachment AT, and is arranged perpendicular to the turning plane. The rotation plane is, for example, a virtual plane that includes the bottom surface of the rotation frame perpendicular to the rotation axis. For example, when the machine control device 50 determines that the attachment operating surface AF (see FIG. 9(A)) includes the normal to the target construction surface, the upper rotating body 3 is directly facing the target construction surface. I judge that.

The relative angle calculating unit 56 calculates a relative angle as a turning angle necessary for causing the upper rotating structure 3 to face the target construction surface. The relative angle is, for example, formed between the direction of the longitudinal axis of the upper revolving structure 3 when the upper revolving structure 3 is directly facing the target construction surface and the current direction of the longitudinal axis of the upper revolving structure 3. It is a relative angle. In this embodiment, the relative angle calculation section 56 calculates the relative angle based on the information regarding the target construction surface stored in the storage device 47 and the turning angle calculated by the turning angle calculation section 55.

When the swing operation lever is operated with a predetermined switch pressed, the automatic control unit 54 determines whether or not the swing operation lever is operated in a direction that causes the upper rotating structure 3 to face the target construction surface. . If it is determined that the swing operation lever has been operated in a direction that causes the upper rotating structure 3 to face the target construction surface, the automatic control unit 54 sets the relative angle calculated by the relative angle calculation unit 56 as the target angle. When the change in the swing angle after the swing operation lever is operated reaches the target angle, it is determined that the upper swing structure 3 is directly facing the target construction surface, and the movement of the swing hydraulic motor 2A is stopped.

In this way, the machine control device 50 can cause the revolving upper structure 3 to face the target construction surface.

Next, with reference to FIG. 7, an overview of the machine control function of the excavator 100 according to the present embodiment will be described.

FIG. 7 is a diagram illustrating an overview of an example of the machine control function of the excavator 100 according to the present embodiment. Specifically, FIG. 7 is a diagram showing a series of operations (work steps) of excavation work targeted by an example of the machine control function of the shovel 100 according to the present embodiment.

In the example shown in FIG. 7, the excavator 100 first performs an excavation operation, and after storing earth and sand etc. in the bucket 6 by the excavation operation, performs a boom raising and turning operation. After the excavator 100 performs the boom raising and turning operation, the excavator 100 performs an earth removal operation to remove earth and sand from the bucket 6 onto the loading platform of the dump truck. Then, the shovel 100 performs a boom lowering and turning operation after unloading the earth and sand in the bucket 6 onto the loading platform of the dump truck by the earth unloading operation. In this manner, the excavator 100 repeats a series of operations, including an excavation operation, a boom-raising rotational operation, an earth removal operation, a boom-lowering rotational operation, and then returning to the excavation operation. At this time, the controller 30 realizes the machine control function for the series of operations while switching, for example, a master element in the machine control function, that is, an operation element that operates in response to an operation input by an operator or the like.

For example, the controller 30 may set the arm 5 as the master element in the excavation operation. The controller 30 controls the boom 4 and the bucket so that a predetermined portion of the attachment AT moves along a predetermined target trajectory in accordance with the operation of the arm 5 corresponding to the operation command regarding the operator's operation input regarding the arm 5. 6 may be controlled. Thereby, the controller 30 can realize a machine control function related to the excavation operation.

Further, the controller 30 may set the arm 5 as a master element in the earth removal operation. The controller 30 controls the boom 4 and the bucket so that a predetermined portion of the attachment AT moves along a predetermined target trajectory in accordance with the operation of the arm 5 corresponding to the operation command regarding the operator's operation input regarding the arm 5. 6 may be controlled. Thereby, the controller 30 can realize a machine control function related to the excavation operation. At this time, the target trajectory is defined in advance so that the earth and sand are discharged to a predetermined target position on the bed of the dump truck. Thereby, the controller 30 can realize a machine control function regarding the earth removal operation.

Next, an example of the machine control function of the excavator 100 according to the present embodiment will be described in detail with reference to FIGS. 8A and 8B.

8A and 8B are functional block diagrams showing an example of a detailed configuration regarding the machine control function of the shovel 100 according to the present embodiment. Specifically, FIGS. 8A and 8B are functional block diagrams showing detailed configurations regarding the semi-automatic operation function of excavator 100.

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

The operation content acquisition unit 3001 acquires the operation content regarding the tilting operation of the left operation lever 26L in the front-rear direction based on the detection signal taken in from the operation sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (forward or backward direction) and the amount of operation as the operation content. Further, when the excavator 100 is remotely controlled, a semi-automatic operation function of the excavator 100 may be realized based on the content of a remote control signal received from an external device. In this case, the operation content acquisition unit 3001 acquires the operation content regarding the remote operation based on the remote operation signal received from the external device.

The target construction surface acquisition unit 3002 acquires data regarding the target construction surface from, for example, an internal memory or a predetermined external storage device.

The target trajectory setting unit 3003 is configured to control the tip of the attachment AT, specifically, a predetermined portion that serves as a control reference for the attachment AT (for example, the arm top pin 5T (see FIG. 1), the toe 6T of the bucket 6, and the back surface of the bucket 6). etc.) along the target trajectory (information related to the target trajectory). The information regarding the target trajectory is, for example, information regarding the coordinates of many target points that constitute the target trajectory. The target trajectory setting unit 3003 uses, for example, data regarding the state of the excavator 100 (position of the excavator 100, orientation of the upper rotating body 3, etc.), data regarding the target construction surface acquired by the target construction surface acquisition unit 3002, and data captured by the camera S6. Set information regarding the target trajectory based on the image. Further, an allowable error range (hereinafter referred to as "allowable error range") may be set for the target trajectory. In this case, the information regarding the target trajectory may include information regarding the allowable error range.

The current position calculation unit 3004 calculates the position (current position) of the control reference (for example, the toe 6T or the back surface as a working part of the bucket 6) in the attachment AT. Specifically, the current position calculation unit 3004 determines the (current) control reference of the attachment AT based on the boom angle θ ₁ , arm angle θ ₂ , and bucket angle θ ₃ calculated by the attitude angle calculation unit 3011 described later. You may calculate the position.

The target position calculation unit 3005 calculates the contents of the operator's operation input (for example, the operation in the front and back direction on the left control lever 26L), information regarding the set target trajectory, and the current position of the control reference (work part) in the attachment AT. Based on this, the target position of the control reference (work part) is calculated. The operation details include, for example, an operation direction and an operation amount. The target position is a position on the target trajectory that should be reached during the current control cycle, assuming that the arm 5 moves according to the operation direction and operation amount input by the operator. The target position calculation unit 3005 may calculate the target position of the tip of the attachment AT using, for example, a map, arithmetic expression, etc. stored in advance in a nonvolatile internal memory or the like.

The bucket shape acquisition unit 3006 acquires data regarding the shape of the bucket 6 registered in advance from, for example, an internal memory or a predetermined external storage device. At this time, the bucket shape acquisition unit 3006 acquires data regarding the shape of the bucket 6 of the type set by the setting operation through the input device 46, among the data regarding the shapes of the plurality of types of buckets 6 registered in advance. It's fine.

The master element setting unit 3007 selects an operating element (actuator) (hereinafter referred to as a "master element") that operates in response to an operator's operation input or operation command from among the operating elements (actuators that drive these operating elements) constituting the attachment AT. element"). Hereinafter, an operating element that operates in accordance with an operation command related to an operator's operation input and an actuator that drives the operating element may be collectively or individually referred to as a master element, and the same applies to slave elements described later. It is.

Control standard setting section 3008 sets control standards for attachment AT. For example, the control standard setting unit 3008 may set the control standard for the attachment AT in response to an operation by an operator or the like through the input device 46. Further, for example, the control standard setting unit 3008 may automatically change the setting of the control standard of the attachment AT in accordance with the establishment of a predetermined condition.

The operation command generation unit 3009 generates a command value β _1r regarding the operation of the boom 4 (hereinafter referred to as “boom command value”) and a command value regarding the operation of the arm 5 (hereinafter referred to as “arm command value”) based on the target position of the control reference in the attachment AT. A command value regarding the operation of the bucket ₆ ("bucket command value") β _3r is generated. For example, the boom command value β _1r , the arm command value β _2r , and the bucket command value β _3r are respectively the angular velocity of the boom 4 (hereinafter referred to as boom angular velocity) necessary for the control reference in the attachment AT to realize the target position, These are the angular velocity of the arm 5 (hereinafter referred to as "boom angular velocity") and the angular velocity of the bucket 6 (hereinafter referred to as "bucket angular velocity"). The operation command generation section 3009 includes a master command value generation section 3009A and a slave command value generation section 3009B.

Note that the boom command value, arm command value, and bucket command value may be the boom angle, arm angle, and bucket angle when the control reference in the attachment AT realizes the target position. Further, the boom command value, arm command value, and bucket command value may be angular acceleration or the like necessary for the control reference in the attachment AT to realize the target position.

The master command value generation unit 3009A generates a command value (hereinafter referred to as "master command value") β _m regarding the operation of the master element among the operation elements (boom 4, arm 5, and bucket 6) constituting the attachment AT. . For example, when the master element set by the master element setting unit 3007 is boom 4 (boom cylinder 7), the master command value generation unit 3009A generates a boom command value β 1r as the master command value β _m , and generates a boom command value β _1r as described below. output to boom pilot command generation unit 3010A. Furthermore, if the master element set by the master element setting unit 3007 is arm 5 (arm cylinder 8), the master command value generation unit 3009A generates an arm command value β _2r , and the arm pilot command generation unit 3010B generates an arm command value β 2r. output towards. Furthermore, if the master element set by the master element setting unit 3007 is bucket 6 (bucket cylinder 9), the master command value generation unit 3009A generates a bucket command value β3r as the master command value β _m . , is output to the bucket pilot command generation unit 3010C. Specifically, the master command value generation unit 3009A generates a master command value β _m corresponding to the operator's operation or the contents of the operation command (operation direction and operation amount). For example, the master command value generation unit 3009A generates a predetermined map that defines the relationship between the contents of the operator's operation or operation command and each of the boom command value β _1r , arm command value β _2r , and bucket command value β _3r A boom command value β _1r , an arm command value β _2r , and a bucket command value β _3r as master command values may be generated based on a conversion formula or the like.

The slave command value generation unit 3009B is a slave command value generation unit that operates so that the control reference of the attachment AT moves along the target trajectory in accordance with (synchronize with) the operation of the master element among the operation elements constituting the attachment AT. Command values (hereinafter referred to as "slave command values") β _s1 and β _s2 regarding the operation of the elements are generated. For example, when the boom 4 is set as the master element by the master element setting unit 3007, the slave command value generation unit 3009B generates the arm command value β _2r and the bucket command value β _3r as the slave command values β s1 and β _{s2 .} and output them to arm pilot command generation section 3010B and bucket pilot command generation section 3010C, respectively. For example, when the master element setting unit 3007 sets the arm 5 as the master element, the slave command value generation unit 3009B generates the boom command value β _1r and the bucket command value β as the slave command values β _s1 and β _s2 . _3r and outputs them to the boom pilot command generation unit 3010A and the bucket pilot command generation unit 3010C, respectively. Furthermore, when the bucket 6 is set as the master element by the master element setting unit 3007, the slave command value generation unit 3009B generates the boom command value β _1r and the arm command value β _2r as the slave command values β _s1 and β _s2 . and output them to boom pilot command generation section 3010A and arm pilot command generation section 3010B, respectively. Specifically, the slave command value generation unit 3009B operates the slave element in accordance with (in synchronization with) the operation of the master element corresponding to the master command value β _m , so that the control reference of the attachment AT can realize the target position. (that is, to move along the target trajectory), slave command values β _s1 and β _s2 are generated. Thereby, the controller 30 can operate at least one of the two slave elements of the attachment AT as needed in accordance with (that is, synchronize with) the operation of the master element of the attachment AT that corresponds to the operator's operation input. With this, the control reference of the attachment AT can be moved along the target trajectory. In other words, the master element (hydraulic actuator) operates according to the operator's operation input, and the slave element (hydraulic actuator) operates when the tip (control reference) of the attachment AT, such as the toe 6T of the bucket 6, operates. Its operation is controlled in accordance with the operation of (the hydraulic actuator of) the master element so as to move along the target trajectory.

The pilot command generation unit 3010 acts on the control valves 174 to 176 to realize the boom angular velocity, arm angular velocity, and bucket angular velocity corresponding to the boom command value β _1r , arm command value β _2r , and bucket command value β _3r A pilot pressure command value (hereinafter referred to as "pilot pressure command value") is generated. Pilot command generation section 3010 includes a boom pilot command generation section 3010A, an arm pilot command generation section 3010B, and a bucket pilot command generation section 3010C.

The boom pilot command generation unit 3010A generates the boom cylinder 7 that drives the boom 4 based on the deviation between the boom command value β _1r and the current value calculated (measured value) of the boom angular velocity by the boom angle calculation unit 3011A, which will be described later. A pilot pressure command value to be applied to the corresponding control valves 175L and 175R is generated. Then, the boom pilot command generation unit 3010A outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31BL and 31BR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31BL and 31BR acts on the corresponding pilot ports of the control valves 175L and 175R. Then, the boom cylinder 7 is operated by the action of the control valves 175L and 175R, and the boom 4 is operated so as to realize the boom angular velocity corresponding to the boom command value β _1r .

The arm pilot command generation unit 3010B generates an arm cylinder 8 that drives the arm 5 based on the deviation between the arm command value β _2r and the current arm angular velocity calculation value (measured value) by the arm angle calculation unit 3011B, which will be described later. A pilot pressure command value to be applied to the corresponding control valves 176L and 176R is generated. The arm pilot command generation unit 3010B then outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31AL and 31AR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31AL and 31AR acts on the corresponding pilot ports of the control valves 176L and 176R. Then, the arm cylinder 8 is operated by the action of the control valves 176L and 176R, and the arm 5 is operated so as to realize the arm angular velocity corresponding to the arm command value β _2r .

The bucket pilot command generation unit 3010C generates a bucket cylinder 9 that drives the bucket 6 based on the deviation between the bucket command value β _3r and the current bucket angular velocity calculation value (measured value) by the bucket angle calculation unit 3011C, which will be described later. A pilot pressure command value to be applied to the corresponding control valve 174 is generated. Then, the bucket pilot command generation unit 3010C outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31CL and 31CR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31CL and 31CR acts on the corresponding pilot port of the control valve 174. Then, the bucket cylinder 9 is operated by the action of the control valve 174, and the bucket 6 is operated so as to realize the bucket angular velocity corresponding to the bucket command value _β3r .

Attitude angle calculation unit 3011 calculates (current) boom angle, arm angle, and bucket angle, as well as boom angular velocity, arm angular velocity, and and calculate (measure) the bucket angular velocity. The attitude angle calculation unit 3011 includes a boom angle calculation unit 3011A, an arm angle calculation unit 3011B, and a bucket angle calculation unit 3011C.

The boom angle calculation unit 3011A calculates (measures) the boom angle, boom angular velocity, etc. based on the detection signal taken in from the boom angle sensor S1. Thereby, the boom pilot command generation section 3010A can perform feedback control regarding the operation of the boom cylinder 7 based on the measurement result of the boom angle calculation section 3011A.

The arm angle calculation unit 3011B calculates (measures) the arm angle, arm angular velocity, etc. based on the detection signal taken in from the arm angle sensor S2. Thereby, the arm pilot command generation section 3010B can perform feedback control regarding the operation of the arm cylinder 8 based on the measurement result of the arm angle calculation section 3011B.

The bucket angle calculation unit 3011C calculates (measures) the bucket angle, bucket angular velocity, etc. based on the detection signal taken in from the bucket angle sensor S3. Thereby, the bucket pilot command generation unit 3010C can perform feedback control regarding the operation of the bucket cylinder 9 based on the measurement result of the bucket angle calculation unit 3011C.

Next, a series of operations (work steps) for excavation work performed by another example of the machine control function of the excavator 100 will be described with reference to FIGS. 9A to 9C. 9A to 9C show the state of a work site where earth and sand are loaded onto the dump truck DT using the excavator 100. Specifically, FIG. 9A is a diagram showing the state of the work site when viewed from behind the dump truck DT. FIG. 9B is a diagram showing the state of the work site when viewed from directly above. FIG. 9C is a diagram showing the state of the work site when viewed from the left side of the dump truck DT. 9A and 9C, illustration of the shovel 100 (excluding the bucket 6) is omitted for clarity. Further, in FIG. 9A, bucket positions 6A to 6G represent the movements of the bucket 6 during the excavation operation. Specifically, bucket positions 6A to 6E represent the states of the bucket 6 before the bucket 6 leaves the ground, and bucket positions 6F to 6G represent the states of the bucket 6 after the bucket 6 leaves the ground. represents a state. Furthermore, in FIG. 9C, bucket positions 6H to 6M represent the movements of the bucket 6 when the earth removal operation is performed.

As shown in FIG. 9A, the target trajectory setting unit 3003 of the controller 30 collects data regarding the state of the excavator 100 (position of the excavator 100, orientation of the upper rotating structure 3, etc.) and the target construction surface acquired by the target construction surface acquisition unit 3002. A target trajectory TL regarding the excavation operation is set based on the data regarding the excavation operation and the image captured by the camera S6.

A target trajectory TL1 shown in FIG. 9A as an example of a target trajectory TL related to the excavation operation is a target trajectory followed by the arm top pin 5T as a predetermined portion serving as a control reference for the attachment AT. A target trajectory TL2 shown in FIG. 9A as another example of the target trajectory TL regarding the excavation operation is a target trajectory followed by the toe 6T of the bucket 6 as a predetermined portion serving as a control reference for the attachment AT.

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

Point PT1 is a point representing the position of arm top pin 5T when bucket 6 is at the position shown in bucket position 6A, and is located on target trajectory TL1. The same applies to points PT2 to PT7. The point ED1 represents the position of the toe 6T when the bucket 6 is at the bucket position 6A, and is located on the target trajectory TL2. The same applies to points ED2 to ED7.

In the example shown in FIG. 9A, both the target trajectory TL1 and the target trajectory TL2 are set on a virtual plane that includes the longitudinal axis and the rotation axis of the upper revolving structure 3.

The operator presses the switch SW serving as the MC switch to start the machine control function. The machine control function is executed when the left operating lever 26L is operated while the switch SW is pressed. However, once the machine control function is started by pressing the switch SW, its execution may continue until the switch SW is pressed again. That is, the controller 30 may be configured to switch the state of the machine control function between an on state and an off state in response to the operation of the switch SW. In this case, the operator does not need to keep pressing the switch SW to continue executing the machine control function.

When the left operating lever 26L is pushed forward (rearward) with the switch SW being pressed, the attachment AT is moved so that the bucket 6 from the bucket position 6A moves to the bucket position 6B. It will be done. Specifically, the controller 30 contracts the boom cylinder 7 to lower the boom 4, extends the arm cylinder 8 to close the arm 5, and extends the bucket cylinder 9 to close the bucket 6.

Thereafter, the attachment AT is moved such that the bucket 6 from the bucket position 6B moves to the bucket position 6C. Specifically, the controller 30 extends the boom cylinder 7 to slightly raise the boom 4, and also extends the arm cylinder 8 to close the arm 5.

After that, similarly, as long as the left operation lever 26L is pushed forward (rearward) with the switch SW being pressed, the arm top pin 5T of the attachment AT moves along the target trajectory TL1, and The toe 6T of the bucket 6 is moved along the target trajectory TL2.

In this way, the movement of the attachment actuator realized in response to the tilting of the left operating lever 26L toward the front (rearward) side depends on where on the target trajectory TL regarding the excavation operation the predetermined portion that serves as the control reference for the attachment AT is located. It depends on what you are doing. Specifically, during the first half of the excavation operation, the boom cylinder 7 retracts to lower the boom 4 when the left operation lever 26L is tilted toward the front (rearward), but during the second half of the excavation operation, the left operation lever 26L contracts to lower the boom 4. When the boom 4 is tilted toward the front (backward), it extends to raise the boom 4.

When the position of the arm top pin 5T reaches the end point EP1 of the target trajectory TL1 and the position of the toe 6T of the bucket 6 reaches the end point EP2 of the target trajectory TL2, the attachment AT is operated to the left with the switch SW pressed. Even when the lever 26L is tilted toward the front (rearward), its movement is stopped.

In this way, the operator can operate the attachment AT so that the bucket 6 moves in the order of the bucket positions 6A to 6G by simply tilting the left operating lever 26L toward the front (rearward). Therefore, the operator can cause the excavator 100 to perform the excavation operation simply by tilting the left operating lever 26L toward the front (backward).

Thereafter, when the left operating lever 26L is pushed to the right, the upper rotating body 3 is moved to swing to the right. In FIG. 9B, a trajectory TR1 indicated by a dotted line indicates that when the left operating lever 26L is tilted to the right at the time when the bucket 6 reaches the position shown in the bucket position 6G (see FIG. 9A), the arm top pin 5T is Shows the trajectory to follow.

In this way, even before the position of the arm top pin 5T reaches the end point EP1 (see FIG. 9A) of the target trajectory TL1, the operator can move the upper rotating body 3 by tilting the left operating lever 26L to the right. It can be turned to the right.

The operator continues to move the arm top pin 5T along the target trajectory TL1 by tilting the left operating lever 26L to the right while pressing the switch SW and tilting the left operating lever 26L toward the front (rearward). The upper revolving body 3 may be rotated to the right while the upper rotating body 3 is being rotated.

Thereafter, when the rotating upper structure 3 is oriented in the desired direction, the operator can return the left operating lever 26L to the neutral position to stop the rotating upper structure 3 from turning. In the example shown in FIG. 9B, the operator returns the left operating lever 26L to the neutral position when the bucket 6 reaches the position shown in the bucket position 6H, and stops the swinging upper structure 3 to the right. .

Note that the controller 30 may be configured to be able to automatically stop the rotation of the upper revolving structure 3 using a machine control function. For example, if the turning angle of the upper revolving structure 3 after the start of turning reaches the target angle, the controller 30 controls the rotation of the upper revolving structure 3 even when the left operating lever 26L is tilted to the right. The turning may be stopped.

Thereafter, as shown in FIG. 9C, the target trajectory setting unit 3003 of the controller 30 sets a target trajectory TL regarding the earth removal operation based on the image captured by the camera S6.

A target trajectory TL3 shown in FIG. 9C as an example of the target trajectory TL regarding the earth removal operation is a target trajectory followed by the arm top pin 5T as a predetermined portion serving as a control reference for the attachment AT. A target trajectory TL4 shown in FIG. 9C as another example of the target trajectory TL regarding the earth removal operation is a target trajectory followed by the toe 6T of the bucket 6 as a predetermined portion serving as a control reference for the attachment AT.

In the example shown in FIG. 9C, the target trajectory TL3 is dynamically calculated at the start of the earth removal operation, and has a starting point SP3 and an ending point EP3. The starting point SP3 is set, for example, based on the position of the arm top pin 5T when the earth removal operation is started, and the ending point EP3 is set based on the shape of the platform of the dump truck DT. The same applies to the target trajectory TL4.

Point PT8 is a point representing the position of arm top pin 5T when bucket 6 is at the position shown in bucket position 6H, and is located on target trajectory TL3. The same applies to points PT9 to PT13. Point ED8 is a point representing the position of toe 6T when bucket 6 is at the position shown in bucket position 6H, and is located on target trajectory TL4. The same applies to points ED9 to ED13.

In the example shown in FIG. 9C, both the target trajectory TL3 and the target trajectory TL4 are set on a virtual plane that includes the longitudinal axis and the rotation axis of the upper revolving structure 3.

Specifically, when the left operating lever 26L is pushed to the back (front) with the switch SW being pressed, the attachment AT moves the bucket 6 at the bucket position 6H as shown in FIG. 9C. The bucket is moved to the position indicated by position 6I. Specifically, the controller 30 extends the boom cylinder 7 to raise the boom 4, contracts the arm cylinder 8 to open the arm 5, and contracts the bucket cylinder 9 to open the bucket 6.

Thereafter, the attachment AT is moved such that the bucket 6 from the bucket position 6I moves to the bucket position 6J. Specifically, the controller 30 retracts the boom cylinder 7 to lower the boom 4, retracts the arm cylinder 8 to open the arm 5, and retracts the bucket cylinder 9 to open the bucket 6.

After that, similarly, as long as the left operation lever 26L is pushed back (forward) with the switch SW being pressed, the arm top pin 5T of the attachment AT moves along the target trajectory TL3, and The toe 6T of the bucket 6 is moved along the target trajectory TL4.

When the position of the arm top pin 5T reaches the end point EP3 of the target trajectory TL3 and the position of the toe 6T of the bucket 6 reaches the end point EP4 of the target trajectory TL4, the attachment AT is operated to the left with the switch SW pressed. Even when the lever 26L is tilted to the back (front), its movement is stopped.

In this manner, the operator can operate the attachment AT so that the bucket 6 moves in the order of the bucket positions 6H to 6M by simply tilting the left operating lever 26L to the back (front). Therefore, the operator can cause the excavator 100 to perform the earth removal operation simply by tilting the left operating lever 26L toward the back (front).

Thereafter, when the left operating lever 26L is pushed to the left, the upper rotating body 3 is moved to turn to the left. In FIG. 9B, a trajectory TR2 indicated by a dotted line indicates that when the left operating lever 26L is tilted to the left when the bucket 6 reaches the position shown in the bucket position 6M (see FIG. 9C), the arm top pin 5T is Shows the trajectory to follow.

In this way, even before the position of the arm top pin 5T reaches the end point EP3 (see FIG. 9C) of the target trajectory TL3, the operator can move the upper rotating body 3 by tilting the left operating lever 26L to the left. It can be turned to the left.

The operator continues to move the arm top pin 5T along the target trajectory TL3 by tilting the left operating lever 26L to the left while pressing the switch SW and tilting the left operating lever 26L to the back (forward). The upper revolving body 3 may be rotated to the left while the upper rotating body 3 is being rotated.

Alternatively, by tilting the left operating lever 26L to the left while pressing the switch SW, the arm top pin can be moved toward the starting point of the target trajectory TL for the next excavation operation. The upper rotating body 3 may be rotated to the left while moving the tip 5T and the toe 6T of the bucket 6. In this case, the controller 30 simultaneously executes at least one of a boom lowering operation, an arm opening operation, and a bucket opening operation and a left turning operation, thereby rotating the upper rotating structure 3 to the left while maintaining the attitude of the attachment AT. can be changed to a posture suitable for starting the next excavation operation.

Thereafter, when the rotating upper structure 3 is oriented in the desired direction, the operator can return the left operating lever 26L to the neutral position to stop the rotating upper structure 3 from turning. In the example shown in FIG. 9B, the operator returns the left operating lever 26L to the neutral position when the bucket 6 reaches the position shown in the bucket position 6N to stop the leftward rotation of the upper rotating structure 3. .

Note that the controller 30 may be configured to be able to automatically stop the rotation of the upper revolving structure 3 using a machine control function. For example, when the turning angle of the upper rotating structure 3 after the start of turning reaches the target angle, the controller 30 controls the rotation of the upper rotating structure 3 even when the left operating lever 26L is tilted to the left. The turning may be stopped.

Thereafter, the operator can start the next excavation operation by tilting the left operating lever 26L toward the front (backward) while pressing the switch SW. That is, by simply operating the left operating lever 26L, the operator causes the excavator 100 to perform a series of operations (work steps) consisting of an excavation operation, a boom-raising rotation operation, an earth removal operation, and a boom-lower rotation operation. be able to.

As shown in FIG. 9A, the controller 30 is configured to set two target trajectories TL (target trajectory TL1 and target trajectory TL2) to execute an excavation operation according to the operation content of the left operating lever 26L. has been done. However, the controller 30 may be configured to execute the excavation operation according to the operation content of the left operation lever 26L by setting only the target trajectory TL1. In this case, the controller 30 may be configured to execute a desired excavation operation by realizing a target bucket angle associated with each point on the target trajectory TL1, for example. Specifically, the controller 30 expands and contracts at least one of the boom cylinder 7 and the arm cylinder 8 so that the position of the arm top pin 5T moves along the target trajectory TL1, and moves each point on the target trajectory TL1. The bucket cylinder 9 may be configured to expand and contract so as to realize a target bucket angle associated with the bucket angle.

Similarly, as shown in FIG. 9C, the controller 30 sets two target trajectories TL (target trajectories TL3 and target trajectories TL4) to execute the earth removal operation according to the operation details of the left operating lever 26L. It is configured to However, the controller 30 may be configured to perform the earth removal operation according to the operation content of the left operating lever 26L by setting only the target trajectory TL3. In this case, the controller 30 may be configured to execute a desired earth removal operation by realizing a target bucket angle associated with each point on the target trajectory TL3, for example. Specifically, the controller 30 expands and contracts at least one of the boom cylinder 7 and the arm cylinder 8 so that the position of the arm top pin 5T moves along the target trajectory TL3, and moves each point on the target trajectory TL3. The bucket cylinder 9 may be configured to expand and contract so as to realize a target bucket angle associated with the bucket angle.

Further, the right operating lever 26R may be configured to be able to operate each of the boom 4 and the bucket 6 as usual even when the machine control function is being executed. "When the machine control function is being executed" is, for example, "when the switch SW is pressed and the state of the machine control function is on", or "when the switch SW is pressed", etc. . However, the right operating lever 26R may be configured to be disabled when the machine control function is being executed. That is, the right operating lever 26R may be configured not to operate the boom 4 and the bucket 6 even if it is operated while the machine control function is being performed. Specifically, when the left operating lever 26L is operated with the switch SW pressed to execute the machine control function, the controller 30 controls the proportional valve even if the right operating lever 26R is operated. The control command may be configured not to be output to each of 31BL, 31BR, 31CL, and 31CR.

Alternatively, the right operating lever 26R may be used to adjust the target trajectory TL. For example, when the operator tilts the right operating lever 26R to the back (front), the controller 30 moves the target trajectory TL overall upward, and when the operator tilts the right operating lever 26R to the front (back). It may be configured such that the target trajectory TL is moved downward as a whole when the device is tilted. With this configuration, the controller 30 can suppress or prevent the excavation load from becoming excessively large on the original target trajectory TL, which would hinder smooth excavation operation.

In addition, in the examples shown in FIGS. 9A to 9C, the turning operation after the excavation operation is realized by a right turning operation, and the turning operation after the earth removal operation is realized by a left turning operation. The movement may be realized by a left turning movement, and the turning movement after the earth removal operation may be realized by a right turning movement.

As described above, the excavator 100 according to the embodiment of the present invention, as shown in FIGS. 1 to 3, includes an undercarriage 1, an upper revolving structure 3 mounted on the undercarriage 1 via a turning mechanism. , an attachment AT attached to the upper revolving structure 3, a plurality of attachment actuators (boom cylinder 7, arm cylinder 8, and bucket cylinder 9) that drive the attachment AT, and a swing actuator (swing hydraulic motor) that rotates the upper revolving structure 3. 2A) and a control device (controller 30). For example, the controller 30 controls the boom cylinder according to the output of the first operating lever (left operating lever 26L) when the first operating lever (left operating lever 26L) is tilted in the first operating direction (front-back direction). 7. At least one of the arm cylinder 8 and the bucket cylinder 9 was operated to execute the excavation operation by the attachment AT, and the first operating lever (left operating lever 26L) was tilted in the second operating direction (left-right direction). The swing hydraulic motor 2A is operated according to the output of the first operating lever (left operating lever 26L) to perform a swinging operation.

This configuration can reduce the burden on the operator regarding excavation work. This is because the operator can execute the excavation operation using the attachment AT simply by operating the left operating lever 26L toward the front (backward).

In the embodiments described above, the attachment AT includes a boom 4, an arm 5, and a bucket 6. The excavation operation includes a composite operation realized by at least two of the operations of the boom 4, the arm 5, and the bucket 6. For example, as shown in FIG. 9A, the first half of the digging operation typically includes a closing motion of the arm 5 and the closing motion of the bucket 6, and the second half of the digging motion typically includes a closing motion of the arm 5. and the raising operation of the boom 4.

This configuration can further reduce the burden on the operator regarding the excavation work. The operator can perform excavation operations using the attachment AT, including at least one of boom raising, boom lowering, arm opening, arm closing, bucket opening, and bucket closing, simply by operating the left operating lever 26L toward the front (rearward). This is because it can be executed.

The excavator 100 may include a switch SW that switches the operation mode between a first operation mode and a second operation mode. For example, in the first operation mode, the controller 30 simultaneously operates at least two of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 when the left operation lever 26L is tilted in the front-back direction; In the second operation mode, the arm cylinder 8 may be configured to operate when the left operation lever 26L is tilted in the front-rear direction.

In the embodiments described above, the first operating mode is the operating mode when the machine control function is being performed, and the second operating mode is the normal operating mode when the machine control function is not being performed.

This configuration can further reduce the burden on the operator regarding the excavation work. This is because the operator can select the first operation mode as necessary.

The controller 30 may be configured to cause the attachment AT to perform an excavation operation by moving a predetermined point of the attachment AT along the target trajectory TL.

For example, as shown in FIG. 9A, the controller 30 moves the arm top pin 5T, which is a predetermined point of the attachment AT, along the target trajectory TL1, and moves the toe 6T of the bucket 6, which is another predetermined point of the attachment AT. The excavation operation by the attachment AT is executed by moving the excavation operation along the target trajectory TL2.

This configuration can further reduce the burden on the operator regarding the excavation work. This is because the operator can perform the excavation operation without being conscious of how deep to excavate or how close to draw the bucket 6.

Excavator 100 may include a space recognition device. In this case, the controller 30 may generate the target trajectory TL based on the output of the spatial recognition device. In the example shown in FIG. 9A, the controller 30 generates a target trajectory TL1 and a target trajectory TL2 regarding the excavation operation based on images captured by a camera S6 serving as a space recognition device.

This configuration can further reduce the burden on the operator regarding the excavation work. This is because the controller 30 can set an appropriate target trajectory TL based on the current shape of the ground, etc. This is because the operator can perform the excavation operation without being conscious of how deep to excavate or how close to draw the bucket 6.

The controller 30 operates at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 when the left operating lever 26L is tilted in a first direction (front side or rearward) in the front-back direction. At least one of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 is activated when the attachment AT executes the excavation operation and the left operating lever 26L is tilted in the second direction (rear side or front) in the front-rear direction. It may be configured such that the earth removal operation by the attachment AT is executed by operating one of the attachments AT.

This configuration can further reduce the burden on the operator regarding the excavation work. This is because the operator can perform a series of operations constituting an excavation operation, including an excavation operation, a turning operation, and an earth removal operation, simply by operating the left operation lever.

The preferred embodiments of the present invention have been described above in detail. However, the invention is not limited to the embodiments described above. Various modifications or substitutions may be made to the embodiments described above without departing from the scope of the present invention. Further, features described separately can be combined as long as no technical contradiction occurs.

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

Claims (6)

a lower running body;
an upper rotating body mounted on the lower traveling body via a rotating mechanism;
an attachment attached to the upper revolving body;
a plurality of attachment actuators that drive the attachment;
a rotation actuator that rotates the upper rotating body;
comprising a control device;
The control device causes the attachment to perform an excavation operation by operating the plurality of attachment actuators according to an output from the first operation lever when the first operation lever is tilted in a first operation direction; operating the swing actuator in response to an output from the first operating lever when the first operating lever is tilted in a second operating direction to execute a swinging operation;
shovel. The attachment includes a boom, an arm, and a bucket,
The digging operation includes a combined operation realized by at least two of the boom operation, the arm operation, and the bucket operation.
The excavator according to claim 1. comprising a switch for switching the operation mode between a first operation mode and a second operation mode,
In the first operation mode, the control device operates the plurality of attachment actuators simultaneously when the first operation lever is tilted in the first operation direction, and in the second operation mode, the control device operates the plurality of attachment actuators simultaneously when the first operation lever is tilted in the first operation direction. operating one of the plurality of attachment actuators when the lever is tilted in the first operating direction;
The excavator according to claim 1. The control device causes the attachment to execute the excavation operation by moving a predetermined point of the attachment along a target trajectory.
The excavator according to claim 1. Equipped with a spatial recognition device,
The control device generates the target trajectory based on the output of the spatial recognition device.
The excavator according to claim 4. The control device operates the plurality of attachment actuators to execute the excavation operation by the attachment when the first operation lever is tilted in a first direction in the first operation direction, and performs the first operation. operating the plurality of attachment actuators when the lever is tilted in a second direction in the first operation direction to cause the attachment to perform an earth removal operation;
The excavator according to any one of claims 1 to 5.

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