US20240141618A1 - Shovel and shovel control system - Google Patents
Shovel and shovel control system Download PDFInfo
- Publication number
- US20240141618A1 US20240141618A1 US18/497,262 US202318497262A US2024141618A1 US 20240141618 A1 US20240141618 A1 US 20240141618A1 US 202318497262 A US202318497262 A US 202318497262A US 2024141618 A1 US2024141618 A1 US 2024141618A1
- Authority
- US
- United States
- Prior art keywords
- control
- shovel
- information
- controller
- control signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 48
- 238000005259 measurement Methods 0.000 claims description 86
- 238000001514 detection method Methods 0.000 claims description 55
- 238000010276 construction Methods 0.000 claims description 47
- 239000010720 hydraulic oil Substances 0.000 description 106
- 230000004044 response Effects 0.000 description 39
- 230000005540 biological transmission Effects 0.000 description 25
- 230000006870 function Effects 0.000 description 23
- 238000000034 method Methods 0.000 description 19
- 239000013642 negative control Substances 0.000 description 19
- 239000003921 oil Substances 0.000 description 19
- 230000008569 process Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 8
- 239000004576 sand Substances 0.000 description 7
- 239000002689 soil Substances 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 101000786631 Homo sapiens Protein SYS1 homolog Proteins 0.000 description 5
- 102100025575 Protein SYS1 homolog Human genes 0.000 description 5
- 238000011144 upstream manufacturing Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 239000008186 active pharmaceutical agent Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010295 mobile communication Methods 0.000 description 4
- RFHAOTPXVQNOHP-UHFFFAOYSA-N fluconazole Chemical compound C1=NC=NN1CC(C=1C(=CC(F)=CC=1)F)(O)CN1C=NC=N1 RFHAOTPXVQNOHP-UHFFFAOYSA-N 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present disclosure relates to shovels and shovel control systems.
- the ICT shovel semi-automates or fully-automates operations thereof based on: position information obtained through a global navigation satellite system (GNSS); and three-dimensional design information.
- GNSS global navigation satellite system
- a known technique proposes an ICT shovel that can realize construction assistance in accordance with items set on a setting screen.
- a shovel includes a lower traveling body, an upper swiveling body swivelably mounted to the lower traveling body, an attachment attached to the upper swiveling body, a bucket provided at an end of the attachment, an operation device, a communication device configured to transmit or receive information to or from an external device, and a control device.
- the control device is configured to perform switching between: first control that controls the upper swiveling body, the attachment, the bucket, or any combination thereof in accordance with first operation information received by the operation device; and second control that receives, from the external device, a control signal for controlling the upper swiveling body, the attachment, the bucket, or any combination thereof, and controls the upper swiveling body, the attachment, the bucket, or any combination thereof in accordance with the received control signal.
- FIG. 1 is a schematic view illustrating one example of a shovel control system according to a first embodiment
- FIG. 2 is a block diagram schematically illustrating one example of a configuration of a shovel according to the first embodiment
- FIG. 3 is a view illustrating a configurational example of a drive control system of the shovel according to the first embodiment
- FIG. 4 is a view schematically illustrating one example of a configuration of a hydraulic system of the shovel according to the first embodiment
- FIGS. 5 A to 5 D are each a view illustrating details of a configuration in relation to a machine control function of the shovel according to the first embodiment
- FIG. 6 is a functional block diagram illustrating one example of a functional configuration of the shovel control system according to the first embodiment
- FIG. 7 is a conceptual view illustrating a virtual working site space generated by a virtual working site space generation part according to the first embodiment
- FIG. 8 is a view illustrating a movement performed in accordance with a control signal received by the shovel according to the first embodiment
- FIG. 9 is a sequence diagram illustrating a flow of a process when semi-automated control of a shovel is performed in the shovel control system according to the first embodiment
- FIG. 10 is a sequence diagram illustrating a flow of a process when fully-automated control of a shovel is performed in a shovel control system according to a second embodiment
- FIG. 11 is a schematic view illustrating a configurational example of a shovel control system according to a third embodiment.
- FIG. 12 is a sequence diagram illustrating a flow of a process when semi-automated control of a shovel is performed by a remote operation in the shovel control system according to the third embodiment.
- the ICT shovel as described in the above known technique needs to include various sensors and high-performance controllers, and thus causes an increase in cost.
- the high-performance controllers are for performing control based on calculation results obtained by calculating, for example, the position of a working portion of the ICT shovel based on detection results of the sensors. This is not limited to the ICT shovels that semi-automate or fully-automate the operations thereof, such as the ICT shovel described in the above known technique, and is applicable to ICT shovels that realize high-level control such as remote control.
- the present disclosure provides a technique of reducing the operation burden on operators by enabling high-level control with the assistance of an external device, even in a standard shovel that is not provided with, for example, a high-performance controller in the ICT shovel.
- the first control and the second control are switchable, it is possible to reduce the burden on operators by switching the controls in accordance with working statuses.
- FIG. 1 is a schematic view illustrating one example of the shovel control system SYS according to the first embodiment.
- the shovel control system SYS includes a shovel 100 , a management device 300 (one example of the external device), and a fixed-point measurement device 400 .
- the shovel 100 , the management device 300 , and the fixed-point measurement device 400 can transmit or receive information to or from each other through a communication network NW.
- the number of shovels 100 included in the shovel control system SYS may be one or more.
- the shovel control system SYS can perform control and the like for each of the shovels 100 .
- the number of management devices 300 included in the shovel control system SYS may be one or more. Thereby, the shovel control system SYS can realize various functions by the two or more management devices 300 in a distributed manner.
- the number of fixed-point measurement devices 400 included in the shovel control system SYS may be one or more.
- the shovel control system SYS can measure the space of a working site where the shovel 100 works and recognize the status of the whole working site based on measurement results.
- the present embodiment will be described as an example using the fixed-point measurement device 400 as one example of a space recognition device for measuring the working site.
- a drone, an operator's space recognition device, or the like may be used.
- FIG. 2 is a lateral view of the shovel 100 as an excavator according to the first embodiment.
- An upper swiveling body 3 is swivelably mounted via a swiveling mechanism 2 to a lower traveling body 1 of the shovel 100 .
- a boom 4 is attached to the upper swiveling body 3 .
- An arm 5 is attached to an end of the boom 4 .
- a bucket 6 which is an end attachment, is attached to an end of the arm 5 .
- the end attachment may be, for example, a bucket for slope formation or a bucket for dredging.
- the boom 4 , the arm 5 , and the bucket 6 form an excavating attachment, which is one example of the attachment.
- the boom 4 , the arm 5 , and the bucket 6 are hydraulically driven by a boom cylinder 7 , an arm cylinder 8 , and a bucket cylinder 9 , respectively.
- a boom angle sensor S 1 is attached to the boom 4
- an arm angle sensor S 2 is attached to the arm 5
- a bucket angle sensor S 3 is attached to the bucket 6 .
- the excavating attachment may be provided with a bucket tilt mechanism.
- the boom angle sensor S 1 is configured to detect a rotation angle of the boom 4 .
- the boom angle sensor S 1 is an acceleration sensor, and can detect a boom angle that is the rotation angle of the boom 4 with respect to the upper swiveling body 3 .
- the boom angle is, for example, the minimum angle when the boom 4 is moved down to the lowest position, and the boom angle increases as the boom 4 is raised.
- the arm angle sensor S 2 is configured to detect a rotation angle of the arm 5 .
- the aim angle sensor S 2 is an acceleration sensor, and can detect an arm angle that is the rotation angle of the arm 5 with respect to the boom 4 .
- the arm angle is, for example, the minimum angle when the arm 5 is closed at most, and the arm angle increases as the arm 5 is opened.
- the bucket angle sensor S 3 is configured to detect a rotation angle of the bucket 6 .
- the bucket angle sensor S 3 is an acceleration sensor, and can detect a bucket angle that is the rotation angle of the bucket 6 with respect to the aim 5 .
- the bucket angle is, for example, the minimum angle when the bucket 6 is closed at most, and the bucket angle increases as the bucket 6 is opened.
- the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 may each be, for example, a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle about a coupling pin.
- the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 form a posture sensor configured to detect a posture of the excavating attachment.
- a cab 10 which is an operation room, is provided in the upper swiveling body 3 and a power source such as an engine 11 is mounted to the upper swiveling body 3 .
- a machine body tilt sensor S 4 and a swivel angular velocity sensor S 5 are attached to the upper swiveling body 3 .
- a communication device T 1 and a positioning device S 6 are attached to the upper swiveling body 3 .
- the machine body tilt sensor S 4 is configured to detect the tilt of the upper swiveling body 3 with respect to a predetermined flat plane.
- the machine body tilt sensor S 4 is an acceleration sensor that detects the tilting angle, with respect to the horizontal surface, about the front-back axis of the upper swiveling body 3 and the tilting angle about the left-right axis of the upper swiveling body 3 .
- the front-back axis and the left-right axis of the upper swiveling body 3 are orthogonal to each other at the center point of the shovel, which is a point on the swiveling axis of the shovel 100 , for example.
- the swivel angular velocity sensor S 5 is configured to detect a swiveling angular velocity of the upper swiveling body 3 .
- the swivel angular velocity sensor S 5 is a gyro sensor.
- the swivel angular velocity sensor S 5 may be a resolver, a rotary encoder, or the like.
- the swivel angular velocity sensor S 5 may detect a swiveling velocity.
- the swiveling velocity may be calculated from the swivel angular velocity.
- the communication device T 1 is a device that controls communication between the shovel 100 and the exterior thereof.
- the communication device T 1 controls, for example, wireless communication between an external GNSS (Global Navigation Satellite System) survey system and the shovel 100 .
- the shovel 100 can obtain design data through wireless communication by using the communication device T 1 .
- the shovel 100 may obtain design data using a semiconductor memory or the like. Note that, the design data includes three-dimensional design data.
- the positioning device S 6 is configured to obtain information in relation to a position of the shovel 100 .
- the positioning device S 6 is configured to measure the position and an orientation of the shovel 100 .
- the positioning device S 6 is a GNSS receiver including an electronic compass, and measures the latitude, the longitude, and the altitude of the shovel 100 and measures the orientation of the shovel 100 .
- the position information obtained by the positioning device S 6 is expressed in a reference coordinate system.
- the reference coordinate system is, for example, the world geodetic system.
- the world geodetic system is a three-dimensional orthogonal XYZ coordinate system in which the origin is set at the center of gravity of the globe, the X axis is taken in a direction toward the intersection between the Greenwich meridian and the equator, the Y axis is taken in a direction at 90 degrees of the east longitude, and the Z axis is taken in a direction toward the North Pole.
- an input device D 1 In the cab 10 , an input device D 1 , a sound output device D 2 , a display device D 3 , a storage device D 4 , a gate lock lever D 5 , and a controller 30 are disposed.
- the controller 30 is configured to function as a main control part that performs drive control of the shovel 100 .
- the controller 30 is configured by a processor including a CPU, an internal memory, and the like.
- Various functions of the controller 30 are achieved by, for example, the CPU executing programs stored in the internal memory.
- the input device D 1 is a device that enables the operator of the shovel 100 to input various information to the controller 30 .
- the input device D 1 is a membrane switch that is attached around the display device D 3 .
- the input devices D 1 may be individually disposed so as to correspond to each of the display devices D 3 .
- the input device D 1 may be a touch panel.
- the sound output device D 2 outputs various sound information in accordance with a sound output command from the controller 30 .
- the sound output device D 2 is an on-board speaker that is directly connected to the controller 30 .
- the sound output device D 2 may be an alarm such as a buzzer.
- the display device D 3 outputs various image information in accordance with a command from the controller 30 .
- the display device D 3 is an on-board liquid crystal display that is directly connected to the controller 30 .
- the storage device D 4 is a device that stores various information.
- a non-volatile storage medium such as a semiconductor memory
- the storage device D 4 stores design data and the like.
- the storage device D 4 may store various information output by the controller 30 and the like.
- the gate lock lever D 5 is a mechanism that prevents the shovel 100 from being wrongly operated.
- the gate lock lever D 5 is disposed between a door of the cab 10 and an operation room 10 S.
- the gate lock lever D 5 is pulled upward, various operation devices can become operated. Meanwhile, when the gate lock lever D 5 is pressed downward, various operation devices cannot become operated.
- FIG. 3 is a view illustrating a configurational example of a drive control system of the shovel 100 of FIG. 2 .
- a mechanical power transmission system is denoted by a double line
- a hydraulic oil line is by a bold solid line
- a pilot line is by a dashed line
- an electrical driving/control system is by a dotted line.
- a drive system of the shovel 100 according to the present embodiment includes an engine 11 , a regulator 13 , a main pump 14 , and a control valve 17 .
- the hydraulic drive system of the shovel 100 according to the present embodiment includes, as described above, the hydraulic actuators such as traveling hydraulic motors 1 L and 1 R, a swiveling hydraulic motor 2 A, the boom cylinder 7 , the arm cylinder 8 , and the bucket cylinder 9 that hydraulically drive the lower traveling body 1 , the upper swiveling body 3 , the boom 4 , the arm 5 , and the bucket 6 , respectively.
- the engine 11 is a main power source in the hydraulic drive system and is provided, for example, at the back portion of the upper swiveling body 3 . Specifically, the engine 11 constantly rotates at a preset target rotation speed under direct or indirect control by a controller 30 described below, thereby driving the main pump 14 and a pilot pump 15 .
- the engine 11 is, for example, a diesel engine using diesel oil as a fuel.
- the regulator 13 controls the discharge amount of the main pump 14 .
- the regulator 13 adjusts the angle of a swashplate (tilting angle) of the main pump 14 in accordance with a control command from the controller 30 .
- the regulator 13 includes regulators 13 L and 13 R.
- the main pump 14 is provided, for example, at the back portion of the upper swiveling body 3 , and feeds hydraulic oil to the control valve 17 through the high-pressure hydraulic line.
- the main pump 14 is, as described above, driven by the engine 11 .
- the main pump 14 is, for example, a variable displacement hydraulic pump. As described above, when the tilting angle of the swashplate is adjusted by the regulator 13 under control by the controller 30 , the stroke length of the piston is adjusted and the discharge flow rate (discharge pressure) is controlled.
- the main pump 14 includes main pumps 14 L and 14 R as described below.
- the control valve 17 is a hydraulic control device that controls a hydraulic system in the shovel 100 .
- the control valve 17 includes control valves 171 to 176 .
- the control valve 175 includes a control valve 175 L and a control valve 175 R
- the control valve 176 includes a control valve 176 L and a control valve 176 R.
- the control valve 17 can selectively feed the hydraulic oil 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 control, for example, the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of the hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank.
- the hydraulic actuator includes the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , the traveling hydraulic motors 1 L and 1 R, and the swiveling hydraulic motor 2 A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 1 L, the control valve 172 corresponds to the right traveling hydraulic motor 1 R, and the control valve 173 corresponds to the swiveling hydraulic motor 2 A. Also, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .
- control valve 175 includes control valves 175 L and 175 R as described below, and for example, the control valve 176 includes control valves 176 L and 176 R as described below. Details of the control valves 171 to 176 will be described below.
- the pilot pump 15 is one example of a pilot pressure generating device, and is configured to feed the hydraulic oil to a hydraulic pressure control device through the pilot line.
- the pilot pump 15 is a fixed displacement hydraulic pump.
- the pilot pressure generating device may be achieved by the main pump 14 . That is, the main pump 14 may have a function of feeding the hydraulic oil to various hydraulic control devices through the pilot line, in addition to the function of feeding the hydraulic oil to the control valve 17 through the hydraulic oil line. In this case, the pilot pump 15 may be omitted.
- the operation device 26 is a device used by an operator for operating the actuator.
- the actuator includes the hydraulic actuator, an electric-powered actuator, or both.
- the discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14 .
- the discharge pressure sensor 28 outputs a detected value to the controller 30 .
- the discharge pressure sensor 28 includes discharge pressure sensors 28 L and 28 R, as described below.
- An operation sensor 29 is configured to detect an operation content of the operator using the operation device 26 .
- the operation sensor 29 detects the direction and the amount of the operation of the operation device 26 corresponding to each of the actuators, and outputs a detected value to the controller 30 .
- the controller 30 controls an opening area of a proportional valve 31 in accordance with the output of the operation sensor 29 .
- the controller 30 feeds the hydraulic oil discharged by the pilot pump 15 to pilot ports of corresponding control valves in the control valve 17 .
- the pressure (pilot pressure) of the hydraulic oil fed to each of the pilot ports is, in principle, a pressure in accordance with the direction and the amount of the operation of the operation device 26 corresponding to each of the hydraulic actuators. In this way, the operation device 26 is configured to feed the hydraulic oil discharged by the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve 17 .
- the proportional valve 31 which functions as a machine control valve, is disposed in a conduit connecting the pilot pump 15 to the pilot port of the control valve in the control valve 17 and is configured to change the flow area of the conduit.
- the proportional valve 31 operates in response to a control command output by the controller 30 .
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve 17 through the proportional valve 31 , independently of the operation of the operation device 26 by the operator.
- the proportional valve 31 includes proportional valves 31 AL, 31 AR, 31 BL, 31 BR, 31 CL, and 31 CR, as described below.
- the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26 .
- the controller 30 sets the target rotation speed based on, for example, a working mode that is previously set by a predetermined operation of the operator or the like, and performs drive control that constantly rotates the engine 11 .
- the controller 30 if necessary, outputs a control command to the regulator 13 , and changes the discharge amount of the main pump 14 .
- the controller 30 performs, for example, control in relation to a machine guidance function that guides a manual operation of the shovel 100 by the operator through the operation device 26 . Also, the controller 30 performs, for example, control in relation to a machine control function that automatically assists a manual operation of the shovel 100 by the operator through the operation device 26 .
- controller 30 may be realized by another controller (control device).
- the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers.
- the machine guidance function and the machine control function may be realized by dedicated controllers (control devices).
- FIG. 4 is a view schematically illustrating one example of a configuration of the hydraulic system of the shovel 100 according to the present embodiment.
- a mechanical power system is denoted by a double line
- a hydraulic oil line is by a solid line
- a pilot line is by a dashed line
- an electrical driving/control system is by a dotted line.
- the hydraulic system realized by the hydraulic circuit circulates the hydraulic oil from the respective main pumps 14 L and 14 R driven by the engine 11 to the hydraulic oil tank through center bypass oil paths C 1 L and C 1 R and parallel oil paths C 2 L and C 2 R.
- the center bypass oil path C 1 L starts with the main pump 14 L, and sequentially passes through the control valves 171 , 173 , 175 L, and 176 L disposed in the control valve 17 and reaches the hydraulic oil tank.
- the center bypass oil path C 1 R starts with the main pump 14 R, and sequentially passes through the control valves 172 , 174 , 175 R, and 176 R disposed in the control valve 17 and reaches the hydraulic oil tank.
- the control valve 171 is a spool valve that feeds the hydraulic oil discharged from the main pump 14 L to the traveling hydraulic motor 1 L, and discharges the hydraulic oil discharged by the traveling hydraulic motor 1 L to the hydraulic oil tank.
- the control valve 172 is a spool valve that feeds the hydraulic oil discharged from the main pump 14 R to the traveling hydraulic motor 1 R, and discharges the hydraulic oil discharged by the traveling hydraulic motor 1 R to the hydraulic oil tank.
- the control valve 173 is a spool valve that feeds the hydraulic oil discharged from the main pump 14 L to the swiveling hydraulic motor 2 A, and discharges the hydraulic oil discharged by the swiveling hydraulic motor 2 A to the hydraulic oil tank.
- the control valve 174 is a spool valve that feeds the hydraulic oil discharged from the main pump 14 R to the bucket cylinder 9 , and discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.
- the control valves 175 L and 175 R are spool valves that feed the hydraulic oil discharged by the main pumps 14 L and 14 R to the boom cylinder 7 , and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.
- the control valves 176 L and 176 R feed the hydraulic oil discharged by the main pumps 14 L and 14 R to the aim cylinder 8 , and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.
- each of the control valves 171 , 172 , 173 , 174 , 175 L, 175 R, 176 L, and 176 R adjusts the flow rate of the hydraulic oil to be fed to or discharged from the hydraulic actuator, and switches the flowing direction.
- the parallel oil path C 2 L feeds the hydraulic oil of the main pump 14 L to the control valves 171 , 173 , 175 L, and 176 L in parallel to the center bypass oil path C 1 L.
- the parallel oil path C 2 L branches from the center bypass oil path C 1 L upstream of the control valve 171 , and is configured to feed the hydraulic oil of the main pump 14 L to the control valves 171 , 173 , 175 L, and 176 R, in parallel.
- the parallel oil path C 2 L can feed the hydraulic oil to the more downstream control valve.
- the parallel oil path C 2 R feeds the hydraulic oil of the main pump 14 R to the control valves 172 , 174 , 175 R, and 176 R in parallel to the center bypass oil path C 1 R.
- the parallel oil path C 2 R branches from the center bypass oil path C 1 R upstream of the control valve 172 , and is configured to feed the hydraulic oil of the main pump 14 R to the control valves 172 , 174 , 175 R, and 176 R, in parallel.
- the parallel oil path C 2 R can feed the hydraulic oil to the more downstream control valve.
- the regulators 13 L and 13 R adjust the tilting angles of the swashplates of the main pumps 14 L and 14 R under control by the controller 30 , thereby adjusting the discharge amounts of the main pumps 14 L and 14 R.
- the discharge pressure sensor 28 L detects the discharge pressure of the main pump 14 L, and a detection signal corresponding to the detected discharge pressure is input to the controller 30 .
- the controller 30 can control the regulators 13 L and 13 R in accordance with the discharge pressures of the main pumps 14 L and 14 R.
- restrictors for negative control (hereinafter referred to as “negative-control restrictors”) 18 L and 18 R are provided between the most downstream control valves 176 L and 176 R and the hydraulic oil tank. Thereby, the flow of the hydraulic oil discharged by the main pumps 14 L and 14 R is restricted by the negative-control restrictors 18 L and 18 R.
- the negative-control restrictors 18 L and 18 R generate control pressures (hereinafter referred to as “negative-control pressures) for controlling the regulators 13 L and 13 R.
- Negative-control pressure sensors 19 L and 19 R detect the negative-control pressures, and detection signals corresponding to the detected negative-control pressures are input to the controller 30 .
- the controller 30 may control the regulators 13 L and 13 R and adjust the discharge amounts of the main pumps 14 L and 14 R. For example, in accordance with an increase in the discharge pressure of the main pump 14 L, the controller 30 may control the regulator 13 L and adjust the tilting angle of the swashplate of the main pump 14 L, thereby reducing the discharge amount. The same applies to the regulator 13 R. Thereby, the controller 30 can control the total horsepower of the main pumps 14 L and 14 R so that the suction horsepower of the main pumps 14 L and 14 R, which is represented by a product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11 .
- the controller 30 may control the regulators 13 L and 13 R and adjust the discharge amounts of the main pumps 14 L and 14 R. For example, the controller 30 reduces the discharge amounts of the main pumps 14 L and 14 R at higher negative-control pressures, and increases the discharge amounts of the main pumps 14 L and 14 R at lower negative-control pressures.
- the controller 30 reduces the discharge amounts of the main pumps 14 L and 14 R to allowable minimum discharge amounts, and suppresses pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass oil paths C 1 L and C 1 R.
- the hydraulic oil discharged from the main pumps 14 L and 14 R flows into the operated hydraulic actuator via the control valve corresponding to the operated hydraulic actuator. Then, the amount of the flow of the hydraulic oil discharged from the main pumps 14 L and 14 R that reaches the negative-control restrictors 18 L and 18 R is reduced or eliminated, resulting in reducing the negative-control pressures generated upstream of the negative-control restrictors 18 L and 18 R. As a result, the controller 30 increases the discharge amounts of the main pumps 14 L and 14 R and circulates a sufficient amount of the hydraulic oil in the operated hydraulic actuator. This can reliably drive the operated hydraulic actuator.
- the operation device 26 includes a left operation lever 26 L, a right operation lever 26 R, and a traveling lever 26 D.
- the traveling lever 26 D includes a left traveling lever 26 DL and a right traveling lever 26 DR.
- the left operation lever 26 L is used for the swivel operation and the operation of the aim 5 .
- the left operation lever 26 L when operated in the forward and backward directions, utilizes the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure in accordance with the amount of the lever operation into the pilot port of the control valve 176 .
- the left operation lever 26 L when operated in the leftward and rightward directions, utilizes the hydraulic oil discharged by the pilot pump 15 to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of the control valve 173 .
- the left operation lever 26 L introduces the hydraulic oil to the right pilot port of the control valve 176 L and introduces the hydraulic oil to the left pilot port of the control valve 176 R when operated in an arm closing direction. Also, the left operation lever 26 L, when operated in an arm opening direction, introduces the hydraulic oil to the left pilot port of the control valve 176 L and introduces the hydraulic oil to the right pilot port of the control valve 176 R. Also, the left operation lever 26 L introduces the hydraulic oil to the left pilot port of the control valve 173 when operated in a leftward swiveling direction and introduces the hydraulic oil to the right pilot port of the control valve 173 when operated in a rightward swiveling direction.
- the right operation lever 26 R is used to operate the boom 4 and the bucket 6 .
- the right operation lever 26 R utilizes the hydraulic oil discharged by the pilot pump 15 when operated in the forward and backward directions to introduce a control pressure in accordance with the amount of the lever operation into the pilot port of the control valve 175 .
- the hydraulic oil discharged by the pilot pump 15 is used to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of the control valve 174 .
- the right operation lever 26 R introduces the hydraulic oil to the left pilot port of the control valve 175 R when operated in a boom lowering direction.
- the right operation lever 26 R when operated in a boom raising direction, introduces the hydraulic oil to the right pilot port of the control valve 175 L and introduces the hydraulic oil to the left pilot port of the control valve 175 R.
- the right operation lever 26 R introduces the hydraulic oil to the right pilot port of the control valve 174 when operated in a bucket closing direction, and introduces the hydraulic oil to the left pilot port of the control valve 174 when operated in a bucket opening direction.
- the left operation lever 26 L operated in the leftward and rightward directions may be referred to as a “swivel operation lever” and the left operation lever 26 L operated in the forward and backward directions may be referred to as an “arm operation lever”.
- the right operation lever 26 R operated in the leftward and rightward directions may be referred to as a “bucket operation lever” and the right operation lever 26 R operated in the forward and backward directions may be referred to as a “boom operation lever”.
- the left traveling lever 26 DL is used to operate a left crawler 1 CL.
- the left traveling lever 26 DL may be configured to interlock with a left traveling pedal.
- the left traveling lever 26 DL when operated in the forward and backward directions, utilizes the hydraulic oil discharged by the pilot pump 15 to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of the control valve 171 .
- the right traveling lever 26 DR is used to operate a right crawler 1 CR.
- the right traveling lever 26 DR may be configured to interlock with a right traveling pedal.
- the right traveling lever 26 DR when operated in the forward and backward directions, utilizes the hydraulic oil discharged by the pilot pump 15 to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of the control valve 172 .
- the operation sensor 29 is configured to detect an operation content of the operator using the operation device 26 .
- the operation sensor 29 detects the direction and the amount of the operation of the operation device 26 corresponding to each of the actuators, and outputs a detected value to the controller 30 .
- the operation sensor 29 includes operation sensors 29 LA, 29 LB, 29 RA, 29 RB, 29 DL, and 29 DR.
- the operation sensor 29 LA detects the content of the operation in the forward and backward directions by the operator relative to the left operation lever 26 L and outputs a detected value to the controller 30 .
- the content of the operation is, for example, the direction of the lever operation and the amount of the lever operation (angle of the lever operation).
- the operation sensor 29 LB detects the content of the operation by the operator in the leftward and rightward directions relative to the left operation lever 26 L and outputs a detected value to the controller 30 .
- the operation sensor 29 RA detects the content of the operation by the operator in the forward and backward directions relative to the right operation lever 26 R and outputs a detected value to the controller 30 .
- the operation sensor 29 RB detects the content of the operation by the operator in the leftward and rightward directions relative to the right operation lever 26 R and outputs a detected value to the controller 30 .
- the operation sensor 29 DL detects the content of the operation by the operator in the forward and backward directions relative to the left traveling lever 26 DL and outputs a detected value to the controller 30 .
- the operation sensor 29 DR detects the content of the operation by the operator in the forward and backward directions relative to the right traveling lever 26 DR and outputs a detected value to the controller 30 .
- the controller 30 receives the output of the operation sensor 29 and outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14 .
- the controller 30 receives an output of a control pressure sensor 19 disposed upstream of a restrictor 18 , and outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14 .
- the restrictor 18 includes a left restrictor 18 L and a right restrictor 18 R
- the control pressure sensor 19 includes the negative-control pressure sensors 19 L and 19 R.
- FIGS. 5 A to 5 D are views of parts extracted from the hydraulic system. Specifically, FIG. 5 A is a view of a part extracted from the hydraulic system in relation to the operation of the aim cylinder 8 .
- FIG. 5 B is a view of a part extracted from the hydraulic system in relation to the operation of the boom cylinder 7 .
- FIG. 5 C is a view of a part extracted from the hydraulic system in relation to the operation of the bucket cylinder 9 .
- FIG. 5 D is a view of a part extracted from the hydraulic system in relation to the operation of the swiveling hydraulic motor 2 A.
- the hydraulic system includes the proportional valve 31 .
- the proportional valve 31 includes proportional valves 31 AL to 31 DL and 31 AR to 31 DR.
- the proportional valve 31 functions as a control valve for machine control.
- the proportional valve 31 is disposed in a conduit connecting the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 , and is configured to change the flow path area of the conduit.
- the proportional valve 31 operates in response to a control command output by the controller 30 .
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 through the proportional valve 31 , independently of the operation of the operation device 26 by the operator.
- the controller 30 can apply a pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.
- the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26 . Also, even if an operation is being performed on the specific operation device 26 , the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operation device 26 .
- the left operation lever 26 L is used to operate the arm 5 .
- the left operation lever 26 L utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 176 in response to the operation in the forward and backward directions.
- the left operation lever 26 L when operated in the arm closing direction (backward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R.
- the left operation lever 26 L when operated in the aim opening direction (forward direction), applies a pilot pressure in accordance with the operation amount to the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R.
- the operation device 26 is provided with a switch SW.
- the switch SW includes a switch SW 1 and a switch SW 2 .
- the switch SW 1 is a push-button switch provided at the end of the left operation lever 26 L. The operator can operate the left operation lever 26 L while pressing the switch SW 1 .
- the switch SW 1 may be provided at the right operation lever 26 R or at other locations within the cab 10 .
- the switch SW 2 is a push-button switch provided at the end of the left traveling lever 26 DL. The operator can operate the left traveling lever 26 DL while pressing the switch SW 2 .
- the switch SW 2 may be provided at the right traveling lever 26 DR or at other locations within the cab 10 .
- the operation sensor 29 LA detects the content of the operation in the forward and backward directions by the operator relative to the left operation lever 26 L and outputs a detected value to the controller 30 .
- the proportional valve 31 AL operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R through the proportional valve 31 AL.
- the proportional valve 31 AR operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R through the proportional valve 31 AR.
- the proportional valve 31 AL can adjust the pilot pressure so that the control valve 176 L and the control valve 176 R can be stopped at a given valve position.
- the proportional valve 31 AR can adjust the pilot pressure so that the control valve 176 L and the control valve 176 R can be stopped at a given valve position.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R through the proportional valve 31 AL in response to the arm closing operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R through the proportional valve 31 AL independently of the arm closing operation by the operator. That is, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or independently of the arm closing operation by the operator.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R through the proportional valve 31 AR in response to the arm opening operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R through the proportional valve 31 AR independently of the arm opening operation by the operator. 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.
- the controller 30 can reduce the pilot pressure applied to the pilot port on the closing side of the control valve 176 (the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R) and forcibly stop the closing movement of the arm 5 .
- the controller 30 may forcibly stop the closing movement of the arm 5 by controlling the proportional valve 31 AR to increase the pilot pressure applied to the pilot port on the opening side of the control valve 176 , which is located opposite to the pilot port on the closing side of the control valve 176 , (the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R), thereby forcibly returning the control valve 176 to a neutral position.
- the controller 30 may forcibly stop the closing movement of the arm 5 by controlling the proportional valve 31 AR to increase the pilot pressure applied to the pilot port on the opening side of the control valve 176 , which is located opposite to the pilot port on the closing side of the control valve 176 , (the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R), thereby forcibly returning the control valve 176 to a neutral position.
- the controller 30 may forcibly stop the closing movement of the arm 5 by controlling the proportional valve 31 AR to increase the pilot pressure applied to the pilot port on the opening
- the right operation lever 26 R is used to operate the boom 4 .
- the right operation lever 26 R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 175 in response to the operation in the forward and backward directions. More specifically, the right operation lever 26 R, when operated in the boom raising direction (backward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R.
- the right operation lever 26 R when operated in the boom lowering direction (forward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of the control valve 175 R.
- the operation sensor 29 RA detects the content of the operation in the forward and backward directions by the operator relative to the right operation lever 26 R and outputs a detected value to the controller 30 .
- the proportional valve 31 BL operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R through the proportional valve 31 BL.
- the proportional valve 31 BR operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175 R through the proportional valve 31 BR.
- the proportional valve 31 BL can adjust the pilot pressure so that the control valve 175 L and the control valve 175 R can be stopped at a given valve position.
- the proportional valve 31 BR can adjust the pilot pressure so that the control valve 175 R can be stopped at a given valve position.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R through the proportional valve 31 BL in response to the boom raising operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R through the proportional valve 31 BL independently of the boom raising operation by the operator. 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.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175 R through the proportional valve 31 BR in response to the boom lowering operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175 R through the proportional valve 31 BR independently 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.
- the right operation lever 26 R is also used to operate the bucket 6 .
- the right operation lever 26 R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 174 in response to the operation in the leftward and rightward directions. More specifically, the right operation lever 26 R, when operated in the bucket closing direction (leftward direction), applies a pilot pressure in accordance with the operation amount to the left pilot port of the control valve 174 .
- the right operation lever 26 R when operated in the bucket opening direction (rightward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of the control valve 174 .
- the operation sensor 29 RB detects the content of the operation in the leftward and rightward directions by the operator relative to the right operation lever 26 R and outputs a detected value to the controller 30 .
- the proportional valve 31 CL operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 through the proportional valve 31 CL.
- the proportional valve 31 CR operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 through the proportional valve 31 CR.
- the proportional valve 31 CL can adjust the pilot pressure so that the control valve 174 can be stopped at a given valve position.
- the proportional valve 31 CR can adjust the pilot pressure so that the control valve 174 can be stopped at a given valve position.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 through the proportional valve 31 CL in response to the bucket closing operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 through the proportional valve 31 CL independently 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 by the operator or independently of the bucket closing operation by the operator.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 through the proportional valve 31 CR in response to the bucket opening operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 through the proportional valve 31 CR independently of the bucket opening operation by the operator. That is, the controller 30 can open the bucket 6 in response to the bucket opening operation by the operator or independently of the bucket opening operation by the operator.
- the left operation lever 26 L is also used to operate the swiveling mechanism 2 .
- the left operation lever 26 L utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 173 in response to the operation in the leftward and rightward directions. More specifically, the left operation lever 26 L, when operated in the leftward swiveling direction (leftward direction), applies a pilot pressure in accordance with the operation amount to the left pilot port of the control valve 173 .
- the left operation lever 26 L when operated in the rightward swiveling direction (rightward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of the control valve 173 .
- the operation sensor 29 LB detects the content of the operation in the leftward and rightward directions by the operator relative to the left operation lever 26 L and outputs a detected value to the controller 30 .
- the proportional valve 31 DL operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 through the proportional valve 31 DL.
- the proportional valve 31 DR operates in response to a control command (electric current command) output by the controller 30 , thereby adjusting the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 through the proportional valve 31 DR.
- the proportional valve 31 DL can adjust the pilot pressure so that the control valve 173 can be stopped at a given valve position.
- the proportional valve 31 DR can adjust the pilot pressure so that the control valve 173 can be stopped at a given valve position.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 through the proportional valve 31 DL in response to the leftward swiveling operation by the operator. Also, the controller can feed the hydraulic oil discharged by the pilot pump to the left pilot port of the control valve 173 through the proportional valve 31 DL independently of the leftward swiveling operation by the operator. That is, the controller 30 can swivel the swiveling mechanism 2 leftward in response to the leftward swiveling operation by the operator or independently of the leftward swiveling operation by the operator.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 through the proportional valve 31 DR in response to the rightward swiveling operation by the operator. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 through the proportional valve 31 DR independently of the rightward swiveling operation by the operator. That is, the controller 30 can swivel the swiveling mechanism 2 rightward in response to the rightward swiveling operation by the operator or independently of the rightward swiveling operation by the operator.
- the left traveling lever 26 DL is also used to operate the left crawler 1 CL. Specifically, the left traveling lever 26 DL utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure in accordance with the operation in the forward and backward directions to the pilot port of the control valve 171 .
- the operation sensor 29 DL electrically detects the content of the operation in the forward and backward directions by the operator relative to the left traveling lever 26 DL, and outputs an electric current command indicating a detected value to the controller 30 . Thereby, the controller 30 operates in response to the electric current command.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 171 through an unillustrated proportional valve. That is, the left crawler 1 CL can be caused to travel forward. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 171 through an unillustrated proportional valve. That is, the left crawler 1 CL can be caused to travel backward.
- the right traveling lever 26 DR is also used to operate the right crawler 1 CR. Specifically, the right traveling lever 26 DR utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure in accordance with the operation in the forward and backward directions to the pilot port of the control valve 172 .
- the operation sensor 29 DR electrically detects the content of the operation in the forward and backward directions by the operator relative to the right traveling lever 26 DR, and outputs an electric current command indicating a detected value to the controller 30 . Thereby, the controller 30 operates in response to the electric current command.
- the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 172 through the proportional valve 31 . That is, the right crawler 1 CR can be caused to travel forward. Also, the controller 30 can feed the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 172 through the proportional valve 31 . That is, the right crawler 1 CR can be caused to travel backward.
- the shovel 100 may include a structure configured to automatically operate the bucket tilt mechanism.
- a part of the hydraulic system in relation to a bucket tilt cylinder forming the bucket tilt mechanism may be configured in the same manner as in, for example, the part of the hydraulic system in relation to the operation of the boom cylinder 7 .
- the operation device 26 may be a hydraulic operation lever rather than the electric operation lever.
- the amount of the lever operation of the hydraulic operation lever may be detected by a pressure sensor in the form of pressure and input to the controller 30 .
- an electromagnetic valve may be disposed between the operation device 26 that is the hydraulic operation lever, and the pilot port of each of the control valves. The electromagnetic valve is configured to operate in response to an electric signal from the controller 30 .
- the operation device 26 increases or decreases a pilot pressure in accordance with the amount of the lever operation, thereby moving each of the control valves.
- each of the control valves may be configured with 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 the lever operation of the electric operation lever.
- FIG. 6 is a functional block diagram illustrating one example of a functional configuration of the shovel control system SYS according to the present embodiment. Configurations of the management device 300 and the fixed-point measurement device 400 will be described. Note that, the configuration of the shovel 100 is as described above, and description thereof will be omitted.
- the management device 300 includes a communication device 301 , a storage device 302 , and a controller 303 .
- the communication device 301 is an interface that communicates through the communication network NW with the shovel 100 and the exterior thereof, such as the fixed-point measurement device 400 .
- the communication device 301 may be a mobile communication module responding to a mobile communication standard, such as LTE, 4G, or 5G.
- the controller 303 performs control in relation to the management device 300 .
- the functions of the controller 303 may be realized by, for example, given hardware or a combination of given hardware and given software.
- the controller 303 may be mainly composed of a computer including: a processor device, such as a CPU; a memory device (main storage device), such as a RAM; an auxiliary storage device, such as a ROM; an interface device with the exterior thereof; and the like.
- the controller 303 realizes various functions by loading, in the memory device, a program installed in the auxiliary storage device, and executing the program on the CPU. Data of the program is, for example, obtained by the controller 303 from a predetermined storage medium through a predetermined external interface, and installed in the auxiliary storage device.
- the storage device 302 is a readable/writable non-volatile storage medium.
- the storage device 302 includes a construction information storage part 321 and a working site information storage part 322 .
- the construction information storage part 321 stores construction information for the shovel 100 to operate in the working site.
- the construction information is three-dimensional data representing shapes, after construction, of soil and sand and the like existing in the working site.
- three-dimensional shapes and positions of objects after construction are expressed in the above-described reference coordinate system.
- the working site information storage part 322 stores working site information representing a three-dimensional shape of a virtual working site space generated based on measurement information obtained by the fixed-point measurement device 400 .
- the working site information retains three-dimensional shapes and positions of current objects in the working site in the above-described reference coordinate system.
- the fixed-point measurement device 400 includes a communication device 401 , a position information storage part 402 , a space recognition device 403 , and a controller 404 .
- the communication device 401 is an interface that communicates through the communication network NW with the shovel 100 and the exterior thereof, such as the management device 300 .
- the communication device 401 may be a mobile communication module responding to a mobile communication standard, such as LTE, 4G, or 5G.
- the position information storage part 402 stores position information of the fixed-point measurement device 400 .
- the position information is, for example, expressed in a reference coordinate system like in position information obtained by the GNSS.
- the reference coordinate system is, for example, the above-described world geodetic system.
- a LIDAR sensor is used for detecting the objects existing in the working site where the shovel 100 is working.
- the LIDAR sensor measures, for example, distances between the LIDAR sensor and one million or more points within a surveillance range.
- the present embodiment is not limited to a method using the LIDAR sensor, and may use a space recognition device that can measure distances between the space recognition device and objects.
- the space recognition device may be, for example, a stereo camera or a distance measurement device, such as a distance image camera or a millimeter wave radar.
- the space recognition device 403 may emit many signals (e.g., laser beams) toward objects, and receive reflected signals, thereby deriving distances and directions of the objects from the reflected signals.
- signals e.g., laser beams
- the controller 404 performs control in relation to the fixed-point measurement device 400 .
- the functions of the controller 404 may be realized by, for example, given hardware or a combination of given hardware and given software.
- the controller 404 may be mainly composed of a computer including: a processor device, such as a CPU; a memory device (main storage device), such as a RAM; an auxiliary storage device, such as a ROM; and the like.
- the controller 404 realizes various functions by loading, in the memory device, a program installed in the auxiliary storage device, and executing the program on the CPU.
- the shovel 100 does not include the space recognition device or the like.
- a shovel controller 50 of the shovel 100 does not include any program for performing high-level control (e.g., semi-automated control) that operates the shovel 100 in accordance with the construction information when a predetermined lever is tilted in the operation device 26 .
- the semi-automated control or the like may be desired even for the shovel 100 in accordance with a working step.
- the management device 300 performs assistance of the semi-automated control or the like that operates the shovel 100 in accordance with the construction information.
- the fixed-point measurement device 400 measures the working site of the shovel 100 , and transmits the measurement results to the management device 300 .
- the management device 300 can recognize statuses surrounding the shovel 100 in the form of a three-dimensional shape. In other words, even if the shovel 100 does not include the space recognition device, the management device 300 can recognize statuses surrounding the shovel 100 .
- the present embodiment does not limit the measurement device of the statuses surrounding the shovel 100 to the fixed-point measurement device 400 , and may use a drone or the like.
- the shovel 100 transmits position information measured by the positioning device S 6 to the management device 300 . Thereby, the management device 300 can recognize the position of the shovel 100 in the working site.
- the management device 300 retains the construction information representing the three-dimensional shapes of soil and sand and the like after construction. Thereby, when the management device 300 has received an operation signal from the shovel 100 , the management device 300 generates, in response to the operation signal, a control signal for performing working in accordance with the construction information, and transmits the control signal to the shovel 100 .
- the shovel 100 includes the electric operation lever in the foam of the operation device 26 . Therefore, when the shovel controller 50 of the shovel 100 has received the control signal from the management device 300 , the shovel controller 50 can perform, based on the control signal, semi-automated control of the upper swiveling body 3 , the boom 4 , the arm 5 , the bucket 6 , or any combination thereof.
- the shovel controller 50 of the shovel 100 realizes switching between: manual control (an example of the first control) that moves the upper swiveling body 3 , the boom 4 , the arm 5 , the bucket 6 , or any combination thereof in accordance with the operation information (an example of the first operation information) received by the operation device 26 ; and network control (an example of the second control) that performs semi-automated control or the like in accordance with the control signal received from the management device 300 .
- manual control an example of the first control
- network control an example of the second control
- the functional blocks in the controller 404 of the fixed-point measurement device 400 will be described.
- the functional blocks in the controller 404 are conceptual and are not necessarily physically configured as illustrated. All or a part of the functional blocks can be configured in a functionally or physically distributed or integrated manner in a given unit. All or a part of the processing functions performed in the functional blocks are or is realized by programs executed in the CPU. Alternatively, the functional blocks may be realized as hardware based on a wired logic.
- a transmission control part 411 transmits, to the management device 300 , the measurement information obtained by the space recognition device 403 and the position information stored in the position information storage part 402 that are associated with each other.
- the transmission of the measurement information by the transmission control part 411 is performed every time a predetermined time passes.
- the transmission control part 411 may transmit the measurement information every time the measurement information is obtained by the space recognition device 403 (e.g., every time a frame is updated).
- the functional blocks in a shovel controller (one example of a first control device) 50 of the shovel 100 will be described.
- the functional blocks in the shovel controller 50 are conceptual and are not necessarily physically configured as illustrated. All or a part of the functional blocks can be configured in a functionally or physically distributed or integrated manner in a given unit. All or a part of the processing functions performed in the functional blocks are or is realized by programs executed in the CPU. Alternatively, the functional blocks may be realized as hardware based on a wired logic.
- the shovel controller 50 includes a switch control part 501 , a transmission control part 502 , a reception control part 503 , and a signal output part 504 .
- the switch control part 501 performs switching between the manual control and the network control in accordance with an input operation of the input device D 1 .
- the manual control (an example of the first control) refers to control that moves the upper swiveling body 3 , the boom 4 , the arm 5 , or the bucket 6 in accordance with an operation received by the operation device 26 .
- the left operation lever 26 L is operated in the forward and backward directions, obtained control is set to moving the arm 5 in the closing direction or moving the arm 5 in the opening direction. That is, the content assigned to the opening direction of the operation lever is control for movement in accordance with a tilt amount.
- the manual control does not include control of the shovel 100 based on the construction information representing the three-dimensional shape of the construction target.
- the network control refers to control that moves the upper swiveling body 3 , the boom 4 , the arm 5 , the bucket 6 , or any combination thereof based on the control signal received from the management device 300 .
- the control signal transmitted from the management device 300 in the network control may be a signal for control of the shovel 100 (e.g., semi-automated control or fully-automated control) in order to form the three-dimensional shape of the construction target based on the construction information.
- operation information indicating an operation in a direction in which the boom 4 is opened is transmitted to the management device 300 .
- a control signal for moving the boom 4 , the aim 5 , and the bucket 6 so as to raise the boom 4 is received, and the boom 4 , the arm 5 , and the bucket 6 are moved based on the control signal.
- operation information indicating an operation in a direction in which the arm 5 is opened is transmitted to the management device 300 .
- a control signal for moving the boom 4 , the arm 5 , and the bucket 6 so that the back surface of the bucket 6 moves over the slope is received, and semi-automated control that moves the boom 4 , the aim 5 , and the bucket 6 based on the control signal is performed.
- the network control is not limited to the above-described control as long as the network control is control in which the management device 300 performs assistance of movements (e.g., semi-automated control) in response to an operation received by the operation device 26 .
- assistance of movements e.g., semi-automated control
- the transmission control part 502 performs control for transmitting various information via the communication device T 1 to the management device 300 .
- the transmission control part 502 transmits, to the management device 300 , operation information indicating the operation received by the operation device 26 (one example of second operation information), detection information indicating the detection results from various sensors provided in the shovel 100 , and position information (including an orientation) of the shovel 100 obtained by the positioning device S 6 .
- the detection information includes, for example, information for identifying the positions of the boom 4 , the aim 5 , and the bucket 6 (attachments), such as a rotation angle of the boom 4 detected by the boom angle sensor (one example of a detection device) S 1 , a rotation angle of the arm 5 detected by the arm angle sensor (one example of the detection device) S 2 , and a rotation angle of the bucket 6 detected by the bucket angle sensor (one example of the detection device) S 3 .
- the reception control part 503 performs control for receiving various information via the communication device T 1 from the management device 300 .
- the reception control part 503 receives, from the management device 300 , a control signal for performing semi-automated control or the like of the shovel 100 in accordance with the operation information.
- the control signal is a control signal for controlling the positions of the boom 4 , the aim 5 , and the bucket 6 defined from the detection information, in other words, a control signal for performing control based on the current moving status of the shovel 100 .
- the signal output part 504 outputs, to the hydraulic system or the like, the control signal for controlling the hydraulic system or the like. For example, when the shovel 100 has been switched to the manual control by the switch control part 501 , the signal output part 504 outputs, to the hydraulic system, the control signal for moving the component corresponding to the operation direction in response to the operation received by the operation device 26 .
- the signal output part 504 outputs, to the hydraulic system, the control signal received from the management device 300 .
- the signal output part 504 outputs, to the hydraulic system, the control signal received from the management device 300 .
- the functional blocks in the controller (one example of a second control device) 303 of the management device 300 will be described.
- the functional blocks in the controller 303 are conceptual and are not necessarily physically configured as illustrated. All or a part of the functional blocks can be configured in a functionally or physically distributed or integrated manner in a given unit. All or a part of the processing functions performed in the functional blocks are or is realized by programs executed in the CPU. Alternatively, the functional blocks may be realized as hardware based on a wired logic.
- the controller 303 includes a reception control part 331 , a virtual working site space generation part 332 , a moving track generation part 333 , a signal generation part 334 , and a transmission control part 335 .
- the management device 300 is a device provided for assisting the working of the shovel 100 .
- the management device 300 may be realized by such a device as a server. Note that, the management device 300 is not limited to being provided from a server or the like, and may be realized through a cloud service.
- the management device 300 When the shovel 100 has been switched to the network control, the management device 300 generates a control command for performing work, and performs control for transmitting the generated control command to the shovel 100 .
- the management device 300 may provide the control assistance of the shovel 100 as, for example, a paid service. For example, the management device 300 may measure the time from after the shovel 100 has been switched to the network control until the network control ends. A manager of the management device 300 may charge a manager of the shovel 100 for money equivalent to the measured time. How money is charged may be in any way, and may be a daily or monthly fixed charge.
- the reception control part 331 may pertain control for receiving various information via a communication device T 2 from the fixed-point measurement device 400 and the shovel 100 .
- the reception control part 331 receives the measurement information and the position information from the fixed-point measurement device 400 .
- the reception control part 331 receives, from the shovel 100 , the position information, the detection information, and the operation information.
- the detection information includes detection results of various sensors.
- the detection results of various sensors include, for example, the rotation angle of the boom 4 detected by the boom angle sensor S 1 , the rotation angle of the arm 5 detected by the arm angle sensor S 2 , and the rotation angle of the bucket 6 detected by the bucket angle sensor S 3 . Because the management device 300 previously retains the sizes of the boom 4 , the arm 5 , and the bucket 6 , the management device 300 can recognize the current statuses of the attachments of the shovel 100 including the position of the bucket 6 .
- the management device 300 can recognize the current position of the shovel 100 , and the current moving statuses of the shovel 100 and the attachments thereof.
- the detection information may further include detection results of the machine body tilt sensor S 4 and the swivel angular velocity sensor S 5 . When those detection results are included, the management device 300 can generate a control signal in consideration of the detection results.
- the virtual working site space generation part 332 generates the virtual working site space representing a three-dimensional shape of the working site based on the measurement information and the position information received by the reception control part 331 from the fixed-point measurement device 400 .
- the measurement information is a measurement result indicating a distance between the fixed-point measurement device 400 serving as a reference and an object in the working site. That is, from the measurement information and the position information, it is possible to recognize distances from the positions indicated by the position information to the objects. Therefore, the virtual working site space generation part 332 can generate a three-dimensional map representing the positions and the shapes of the objects existing in the working site from the position information and the measurement information, which are obtained from each of the two or more fixed-point measurement devices 400 disposed in the working site.
- the generated three-dimensional map is stored in the working site information storage part 322 .
- the moving track generation part 333 When the network control has been selected in the shovel 100 , the moving track generation part 333 generates a moving track along which one or more of the bucket 6 , the upper swiveling body 3 , and the lower traveling body 1 of the shovel 100 move.
- the moving track generation part 333 when operation information indicating raising of the boom 4 has been received in a state where the bucket 6 is loaded with soil and sand and the like, the moving track generation part 333 generates a moving track of the bucket 6 for performing the raising of the boom 4 in a state where the opening surface of the bucket 6 is maintained approximately horizontally.
- a moving track of the bucket 6 may be generated for forming the shape of soil and sand represented in the three-dimensional map into a shape indicated by the construction information.
- the signal generation part 334 Based on the current status of the shovel 100 indicated by the detection information, the signal generation part 334 generates a control signal for the bucket 6 , the upper swiveling body 3 , or the lower traveling body 1 of the shovel 100 to move along the generated moving track.
- the generated control signal is a signal for moving the boom 4 , the arm 5 , the bucket 6 , the upper swiveling body 3 , the lower traveling body 1 , or any combination thereof.
- the transmission control part 335 transmits the control signal, generated by the signal generation part 334 , to the shovel 100 .
- the shovel 100 can perform semi-automated control or the like in accordance with the moving track generated by the management device 300 .
- FIG. 7 is a conceptual view illustrating the virtual working site space generated by the virtual working site space generation part 332 .
- a three-dimensional map of a virtual working site space 1701 as illustrated in FIG. 7 is generated based on the measurement information and the position information from the fixed-point measurement device 400 .
- the construction information indicates constructing a slope 1702 .
- the virtual working site space generation part 332 can identify a position coordinate P (x L , y L , z L ) indicating a position 1713 of the bucket 6 in a machine body coordinate system 1712 of the shovel 100 based on: the sizes of the components of the shovel 100 ; and the rotation angle of the boom 4 , the rotation angle of the arm 5 , and the rotation angle of the bucket 6 included in the detection information.
- the management device 300 receives, from the shovel 100 , the position information (including the orientation) of the shovel 100 obtained by the positioning device S 6 .
- the position information (including the orientation) indicates the position and the orientation of the shovel 100 in a reference coordinate system 1711 , in other words, a relative positional relationship between the reference coordinate system 1711 and the machine body coordinate system 1712 .
- the virtual working site space generation part 332 can identify a position coordinate P (x G , y G , z G ) indicating the position 1713 of the bucket 6 in the reference coordinate system 1711 .
- the moving track generation part 333 can generate a moving track for moving the bucket 6 so as to construct the slope 1702 , with the current position of the bucket 6 being a start point.
- FIG. 8 is a view illustrating a movement performed in accordance with the control signal received by the shovel 100 according to the present embodiment.
- the example as illustrated in FIG. 8 is an example in which a moving track 1802 of the bucket 6 of the shovel 100 is generated for construction of a slope 1801 .
- the management device 300 In order to move the bucket 6 along the moving track 1802 , the management device 300 generates, and then transmits, a control signal that is for rotating the bucket 6 in a rotation direction 1811 , for rotating the arm 5 in a rotation direction 1812 , and for rotating the boom 4 in a rotation direction 1813 .
- the signal output part 504 When the reception control part 503 of the shovel 100 has received the control signal, the signal output part 504 outputs the received control signal to the hydraulic system or the like. In this way, in the present embodiment, it is possible to provide the shovel 100 with, for example, semi-automated control.
- FIG. 9 is a sequence diagram illustrating the flow of the process when the semi-automated control of the shovel 100 is performed in the shovel control system SYS according to the present embodiment.
- the fixed-point measurement device 400 measures objects and the like existing therearound using the space recognition device 403 (S 1801 ).
- the transmission control part 411 of the fixed-point measurement device 400 transmits measurement information, which is a measurement result, to the management device 300 (S 1802 ).
- the virtual working site space generation part 332 of the management device 300 generates, based on the received measurement information, the three-dimensional map of the virtual working site space 1701 (S 1803 ). Note that, in steps S 1801 to S 1803 , the three-dimensional map stored in the working site information storage part 322 may be updated every time the fixed-point measurement device 400 performs the measurement.
- the shovel 100 is switched to the network control (S 1804 ).
- the transmission control part 502 of the shovel 100 notifies the management device 300 of being switched to the network control (S 1805 ).
- the moving track generation part 333 of the management device 300 reads out the construction information of the shovel 100 from the construction information storage part 321 (S 1806 ).
- the shovel controller 50 of the shovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S 6 (S 1807 ). The detection information and the position information are regularly obtained. Then, the transmission control part 502 transmits the detection information and the position information to the management device 300 (S 1808 ).
- the moving track generation part 333 of the management device 300 generates a moving track from the current position of the shovel 100 in order to perform construction in accordance with the construction information (S 1809 ).
- the shovel controller 50 of the shovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S 6 (S 1810 ). Moreover, the shovel controller 50 receives an operation of the operation device 26 (S 1811 ).
- the transmission control part 502 transmits the position information, the detection information, and the operation information (S 1812 ).
- the signal generation part 334 when the reception control part 331 has received the position information, the detection information, and the operation information, the signal generation part 334 generates a control signal for moving the lower traveling body 1 , the bucket 6 , or the like along the moving track from the current position thereof (S 1813 ).
- the transmission control part 335 transmits the control signal, generated by the signal generation part 334 , to the shovel 100 (S 1814 ).
- the signal output part 504 outputs the received control signal to the hydraulic system (S 1815 ).
- steps S 1810 to S 1815 are repeated for moving the shovel 100 along the moving track.
- the management device 300 transmits the control signal to the shovel 100 , such high-level control as semi-automated control can be realized even in the shovel 100 . Therefore, it is possible to reduce the operation burden on operators.
- the management device 300 receives the position information and the detection information from the shovel 100 , thereby recognizing the current position of the shovel 100 and the current moving status (e.g., the position of the bucket 6 ) of the shovel 100 .
- the above-described embodiment does not limit a way to recognize the current position and the current moving status of the shovel 100 to the way based on the position information and the detection information from the shovel 100 .
- the position and the moving status of the shovel 100 are identified based on the measurement information from the fixed-point measurement device 400 .
- the fixed-point measurement device 400 transmits the measurement information. Because the measurement information includes information indicating a distance from the fixed-point measurement device 400 to an object, the measurement information also includes the position of the shovel 100 from the fixed-point measurement device 400 serving as a reference, and the shape of the shovel 100 . Therefore, the virtual working site space generation part 332 recognizes the position and the shape of the shovel 100 based on the received measurement information. From the shape of the shovel 100 , it is possible to recognize the positions of the attachments. In other words, the management device 300 of the present modified example can identify, from the measurement information, the position of the shovel 100 and the moving status (e.g., the position of the bucket 6 ) of the shovel 100 .
- the measurement information includes information indicating a distance from the fixed-point measurement device 400 to an object
- the measurement information also includes the position of the shovel 100 from the fixed-point measurement device 400 serving as a reference, and the shape of the shovel 100 . Therefore, the virtual working site space generation part 332 recognizes the position
- the fixed-point measurement device 400 may be provided with a photographing device.
- the fixed-point measurement device 400 may transmit image information photographed by the photographing device to the management device 300 .
- the virtual working site space generation part 332 of the management device 300 may identify the position and the moving status of the shovel 100 based on a combination of the measurement information and the image information.
- the management device 300 performs control based on the measurement information of the fixed-point measurement device 400 .
- the above-described embodiment is not limited to the case where the fixed-point measurement device 400 performs the measurement.
- a detachable space recognition device for the shovel 100 may be provided.
- the space recognition device Before performing the network control, the space recognition device is attached to the shovel 100 . Then, the communication device T 1 of the shovel 100 may transmit, to the management device 300 , the measurement information that is a measurement result of the space recognition device.
- the detachable component for the shovel 100 is not limited to the space recognition device, and any one or more of the positioning device S 6 , the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 may be detachable.
- the positioning device S 6 , the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 are attached to the shovel 100 together with the space recognition device, it is possible to realize similar control to the control in the above-described embodiment.
- the space recognition device, the positioning device S 6 , the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 may be borrowed from, for example, a predetermined vendor. Then, these components borrowed from the predetermined vendor may be attached to the shovel 100 .
- the present modified example proposes a way to equip the shovel 100 with sensing-related components, if necessary. Therefore, even if the fixed-point measurement device 400 is not disposed in the working site unlike in the above-described embodiment, control assistance of the shovel 100 can be realized by the management device 300 . Therefore, it is possible to reduce the operation burden on operators.
- FIG. 10 is a sequence diagram illustrating the flow of the process when the fully-automated control of the shovel 100 is performed in the shovel control system SYS according to the present embodiment.
- the management device 300 performs generation of a three-dimensional map of the working site (S 2001 to S 2003 ). Note that, in steps S 2001 to S 2003 , the three-dimensional map may be updated every time the fixed-point measurement device 400 performs the measurement.
- the shovel 100 is switched to the network control (S 2004 ).
- the fully-automated control is performed when the shovel 100 is switched to the network control.
- a user may select either the semi-automated control as described in the first embodiment or the fully-automated control as described in the present embodiment.
- the present embodiment is not limited to the method of switching to the network control by the operation of the input device D 1 .
- switching to the network control may be performed in accordance with operation information received by the switch control part 501 from a communication terminal of the manager of the working site. In this way, in the present embodiment, the switching to the network control can be performed even without an operator who rides in the shovel 100 .
- the management device 300 generates a moving track for the shovel to work (S 2005 to S 2009 ).
- the shovel controller 50 of the shovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S 6 (S 2010 ). Then, the transmission control part 502 transmits the detection information and the position information to the management device 300 (S 2011 ).
- the signal generation part 334 when the reception control part 331 has received the position information and the detection information, the signal generation part 334 generates a control signal for moving the lower traveling body 1 , the bucket 6 , or the like along the moving track from the current position thereof (S 2012 ).
- the transmission control part 335 transmits the control signal, generated by the signal generation part 334 , to the shovel 100 (S 2013 ).
- the signal output part 504 outputs the received control signal to the hydraulic system (S 2014 ).
- steps S 2010 to S 2014 are repeated for moving the shovel 100 along the moving track.
- the control signal for moving the shovel 100 is generated, and then transmitted, based on the position information and the detection information received from the shovel 100 .
- the semi-automated control or the fully-automated control is performed in the shovel 100 .
- the control that can be realized in the shovel 100 is not limited to the semi-automated control or the fully-automated control.
- remote control performed in the shovel 100 will be described.
- FIG. 11 is a schematic view illustrating a configurational example of a shovel control system SYS 1 according to the present embodiment.
- the shovel 100 , the management device 300 , the fixed-point measurement device 400 , and a remote operation room RC are connected to each other via the communication network NW.
- the configurations of the shovel 100 and the management device 300 are similar to those in the above-described embodiments.
- the fixed-point measurement device 400 may be provided with a photographing device.
- the fixed-point measurement device 400 may transmit, to the management device 300 , the measurement information including image information obtained by the photographing device.
- the switch control part 501 enables switching to the network control or the manual control.
- the network control according to the present embodiment illustrates remote control. Note that, upon performing switching to the network control, any one of the semi-automated control of the shovel 100 , the fully-automated control of the shovel 100 , and the remote control of the shovel 100 may be selectable.
- remote control by the remote operation room RC is started.
- the switching to the network control is not limited to being through the operation received by the input device D 1 of the shovel 100 , and may be based on operation information from a communication terminal of the manager of the working site.
- the detection information from various sensors provided in the shovel 100 is transmitted to the management device 300 using the communication device T 1 provided in the shovel 100 .
- the virtual working site space generation part 332 of the management device 300 generates a three-dimensional map of the working site. Based on the three-dimensional map and the received image information, the virtual working site space generation part 332 of the management device 300 generates a display screen representing the surroundings of the shovel 100 from the position of the shovel 100 .
- the display screen may be a virtual display screen representing the surroundings of the shovel 100 as viewed from the cab 10 of the shovel 100 , an overhead display screen representing the surroundings of the shovel 100 , a virtual three-dimensional map of the working site, or any combination thereof.
- the transmission control part 335 transmits the generated display screen to the remote operation room RC.
- the remote operation room RC in the shovel control system SYS 1 is provided with a display device DR, an operation device D 1 R, a pressure sensor D 2 R, an operation seat DS, a remote controller 80 , and the communication device T 2 .
- An operator OP rides at the operation seat DS.
- the remote controller 80 (one example of a remote control device) 80 performs overall control of the remote operation room RC.
- the communication device T 2 transmits and receives information between the management device 300 and the shovel 100 .
- the display device DR displays a display screen received from the management device 300 via the communication device T 2 . Thereby, even if the operator OP at the operation seat DS is in the remote operation room RC, the operator OP can confirm the status surrounding the shovel 100 .
- the operator OP at the operation seat DS in the remote operation room RC operates an operation device (one example of a remote operation device) D 1 R. Then, the pressure sensor D 2 R detects the operation content received by the operation device D 1 R.
- an operation device one example of a remote operation device
- the manual control or the semi-automated control of the shovel 100 may be performed from the remote operation room RC.
- the remote controller 80 When the manual control is performed, the remote controller 80 generates a control signal corresponding to the detected operation content. For example, one operation lever of the operation device D 1 R is used for the swiveling operation and the operation of the arm 5 . When the operation lever is operated in the forward and backward directions, the remote controller 80 generates a control signal for moving the arm cylinder 8 by the action of a control pressure corresponding to the amount of the lever operation. In this way, the remote controller 80 generates a control signal for performing the manual control of the shovel 100 in accordance with the operation amount of the operation lever. Then, the communication device T 2 transmits the generated control signal to the shovel 100 . When the remote controller 80 transmits the control signal, it is possible to realize the manual control of the shovel 100 through the remote operation.
- the remote controller 80 transmits the control signal, it is possible to realize the manual control of the shovel 100 through the remote operation.
- the remote operation of the shovel 100 from the remote operation room RC is not limited to the above-described manual control, and may be semi-automated control with the assistance of the management device 300 . Next, the case of performing the semi-automated control will be described.
- FIG. 12 is a sequence diagram illustrating the flow of the process when the semi-automated control of the shovel 100 is performed by a remote operation in the shovel control system SYS 1 according to the present embodiment.
- the fixed-point measurement device 400 measures objects and the like existing therearound using the space recognition device 403 (S 2201 ).
- a photographing device may be used to photograph the surroundings.
- the transmission control part 411 of the fixed-point measurement device 400 transmits measurement information, which is a measurement result, to the management device 300 (S 2202 ).
- the measurement information also includes the photographed image information.
- the virtual working site space generation part 332 of the management device 300 generates, based on the received measurement information, the three-dimensional map of the virtual working site space 1701 (S 2203 ).
- the virtual working site space generation part 332 may attach image information to the generated three-dimensional shape.
- the three-dimensional map stored in the working site information storage part 322 may be updated every time the fixed-point measurement device 400 performs the measurement.
- the switch control part 501 performs switching to the network control (remote control) in accordance with an input operation received from the input device D 1 or operation information received from a communication terminal (S 2204 ).
- the network control remote control
- FIG. 12 settings for pertaining the semi-automated control are made.
- the transmission control part 502 of the shovel 100 notifies the management device 300 of being switched to the network control (S 2205 ).
- the virtual working site space generation part 332 of the management device 300 generates a display screen that can be referred to from the position of the shovel 100 (S 2206 ).
- the transmission control part 335 of the management device 300 transmits the generated display screen to the remote operation room RC (S 2207 ).
- the remote controller 80 of the remote operation room RC displays the received display screen on the display device DR (S 2208 ).
- the moving track generation part 333 of the management device 300 reads out the construction information of the shovel 100 from the construction information storage part 321 (S 2209 ).
- the shovel controller 50 of the shovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S 6 (S 2210 ). The detection information and the position information are regularly obtained. Then, the transmission control part 502 transmits the detection information and the position information to the management device 300 (S 2211 ).
- the moving track generation part 333 of the management device 300 generates a moving track from the current position of the shovel 100 in order to perform construction in accordance with the construction information (S 2212 ).
- the shovel controller 50 of the shovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S 6 (S 2213 ). Then, the transmission control part 502 transmits the position information and the detection information (S 2214 ).
- the remote controller 80 receives an operation from the operation device D 1 R via the pressure sensor D 2 R (S 2215 ).
- the remote controller 80 transmits the operation information indicating the received operation (one example of remote operation information) (S 2216 ).
- the signal generation part 334 when the reception control part 331 has received the position information and the detection information and then the operation information, the signal generation part 334 generates a control signal for moving the lower traveling body 1 , the bucket 6 , or the like along the moving track from the current position thereof in accordance with the operation (S 2217 ).
- the transmission control part 335 transmits the control signal, generated by the signal generation part 334 , to the shovel 100 (S 2218 ).
- the signal output part 504 outputs the received control signal to the hydraulic system (S 2219 ).
- steps S 2213 to S 2219 are repeated for moving the shovel 100 along the moving track.
- the remote operation room RC and the management device 300 are separately provided.
- the present embodiment is not limited to the case where the remote operation room RC and the management device 300 are separately provided, and the management device 300 may be provided in the remote operation room RC.
- the shovel 100 can perform switching between the manual control and the network control. That is, the shovel 100 can perform working through the manual control when there is no need for high-level control using sensing-related components, and can perform working through the network control with the assistance of the management device 300 when there is a need for high-level control. Thereby, it is possible to reduce the operation burden on the operator.
- the working site is visualized by the fixed-point measurement device 400 , and thus the management device 300 can recognize the status of the working site. Therefore, even if the shovel 100 does not include any high-level sensing-related component, the shovel 100 can perform work based on the status of the working site by moving in accordance with the control signal from the management device 300 . For example, the shovel 100 moves in accordance with the control signal from the management device 300 , thereby enabling the bucket 6 to move so as to form a three-dimensional shape of the working site in accordance with the construction information retained by the management device 300 .
- the shovel does not include any sensing-related component such as a space recognition device and does not include any controller that can realize machine control (MC), it is possible to realize high-level control such as semi-automated control, fully-automated control, or remote control as described above, and thus realize reduction in cost.
- MC machine control
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A shovel includes a lower traveling body, an upper swiveling body swivelably mounted to the lower traveling body, an attachment attached to the upper swiveling body, an operation device including an electric operation lever, a communication device configured to transmit or receive information to or from an external device, and a control device. The control device is configured to perform switching between first control that controls the lower traveling body, the upper swiveling body, the attachment, or any combination thereof in accordance with first operation information received by the operation device, and second control that receives, from the external device, a control signal for controlling the lower traveling body, the upper swiveling body, the attachment, or any combination thereof, and controls the lower traveling body, the upper swiveling body, the attachment, or any combination thereof in accordance with the received control signal.
Description
- This application is based upon and claims priority to Japanese Patent Application No. 2022-174949, filed on Oct. 31, 2022, the entire contents of which are incorporated herein by reference.
- The present disclosure relates to shovels and shovel control systems.
- In recent years, what is called an information and communication technology (ICT) shovel has been proposed. The ICT shovel semi-automates or fully-automates operations thereof based on: position information obtained through a global navigation satellite system (GNSS); and three-dimensional design information. For example, a known technique proposes an ICT shovel that can realize construction assistance in accordance with items set on a setting screen.
- A shovel according to one embodiment of the present disclosure includes a lower traveling body, an upper swiveling body swivelably mounted to the lower traveling body, an attachment attached to the upper swiveling body, a bucket provided at an end of the attachment, an operation device, a communication device configured to transmit or receive information to or from an external device, and a control device. The control device is configured to perform switching between: first control that controls the upper swiveling body, the attachment, the bucket, or any combination thereof in accordance with first operation information received by the operation device; and second control that receives, from the external device, a control signal for controlling the upper swiveling body, the attachment, the bucket, or any combination thereof, and controls the upper swiveling body, the attachment, the bucket, or any combination thereof in accordance with the received control signal.
-
FIG. 1 is a schematic view illustrating one example of a shovel control system according to a first embodiment; -
FIG. 2 is a block diagram schematically illustrating one example of a configuration of a shovel according to the first embodiment; -
FIG. 3 is a view illustrating a configurational example of a drive control system of the shovel according to the first embodiment; -
FIG. 4 is a view schematically illustrating one example of a configuration of a hydraulic system of the shovel according to the first embodiment; -
FIGS. 5A to 5D are each a view illustrating details of a configuration in relation to a machine control function of the shovel according to the first embodiment; -
FIG. 6 is a functional block diagram illustrating one example of a functional configuration of the shovel control system according to the first embodiment; -
FIG. 7 is a conceptual view illustrating a virtual working site space generated by a virtual working site space generation part according to the first embodiment; -
FIG. 8 is a view illustrating a movement performed in accordance with a control signal received by the shovel according to the first embodiment; -
FIG. 9 is a sequence diagram illustrating a flow of a process when semi-automated control of a shovel is performed in the shovel control system according to the first embodiment; -
FIG. 10 is a sequence diagram illustrating a flow of a process when fully-automated control of a shovel is performed in a shovel control system according to a second embodiment; -
FIG. 11 is a schematic view illustrating a configurational example of a shovel control system according to a third embodiment; and -
FIG. 12 is a sequence diagram illustrating a flow of a process when semi-automated control of a shovel is performed by a remote operation in the shovel control system according to the third embodiment. - The ICT shovel as described in the above known technique needs to include various sensors and high-performance controllers, and thus causes an increase in cost. Here, the high-performance controllers are for performing control based on calculation results obtained by calculating, for example, the position of a working portion of the ICT shovel based on detection results of the sensors. This is not limited to the ICT shovels that semi-automate or fully-automate the operations thereof, such as the ICT shovel described in the above known technique, and is applicable to ICT shovels that realize high-level control such as remote control.
- In view of the above, the present disclosure provides a technique of reducing the operation burden on operators by enabling high-level control with the assistance of an external device, even in a standard shovel that is not provided with, for example, a high-performance controller in the ICT shovel.
- According to the above-described embodiment, in which the first control and the second control are switchable, it is possible to reduce the burden on operators by switching the controls in accordance with working statuses.
- Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments as described below do not limit the present disclosure but are illustrative. All of the features described in the embodiments and combinations thereof are not necessarily essential to the present disclosure. Note that, throughout the drawings, the same or corresponding components are denoted by the same or corresponding symbols, and description thereof may be omitted.
- First, referring to
FIG. 1 , an overview of a shovel control system SYS will be described.FIG. 1 is a schematic view illustrating one example of the shovel control system SYS according to the first embodiment. - As illustrated in
FIG. 1 , the shovel control system SYS according to the first embodiment includes ashovel 100, a management device 300 (one example of the external device), and a fixed-point measurement device 400. Theshovel 100, themanagement device 300, and the fixed-point measurement device 400 can transmit or receive information to or from each other through a communication network NW. - The number of
shovels 100 included in the shovel control system SYS may be one or more. The shovel control system SYS can perform control and the like for each of theshovels 100. - Also, the number of
management devices 300 included in the shovel control system SYS may be one or more. Thereby, the shovel control system SYS can realize various functions by the two ormore management devices 300 in a distributed manner. - Also, the number of fixed-
point measurement devices 400 included in the shovel control system SYS may be one or more. Thereby, using the two or more fixed-point measurement devices 400, the shovel control system SYS can measure the space of a working site where theshovel 100 works and recognize the status of the whole working site based on measurement results. The present embodiment will be described as an example using the fixed-point measurement device 400 as one example of a space recognition device for measuring the working site. However, a drone, an operator's space recognition device, or the like may be used. - Referring to
FIG. 2 , an overview of theshovel 100 according to the present embodiment will be described.FIG. 2 is a lateral view of theshovel 100 as an excavator according to the first embodiment. An upperswiveling body 3 is swivelably mounted via aswiveling mechanism 2 to a lowertraveling body 1 of theshovel 100. Aboom 4 is attached to the upperswiveling body 3. Anarm 5 is attached to an end of theboom 4. Abucket 6, which is an end attachment, is attached to an end of thearm 5. The end attachment may be, for example, a bucket for slope formation or a bucket for dredging. - The
boom 4, thearm 5, and thebucket 6 form an excavating attachment, which is one example of the attachment. Theboom 4, thearm 5, and thebucket 6 are hydraulically driven by aboom cylinder 7, anarm cylinder 8, and abucket cylinder 9, respectively. A boom angle sensor S1 is attached to theboom 4, an arm angle sensor S2 is attached to thearm 5, and a bucket angle sensor S3 is attached to thebucket 6. The excavating attachment may be provided with a bucket tilt mechanism. - The boom angle sensor S1 is configured to detect a rotation angle of the
boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect a boom angle that is the rotation angle of theboom 4 with respect to the upperswiveling body 3. The boom angle is, for example, the minimum angle when theboom 4 is moved down to the lowest position, and the boom angle increases as theboom 4 is raised. - The arm angle sensor S2 is configured to detect a rotation angle of the
arm 5. In the present embodiment, the aim angle sensor S2 is an acceleration sensor, and can detect an arm angle that is the rotation angle of thearm 5 with respect to theboom 4. The arm angle is, for example, the minimum angle when thearm 5 is closed at most, and the arm angle increases as thearm 5 is opened. - The bucket angle sensor S3 is configured to detect a rotation angle of the
bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect a bucket angle that is the rotation angle of thebucket 6 with respect to theaim 5. The bucket angle is, for example, the minimum angle when thebucket 6 is closed at most, and the bucket angle increases as thebucket 6 is opened. - The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be, for example, a potentiometer using a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle about a coupling pin. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 form a posture sensor configured to detect a posture of the excavating attachment.
- A
cab 10, which is an operation room, is provided in theupper swiveling body 3 and a power source such as anengine 11 is mounted to theupper swiveling body 3. Also, a machine body tilt sensor S4 and a swivel angular velocity sensor S5 are attached to theupper swiveling body 3. Also, a communication device T1 and a positioning device S6 are attached to theupper swiveling body 3. - The machine body tilt sensor S4 is configured to detect the tilt of the
upper swiveling body 3 with respect to a predetermined flat plane. In the present embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the tilting angle, with respect to the horizontal surface, about the front-back axis of theupper swiveling body 3 and the tilting angle about the left-right axis of theupper swiveling body 3. The front-back axis and the left-right axis of theupper swiveling body 3 are orthogonal to each other at the center point of the shovel, which is a point on the swiveling axis of theshovel 100, for example. - The swivel angular velocity sensor S5 is configured to detect a swiveling angular velocity of the
upper swiveling body 3. In the present embodiment, the swivel angular velocity sensor S5 is a gyro sensor. The swivel angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The swivel angular velocity sensor S5 may detect a swiveling velocity. The swiveling velocity may be calculated from the swivel angular velocity. - The communication device T1 is a device that controls communication between the
shovel 100 and the exterior thereof. The communication device T1 controls, for example, wireless communication between an external GNSS (Global Navigation Satellite System) survey system and theshovel 100. Theshovel 100 can obtain design data through wireless communication by using the communication device T1. However, theshovel 100 may obtain design data using a semiconductor memory or the like. Note that, the design data includes three-dimensional design data. - The positioning device S6 is configured to obtain information in relation to a position of the
shovel 100. In the present embodiment, the positioning device S6 is configured to measure the position and an orientation of theshovel 100. Specifically, the positioning device S6 is a GNSS receiver including an electronic compass, and measures the latitude, the longitude, and the altitude of theshovel 100 and measures the orientation of theshovel 100. The position information obtained by the positioning device S6 is expressed in a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system in which the origin is set at the center of gravity of the globe, the X axis is taken in a direction toward the intersection between the Greenwich meridian and the equator, the Y axis is taken in a direction at 90 degrees of the east longitude, and the Z axis is taken in a direction toward the North Pole. - In the
cab 10, an input device D1, a sound output device D2, a display device D3, a storage device D4, a gate lock lever D5, and acontroller 30 are disposed. - The
controller 30 is configured to function as a main control part that performs drive control of theshovel 100. In the present embodiment, thecontroller 30 is configured by a processor including a CPU, an internal memory, and the like. Various functions of thecontroller 30 are achieved by, for example, the CPU executing programs stored in the internal memory. - The input device D1 is a device that enables the operator of the
shovel 100 to input various information to thecontroller 30. In the present embodiment, the input device D1 is a membrane switch that is attached around the display device D3. The input devices D1 may be individually disposed so as to correspond to each of the display devices D3. In this case, the input device D1 may be a touch panel. - The sound output device D2 outputs various sound information in accordance with a sound output command from the
controller 30. In the present embodiment, the sound output device D2 is an on-board speaker that is directly connected to thecontroller 30. The sound output device D2 may be an alarm such as a buzzer. - The display device D3 outputs various image information in accordance with a command from the
controller 30. In the present embodiment, the display device D3 is an on-board liquid crystal display that is directly connected to thecontroller 30. - The storage device D4 is a device that stores various information. In the present embodiment, as the storage device D4, a non-volatile storage medium, such as a semiconductor memory, is used. The storage device D4 stores design data and the like. The storage device D4 may store various information output by the
controller 30 and the like. - The gate lock lever D5 is a mechanism that prevents the
shovel 100 from being wrongly operated. In the present embodiment, the gate lock lever D5 is disposed between a door of thecab 10 and an operation room 10S. When the gate lock lever D5 is pulled upward, various operation devices can become operated. Meanwhile, when the gate lock lever D5 is pressed downward, various operation devices cannot become operated. -
FIG. 3 is a view illustrating a configurational example of a drive control system of theshovel 100 ofFIG. 2 . InFIG. 3 , a mechanical power transmission system is denoted by a double line, a hydraulic oil line is by a bold solid line, a pilot line is by a dashed line, and an electrical driving/control system is by a dotted line. - A drive system of the
shovel 100 according to the present embodiment includes anengine 11, aregulator 13, amain pump 14, and acontrol valve 17. Also, the hydraulic drive system of theshovel 100 according to the present embodiment includes, as described above, the hydraulic actuators such as travelinghydraulic motors hydraulic motor 2A, theboom cylinder 7, thearm cylinder 8, and thebucket cylinder 9 that hydraulically drive thelower traveling body 1, theupper swiveling body 3, theboom 4, thearm 5, and thebucket 6, respectively. - The
engine 11 is a main power source in the hydraulic drive system and is provided, for example, at the back portion of theupper swiveling body 3. Specifically, theengine 11 constantly rotates at a preset target rotation speed under direct or indirect control by acontroller 30 described below, thereby driving themain pump 14 and apilot pump 15. Theengine 11 is, for example, a diesel engine using diesel oil as a fuel. - The
regulator 13 controls the discharge amount of themain pump 14. For example, theregulator 13 adjusts the angle of a swashplate (tilting angle) of themain pump 14 in accordance with a control command from thecontroller 30. As described below, for example, theregulator 13 includesregulators - Similar to the
engine 11, themain pump 14 is provided, for example, at the back portion of theupper swiveling body 3, and feeds hydraulic oil to thecontrol valve 17 through the high-pressure hydraulic line. Themain pump 14 is, as described above, driven by theengine 11. Themain pump 14 is, for example, a variable displacement hydraulic pump. As described above, when the tilting angle of the swashplate is adjusted by theregulator 13 under control by thecontroller 30, the stroke length of the piston is adjusted and the discharge flow rate (discharge pressure) is controlled. For example, themain pump 14 includesmain pumps - The
control valve 17 is a hydraulic control device that controls a hydraulic system in theshovel 100. In the present embodiment, thecontrol valve 17 includescontrol valves 171 to 176. Thecontrol valve 175 includes acontrol valve 175L and acontrol valve 175R, and thecontrol valve 176 includes acontrol valve 176L and acontrol valve 176R. Thecontrol valve 17 can selectively feed the hydraulic oil discharged by themain pump 14 to one or more hydraulic actuators through thecontrol valves 171 to 176. Thecontrol valves 171 to 176 control, for example, the flow rate of the hydraulic oil flowing from themain pump 14 to the hydraulic actuators and the flow rate of the hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuator includes theboom cylinder 7, thearm cylinder 8, thebucket cylinder 9, the travelinghydraulic motors hydraulic motor 2A. More specifically, thecontrol valve 171 corresponds to the left travelinghydraulic motor 1L, thecontrol valve 172 corresponds to the right travelinghydraulic motor 1R, and thecontrol valve 173 corresponds to the swivelinghydraulic motor 2A. Also, thecontrol valve 174 corresponds to thebucket cylinder 9, thecontrol valve 175 corresponds to theboom cylinder 7, and thecontrol valve 176 corresponds to thearm cylinder 8. Also, for example, thecontrol valve 175 includescontrol valves control valve 176 includescontrol valves control valves 171 to 176 will be described below. - The
pilot pump 15 is one example of a pilot pressure generating device, and is configured to feed the hydraulic oil to a hydraulic pressure control device through the pilot line. In the present embodiment, thepilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be achieved by themain pump 14. That is, themain pump 14 may have a function of feeding the hydraulic oil to various hydraulic control devices through the pilot line, in addition to the function of feeding the hydraulic oil to thecontrol valve 17 through the hydraulic oil line. In this case, thepilot pump 15 may be omitted. - The
operation device 26 is a device used by an operator for operating the actuator. The actuator includes the hydraulic actuator, an electric-powered actuator, or both. - The
discharge pressure sensor 28 is configured to detect the discharge pressure of themain pump 14. In the present embodiment, thedischarge pressure sensor 28 outputs a detected value to thecontroller 30. For example, thedischarge pressure sensor 28 includesdischarge pressure sensors - An
operation sensor 29 is configured to detect an operation content of the operator using theoperation device 26. In the present embodiment, theoperation sensor 29 detects the direction and the amount of the operation of theoperation device 26 corresponding to each of the actuators, and outputs a detected value to thecontroller 30. In the present embodiment, thecontroller 30 controls an opening area of aproportional valve 31 in accordance with the output of theoperation sensor 29. Thecontroller 30 feeds the hydraulic oil discharged by thepilot pump 15 to pilot ports of corresponding control valves in thecontrol valve 17. The pressure (pilot pressure) of the hydraulic oil fed to each of the pilot ports is, in principle, a pressure in accordance with the direction and the amount of the operation of theoperation device 26 corresponding to each of the hydraulic actuators. In this way, theoperation device 26 is configured to feed the hydraulic oil discharged by thepilot pump 15 to the pilot ports of the corresponding control valves in thecontrol valve 17. - The
proportional valve 31, which functions as a machine control valve, is disposed in a conduit connecting thepilot pump 15 to the pilot port of the control valve in thecontrol valve 17 and is configured to change the flow area of the conduit. In the present embodiment, theproportional valve 31 operates in response to a control command output by thecontroller 30. Thus, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the pilot port of the control valve in thecontrol valve 17 through theproportional valve 31, independently of the operation of theoperation device 26 by the operator. For example, theproportional valve 31 includes proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, and 31CR, as described below. - With this configuration, even if no operation is being performed on a
specific operation device 26, thecontroller 30 can operate the hydraulic actuator corresponding to thespecific operation device 26. - For example, the
controller 30 sets the target rotation speed based on, for example, a working mode that is previously set by a predetermined operation of the operator or the like, and performs drive control that constantly rotates theengine 11. - Also, for example, the
controller 30, if necessary, outputs a control command to theregulator 13, and changes the discharge amount of themain pump 14. - Also, for example, the
controller 30 performs, for example, control in relation to a machine guidance function that guides a manual operation of theshovel 100 by the operator through theoperation device 26. Also, thecontroller 30 performs, for example, control in relation to a machine control function that automatically assists a manual operation of theshovel 100 by the operator through theoperation device 26. - Note that, a part of the functions of the
controller 30 may be realized by another controller (control device). In other words, the functions of thecontroller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by dedicated controllers (control devices). - Next, referring to
FIG. 4 , a hydraulic system of theshovel 100 according to the present embodiment will be described. -
FIG. 4 is a view schematically illustrating one example of a configuration of the hydraulic system of theshovel 100 according to the present embodiment. - Note in
FIG. 4 that, similar toFIG. 3 and the like, a mechanical power system is denoted by a double line, a hydraulic oil line is by a solid line, a pilot line is by a dashed line, and an electrical driving/control system is by a dotted line. - The hydraulic system realized by the hydraulic circuit circulates the hydraulic oil from the respective
main pumps engine 11 to the hydraulic oil tank through center bypass oil paths C1L and C1R and parallel oil paths C2L and C2R. - The center bypass oil path C1L starts with the
main pump 14L, and sequentially passes through thecontrol valves control valve 17 and reaches the hydraulic oil tank. - The center bypass oil path C1R starts with the
main pump 14R, and sequentially passes through thecontrol valves control valve 17 and reaches the hydraulic oil tank. - The
control valve 171 is a spool valve that feeds the hydraulic oil discharged from themain pump 14L to the travelinghydraulic motor 1L, and discharges the hydraulic oil discharged by the travelinghydraulic motor 1L to the hydraulic oil tank. - The
control valve 172 is a spool valve that feeds the hydraulic oil discharged from themain pump 14R to the travelinghydraulic motor 1R, and discharges the hydraulic oil discharged by the travelinghydraulic motor 1R to the hydraulic oil tank. - The
control valve 173 is a spool valve that feeds the hydraulic oil discharged from themain pump 14L to the swivelinghydraulic motor 2A, and discharges the hydraulic oil discharged by the swivelinghydraulic motor 2A to the hydraulic oil tank. - The
control valve 174 is a spool valve that feeds the hydraulic oil discharged from themain pump 14R to thebucket cylinder 9, and discharges the hydraulic oil in thebucket cylinder 9 to the hydraulic oil tank. - The
control valves main pumps boom cylinder 7, and discharge the hydraulic oil in theboom cylinder 7 to the hydraulic oil tank. - The
control valves main pumps aim cylinder 8, and discharge the hydraulic oil in thearm cylinder 8 to the hydraulic oil tank. - In accordance with the pilot pressure applied to the pilot port, each of the
control valves - The parallel oil path C2L feeds the hydraulic oil of the
main pump 14L to thecontrol valves control valve 171, and is configured to feed the hydraulic oil of themain pump 14L to thecontrol valves control valves - The parallel oil path C2R feeds the hydraulic oil of the
main pump 14R to thecontrol valves control valve 172, and is configured to feed the hydraulic oil of themain pump 14R to thecontrol valves control valves - The
regulators main pumps controller 30, thereby adjusting the discharge amounts of themain pumps - The
discharge pressure sensor 28L detects the discharge pressure of themain pump 14L, and a detection signal corresponding to the detected discharge pressure is input to thecontroller 30. The same applies to thedischarge pressure sensor 28R. Thereby, thecontroller 30 can control theregulators main pumps - In the center bypass oil paths C1L and C1R, restrictors for negative control (hereinafter referred to as “negative-control restrictors”) 18L and 18R are provided between the most
downstream control valves main pumps control restrictors control restrictors regulators - Negative-
control pressure sensors controller 30. - In accordance with the discharge pressures of the
main pumps discharge pressure sensors controller 30 may control theregulators main pumps main pump 14L, thecontroller 30 may control theregulator 13L and adjust the tilting angle of the swashplate of themain pump 14L, thereby reducing the discharge amount. The same applies to theregulator 13R. Thereby, thecontroller 30 can control the total horsepower of themain pumps main pumps engine 11. - Also, in accordance with the negative-control pressures detected by the negative-
control pressure sensors controller 30 may control theregulators main pumps controller 30 reduces the discharge amounts of themain pumps main pumps - Specifically, when the
shovel 100 is in a standby state in which all of the hydraulic actuators are not operated (the state as illustrated inFIG. 4 ), the hydraulic oil discharged from themain pumps control restrictors main pumps control restrictors controller 30 reduces the discharge amounts of themain pumps - Meanwhile, when any one of the hydraulic actuators is operated through the
operation device 26, the hydraulic oil discharged from themain pumps main pumps control restrictors control restrictors controller 30 increases the discharge amounts of themain pumps - The
operation device 26 includes aleft operation lever 26L, aright operation lever 26R, and a traveling lever 26D. The traveling lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR. - The
left operation lever 26L is used for the swivel operation and the operation of theaim 5. Theleft operation lever 26L, when operated in the forward and backward directions, utilizes the hydraulic oil discharged by thepilot pump 15 to introduce a control pressure in accordance with the amount of the lever operation into the pilot port of thecontrol valve 176. Also, theleft operation lever 26L, when operated in the leftward and rightward directions, utilizes the hydraulic oil discharged by thepilot pump 15 to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of thecontrol valve 173. - Specifically, the
left operation lever 26L introduces the hydraulic oil to the right pilot port of thecontrol valve 176L and introduces the hydraulic oil to the left pilot port of thecontrol valve 176R when operated in an arm closing direction. Also, theleft operation lever 26L, when operated in an arm opening direction, introduces the hydraulic oil to the left pilot port of thecontrol valve 176L and introduces the hydraulic oil to the right pilot port of thecontrol valve 176R. Also, theleft operation lever 26L introduces the hydraulic oil to the left pilot port of thecontrol valve 173 when operated in a leftward swiveling direction and introduces the hydraulic oil to the right pilot port of thecontrol valve 173 when operated in a rightward swiveling direction. - The
right operation lever 26R is used to operate theboom 4 and thebucket 6. Theright operation lever 26R utilizes the hydraulic oil discharged by thepilot pump 15 when operated in the forward and backward directions to introduce a control pressure in accordance with the amount of the lever operation into the pilot port of thecontrol valve 175. When operated in the leftward and rightward directions, the hydraulic oil discharged by thepilot pump 15 is used to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of thecontrol valve 174. - Specifically, the
right operation lever 26R introduces the hydraulic oil to the left pilot port of thecontrol valve 175R when operated in a boom lowering direction. Theright operation lever 26R, when operated in a boom raising direction, introduces the hydraulic oil to the right pilot port of thecontrol valve 175L and introduces the hydraulic oil to the left pilot port of thecontrol valve 175R. Theright operation lever 26R introduces the hydraulic oil to the right pilot port of thecontrol valve 174 when operated in a bucket closing direction, and introduces the hydraulic oil to the left pilot port of thecontrol valve 174 when operated in a bucket opening direction. - In the following, the
left operation lever 26L operated in the leftward and rightward directions may be referred to as a “swivel operation lever” and theleft operation lever 26L operated in the forward and backward directions may be referred to as an “arm operation lever”. Theright operation lever 26R operated in the leftward and rightward directions may be referred to as a “bucket operation lever” and theright operation lever 26R operated in the forward and backward directions may be referred to as a “boom operation lever”. - The left traveling lever 26DL is used to operate a left crawler 1CL. The left traveling lever 26DL may be configured to interlock with a left traveling pedal. The left traveling lever 26DL, when operated in the forward and backward directions, utilizes the hydraulic oil discharged by the
pilot pump 15 to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of thecontrol valve 171. The right traveling lever 26DR is used to operate a right crawler 1CR. The right traveling lever 26DR may be configured to interlock with a right traveling pedal. The right traveling lever 26DR, when operated in the forward and backward directions, utilizes the hydraulic oil discharged by thepilot pump 15 to introduce the control pressure in accordance with the amount of the lever operation into the pilot port of thecontrol valve 172. - The
operation sensor 29 is configured to detect an operation content of the operator using theoperation device 26. In the present embodiment, theoperation sensor 29 detects the direction and the amount of the operation of theoperation device 26 corresponding to each of the actuators, and outputs a detected value to thecontroller 30. - The
operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the content of the operation in the forward and backward directions by the operator relative to theleft operation lever 26L and outputs a detected value to thecontroller 30. The content of the operation is, for example, the direction of the lever operation and the amount of the lever operation (angle of the lever operation). - Similarly, the operation sensor 29LB detects the content of the operation by the operator in the leftward and rightward directions relative to the
left operation lever 26L and outputs a detected value to thecontroller 30. The operation sensor 29RA detects the content of the operation by the operator in the forward and backward directions relative to theright operation lever 26R and outputs a detected value to thecontroller 30. The operation sensor 29RB detects the content of the operation by the operator in the leftward and rightward directions relative to theright operation lever 26R and outputs a detected value to thecontroller 30. The operation sensor 29DL detects the content of the operation by the operator in the forward and backward directions relative to the left traveling lever 26DL and outputs a detected value to thecontroller 30. The operation sensor 29DR detects the content of the operation by the operator in the forward and backward directions relative to the right traveling lever 26DR and outputs a detected value to thecontroller 30. - The
controller 30 receives the output of theoperation sensor 29 and outputs a control command to theregulator 13 as needed to change the discharge amount of themain pump 14. Thecontroller 30 receives an output of a control pressure sensor 19 disposed upstream of a restrictor 18, and outputs a control command to theregulator 13 as needed to change the discharge amount of themain pump 14. The restrictor 18 includes aleft restrictor 18L and aright restrictor 18R, and the control pressure sensor 19 includes the negative-control pressure sensors - Next, referring to
FIGS. 5A to 5D , details of the configuration in relation to the machine control function of theshovel 100 will be described. -
FIGS. 5A to 5D are views of parts extracted from the hydraulic system. Specifically,FIG. 5A is a view of a part extracted from the hydraulic system in relation to the operation of theaim cylinder 8.FIG. 5B is a view of a part extracted from the hydraulic system in relation to the operation of theboom cylinder 7.FIG. 5C is a view of a part extracted from the hydraulic system in relation to the operation of thebucket cylinder 9.FIG. 5D is a view of a part extracted from the hydraulic system in relation to the operation of the swivelinghydraulic motor 2A. - As illustrated in
FIGS. 5A to 5D , the hydraulic system includes theproportional valve 31. Theproportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR. - The
proportional valve 31 functions as a control valve for machine control. Theproportional valve 31 is disposed in a conduit connecting thepilot pump 15 to the pilot port of the corresponding control valve in thecontrol valve 17, and is configured to change the flow path area of the conduit. In the present embodiment, theproportional valve 31 operates in response to a control command output by thecontroller 30. Thus, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the pilot port of the corresponding control valve in thecontrol valve 17 through theproportional valve 31, independently of the operation of theoperation device 26 by the operator. Thecontroller 30 can apply a pilot pressure generated by theproportional valve 31 to the pilot port of the corresponding control valve. - With this configuration, even if no operation is being performed on a
specific operation device 26, thecontroller 30 can operate the hydraulic actuator corresponding to thespecific operation device 26. Also, even if an operation is being performed on thespecific operation device 26, thecontroller 30 can forcibly stop the operation of the hydraulic actuator corresponding to thespecific operation device 26. - For example, as illustrated in
FIG. 5A , theleft operation lever 26L is used to operate thearm 5. Specifically, theleft operation lever 26L utilizes the hydraulic oil discharged by thepilot pump 15 to apply a pilot pressure to the pilot port of thecontrol valve 176 in response to the operation in the forward and backward directions. More specifically, theleft operation lever 26L, when operated in the arm closing direction (backward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of thecontrol valve 176L and the left pilot port of thecontrol valve 176R. Also, theleft operation lever 26L, when operated in the aim opening direction (forward direction), applies a pilot pressure in accordance with the operation amount to the left pilot port of thecontrol valve 176L and the right pilot port of thecontrol valve 176R. - The
operation device 26 is provided with a switch SW. In the present embodiment, the switch SW includes a switch SW1 and a switch SW2. The switch SW1 is a push-button switch provided at the end of theleft operation lever 26L. The operator can operate theleft operation lever 26L while pressing the switch SW1. The switch SW1 may be provided at theright operation lever 26R or at other locations within thecab 10. The switch SW2 is a push-button switch provided at the end of the left traveling lever 26DL. The operator can operate the left traveling lever 26DL while pressing the switch SW2. The switch SW2 may be provided at the right traveling lever 26DR or at other locations within thecab 10. - The operation sensor 29LA detects the content of the operation in the forward and backward directions by the operator relative to the
left operation lever 26L and outputs a detected value to thecontroller 30. - The proportional valve 31AL operates in response to a control command (electric current command) output by the
controller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the right pilot port of thecontrol valve 176L and the left pilot port of thecontrol valve 176R through the proportional valve 31AL. The proportional valve 31AR operates in response to a control command (electric current command) output by thecontroller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the left pilot port of thecontrol valve 176L and the right pilot port of thecontrol valve 176R through the proportional valve 31AR. The proportional valve 31AL can adjust the pilot pressure so that thecontrol valve 176L and thecontrol valve 176R can be stopped at a given valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that thecontrol valve 176L and thecontrol valve 176R can be stopped at a given valve position. - With this configuration, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 176L and the left pilot port of thecontrol valve 176R through the proportional valve 31AL in response to the arm closing operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 176L and the left pilot port of thecontrol valve 176R through the proportional valve 31AL independently of the arm closing operation by the operator. That is, thecontroller 30 can close thearm 5 in response to the arm closing operation by the operator or independently of the arm closing operation by the operator. - Also, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 176L and the right pilot port of thecontrol valve 176R through the proportional valve 31AR in response to the arm opening operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 176L and the right pilot port of thecontrol valve 176R through the proportional valve 31AR independently of the arm opening operation by the operator. That is, thecontroller 30 can open thearm 5 in response to the arm opening operation by the operator or independently of the arm opening operation by the operator. - With this configuration, even if the arm closing operation is being performed by the operator, the
controller 30, as needed, can reduce the pilot pressure applied to the pilot port on the closing side of the control valve 176 (the left pilot port of thecontrol valve 176L and the right pilot port of thecontrol valve 176R) and forcibly stop the closing movement of thearm 5. The same applies to the case of forcibly stopping the opening movement of thearm 5 when the arm opening operation is performed by the operator. - Even if the aim closing operation is being performed by the operator, the
controller 30, as needed, may forcibly stop the closing movement of thearm 5 by controlling the proportional valve 31AR to increase the pilot pressure applied to the pilot port on the opening side of thecontrol valve 176, which is located opposite to the pilot port on the closing side of thecontrol valve 176, (the right pilot port of thecontrol valve 176L and the left pilot port of thecontrol valve 176R), thereby forcibly returning thecontrol valve 176 to a neutral position. The same applies to the case of forcibly stopping the opening movement of thearm 5 when the aim opening operation is performed by the operator. - Although description with reference to
FIGS. 5B to 5D is omitted in the following, the same applies to: the case of forcibly stopping the movement of theboom 4 when a boom raising operation or a boom lowering operation is being performed by the operator; the case of forcibly stopping the movement of thebucket 6 when a bucket closing operation or a bucket opening operation is being performed by the operator; and the case of forcibly stopping the swiveling movement of theupper swiveling body 3 when a swiveling operation is being performed by the operator. - Also, the same applies to the case of forcibly stopping a traveling movement of the
lower traveling body 1 when a traveling operation is being performed by the operator. - Also, as illustrated in
FIG. 5B , theright operation lever 26R is used to operate theboom 4. Specifically, theright operation lever 26R utilizes the hydraulic oil discharged by thepilot pump 15 to apply a pilot pressure to the pilot port of thecontrol valve 175 in response to the operation in the forward and backward directions. More specifically, theright operation lever 26R, when operated in the boom raising direction (backward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of thecontrol valve 175L and the left pilot port of thecontrol valve 175R. Theright operation lever 26R, when operated in the boom lowering direction (forward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of thecontrol valve 175R. - The operation sensor 29RA detects the content of the operation in the forward and backward directions by the operator relative to the
right operation lever 26R and outputs a detected value to thecontroller 30. - The proportional valve 31BL operates in response to a control command (electric current command) output by the
controller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the right pilot port of thecontrol valve 175L and the left pilot port of thecontrol valve 175R through the proportional valve 31BL. The proportional valve 31BR operates in response to a control command (electric current command) output by thecontroller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the right pilot port of thecontrol valve 175R through the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that thecontrol valve 175L and thecontrol valve 175R can be stopped at a given valve position. Also, the proportional valve 31BR can adjust the pilot pressure so that thecontrol valve 175R can be stopped at a given valve position. - With this configuration, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 175L and the left pilot port of thecontrol valve 175R through the proportional valve 31BL in response to the boom raising operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 175L and the left pilot port of thecontrol valve 175R through the proportional valve 31BL independently of the boom raising operation by the operator. That is, thecontroller 30 can raise theboom 4 in response to the boom raising operation by the operator or independently of the boom raising operation by the operator. - Also, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 175R through the proportional valve 31BR in response to the boom lowering operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 175R through the proportional valve 31BR independently of the boom lowering operation by the operator. That is, thecontroller 30 can lower theboom 4 in response to the boom lowering operation by the operator or independently of the boom lowering operation by the operator. - As illustrated in
FIG. 5C , theright operation lever 26R is also used to operate thebucket 6. Specifically, theright operation lever 26R utilizes the hydraulic oil discharged by thepilot pump 15 to apply a pilot pressure to the pilot port of thecontrol valve 174 in response to the operation in the leftward and rightward directions. More specifically, theright operation lever 26R, when operated in the bucket closing direction (leftward direction), applies a pilot pressure in accordance with the operation amount to the left pilot port of thecontrol valve 174. Theright operation lever 26R, when operated in the bucket opening direction (rightward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of thecontrol valve 174. - The operation sensor 29RB detects the content of the operation in the leftward and rightward directions by the operator relative to the
right operation lever 26R and outputs a detected value to thecontroller 30. - The proportional valve 31CL operates in response to a control command (electric current command) output by the
controller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the left pilot port of thecontrol valve 174 through the proportional valve 31CL. The proportional valve 31CR operates in response to a control command (electric current command) output by thecontroller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the right pilot port of thecontrol valve 174 through the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that thecontrol valve 174 can be stopped at a given valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that thecontrol valve 174 can be stopped at a given valve position. - With this configuration, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 174 through the proportional valve 31CL in response to the bucket closing operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 174 through the proportional valve 31CL independently of the bucket closing operation by the operator. That is, thecontroller 30 can close thebucket 6 in response to the bucket closing operation by the operator or independently of the bucket closing operation by the operator. - Also, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 174 through the proportional valve 31CR in response to the bucket opening operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 174 through the proportional valve 31CR independently of the bucket opening operation by the operator. That is, thecontroller 30 can open thebucket 6 in response to the bucket opening operation by the operator or independently of the bucket opening operation by the operator. - As illustrated in
FIG. 5D , theleft operation lever 26L is also used to operate the swivelingmechanism 2. Specifically, theleft operation lever 26L utilizes the hydraulic oil discharged by thepilot pump 15 to apply a pilot pressure to the pilot port of thecontrol valve 173 in response to the operation in the leftward and rightward directions. More specifically, theleft operation lever 26L, when operated in the leftward swiveling direction (leftward direction), applies a pilot pressure in accordance with the operation amount to the left pilot port of thecontrol valve 173. Theleft operation lever 26L, when operated in the rightward swiveling direction (rightward direction), applies a pilot pressure in accordance with the operation amount to the right pilot port of thecontrol valve 173. - The operation sensor 29LB detects the content of the operation in the leftward and rightward directions by the operator relative to the
left operation lever 26L and outputs a detected value to thecontroller 30. - The proportional valve 31DL operates in response to a control command (electric current command) output by the
controller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the left pilot port of thecontrol valve 173 through the proportional valve 31DL. The proportional valve 31DR operates in response to a control command (electric current command) output by thecontroller 30, thereby adjusting the pilot pressure of the hydraulic oil introduced from thepilot pump 15 to the right pilot port of thecontrol valve 173 through the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure so that thecontrol valve 173 can be stopped at a given valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that thecontrol valve 173 can be stopped at a given valve position. - With this configuration, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 173 through the proportional valve 31DL in response to the leftward swiveling operation by the operator. Also, the controller can feed the hydraulic oil discharged by the pilot pump to the left pilot port of thecontrol valve 173 through the proportional valve 31DL independently of the leftward swiveling operation by the operator. That is, thecontroller 30 can swivel the swivelingmechanism 2 leftward in response to the leftward swiveling operation by the operator or independently of the leftward swiveling operation by the operator. - Also, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 173 through the proportional valve 31DR in response to the rightward swiveling operation by the operator. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 173 through the proportional valve 31DR independently of the rightward swiveling operation by the operator. That is, thecontroller 30 can swivel the swivelingmechanism 2 rightward in response to the rightward swiveling operation by the operator or independently of the rightward swiveling operation by the operator. - The left traveling lever 26DL is also used to operate the left crawler 1CL. Specifically, the left traveling lever 26DL utilizes the hydraulic oil discharged by the
pilot pump 15 to apply a pilot pressure in accordance with the operation in the forward and backward directions to the pilot port of thecontrol valve 171. The operation sensor 29DL electrically detects the content of the operation in the forward and backward directions by the operator relative to the left traveling lever 26DL, and outputs an electric current command indicating a detected value to thecontroller 30. Thereby, thecontroller 30 operates in response to the electric current command. - Similar to the above-described configuration, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 171 through an unillustrated proportional valve. That is, the left crawler 1CL can be caused to travel forward. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 171 through an unillustrated proportional valve. That is, the left crawler 1CL can be caused to travel backward. - The right traveling lever 26DR is also used to operate the right crawler 1CR. Specifically, the right traveling lever 26DR utilizes the hydraulic oil discharged by the
pilot pump 15 to apply a pilot pressure in accordance with the operation in the forward and backward directions to the pilot port of thecontrol valve 172. The operation sensor 29DR electrically detects the content of the operation in the forward and backward directions by the operator relative to the right traveling lever 26DR, and outputs an electric current command indicating a detected value to thecontroller 30. Thereby, thecontroller 30 operates in response to the electric current command. - Similar to the above-described configuration, the
controller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the right pilot port of thecontrol valve 172 through theproportional valve 31. That is, the right crawler 1CR can be caused to travel forward. Also, thecontroller 30 can feed the hydraulic oil discharged by thepilot pump 15 to the left pilot port of thecontrol valve 172 through theproportional valve 31. That is, the right crawler 1CR can be caused to travel backward. - Also, the
shovel 100 may include a structure configured to automatically operate the bucket tilt mechanism. In this case, a part of the hydraulic system in relation to a bucket tilt cylinder forming the bucket tilt mechanism may be configured in the same manner as in, for example, the part of the hydraulic system in relation to the operation of theboom cylinder 7. - Although the
operation device 26 that is an electric operation lever has been described, theoperation device 26 may be a hydraulic operation lever rather than the electric operation lever. In this case, the amount of the lever operation of the hydraulic operation lever may be detected by a pressure sensor in the form of pressure and input to thecontroller 30. Also, an electromagnetic valve may be disposed between theoperation device 26 that is the hydraulic operation lever, and the pilot port of each of the control valves. The electromagnetic valve is configured to operate in response to an electric signal from thecontroller 30. With this configuration, in response to manually operating theoperation device 26 that is the hydraulic operation lever, theoperation device 26 increases or decreases a pilot pressure in accordance with the amount of the lever operation, thereby moving each of the control valves. Also, each of the control valves may be configured with an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from thecontroller 30 corresponding to the amount of the lever operation of the electric operation lever. -
FIG. 6 is a functional block diagram illustrating one example of a functional configuration of the shovel control system SYS according to the present embodiment. Configurations of themanagement device 300 and the fixed-point measurement device 400 will be described. Note that, the configuration of theshovel 100 is as described above, and description thereof will be omitted. - The management device (one example of the external device) 300 includes a
communication device 301, astorage device 302, and acontroller 303. - The
communication device 301 is an interface that communicates through the communication network NW with theshovel 100 and the exterior thereof, such as the fixed-point measurement device 400. Thecommunication device 301 may be a mobile communication module responding to a mobile communication standard, such as LTE, 4G, or 5G. - The
controller 303 performs control in relation to themanagement device 300. The functions of thecontroller 303 may be realized by, for example, given hardware or a combination of given hardware and given software. For example, thecontroller 303 may be mainly composed of a computer including: a processor device, such as a CPU; a memory device (main storage device), such as a RAM; an auxiliary storage device, such as a ROM; an interface device with the exterior thereof; and the like. For example, thecontroller 303 realizes various functions by loading, in the memory device, a program installed in the auxiliary storage device, and executing the program on the CPU. Data of the program is, for example, obtained by thecontroller 303 from a predetermined storage medium through a predetermined external interface, and installed in the auxiliary storage device. - The
storage device 302 is a readable/writable non-volatile storage medium. Thestorage device 302 includes a constructioninformation storage part 321 and a working siteinformation storage part 322. - The construction
information storage part 321 stores construction information for theshovel 100 to operate in the working site. The construction information is three-dimensional data representing shapes, after construction, of soil and sand and the like existing in the working site. In the construction information, three-dimensional shapes and positions of objects after construction are expressed in the above-described reference coordinate system. - The working site
information storage part 322 stores working site information representing a three-dimensional shape of a virtual working site space generated based on measurement information obtained by the fixed-point measurement device 400. The working site information retains three-dimensional shapes and positions of current objects in the working site in the above-described reference coordinate system. - The fixed-
point measurement device 400 includes acommunication device 401, a positioninformation storage part 402, aspace recognition device 403, and acontroller 404. - The
communication device 401 is an interface that communicates through the communication network NW with theshovel 100 and the exterior thereof, such as themanagement device 300. Thecommunication device 401 may be a mobile communication module responding to a mobile communication standard, such as LTE, 4G, or 5G. - The position
information storage part 402 stores position information of the fixed-point measurement device 400. The position information is, for example, expressed in a reference coordinate system like in position information obtained by the GNSS. The reference coordinate system is, for example, the above-described world geodetic system. - As the
space recognition device 403, a LIDAR sensor is used for detecting the objects existing in the working site where theshovel 100 is working. The LIDAR sensor measures, for example, distances between the LIDAR sensor and one million or more points within a surveillance range. Note that, the present embodiment is not limited to a method using the LIDAR sensor, and may use a space recognition device that can measure distances between the space recognition device and objects. The space recognition device may be, for example, a stereo camera or a distance measurement device, such as a distance image camera or a millimeter wave radar. When a millimeter wave radar or the like is used as thespace recognition device 403, thespace recognition device 403 may emit many signals (e.g., laser beams) toward objects, and receive reflected signals, thereby deriving distances and directions of the objects from the reflected signals. - The
controller 404 performs control in relation to the fixed-point measurement device 400. The functions of thecontroller 404 may be realized by, for example, given hardware or a combination of given hardware and given software. For example, thecontroller 404 may be mainly composed of a computer including: a processor device, such as a CPU; a memory device (main storage device), such as a RAM; an auxiliary storage device, such as a ROM; and the like. For example, thecontroller 404 realizes various functions by loading, in the memory device, a program installed in the auxiliary storage device, and executing the program on the CPU. - The
shovel 100 according to the present embodiment does not include the space recognition device or the like. Ashovel controller 50 of theshovel 100 does not include any program for performing high-level control (e.g., semi-automated control) that operates theshovel 100 in accordance with the construction information when a predetermined lever is tilted in theoperation device 26. - This is because, for example, there is hesitation to introduce the above-described shovel that can realize semi-automated control due to its cost.
- However, the semi-automated control or the like may be desired even for the
shovel 100 in accordance with a working step. - In the present embodiment, the
management device 300 performs assistance of the semi-automated control or the like that operates theshovel 100 in accordance with the construction information. - Specifically, the fixed-
point measurement device 400 measures the working site of theshovel 100, and transmits the measurement results to themanagement device 300. Thereby, themanagement device 300 can recognize statuses surrounding theshovel 100 in the form of a three-dimensional shape. In other words, even if theshovel 100 does not include the space recognition device, themanagement device 300 can recognize statuses surrounding theshovel 100. Note that, the present embodiment does not limit the measurement device of the statuses surrounding theshovel 100 to the fixed-point measurement device 400, and may use a drone or the like. - Also, the
shovel 100 transmits position information measured by the positioning device S6 to themanagement device 300. Thereby, themanagement device 300 can recognize the position of theshovel 100 in the working site. - Moreover, the
management device 300 retains the construction information representing the three-dimensional shapes of soil and sand and the like after construction. Thereby, when themanagement device 300 has received an operation signal from theshovel 100, themanagement device 300 generates, in response to the operation signal, a control signal for performing working in accordance with the construction information, and transmits the control signal to theshovel 100. - As described above, the
shovel 100 according to the present embodiment includes the electric operation lever in the foam of theoperation device 26. Therefore, when theshovel controller 50 of theshovel 100 has received the control signal from themanagement device 300, theshovel controller 50 can perform, based on the control signal, semi-automated control of theupper swiveling body 3, theboom 4, thearm 5, thebucket 6, or any combination thereof. - That is, the
shovel controller 50 of theshovel 100 according to the present embodiment realizes switching between: manual control (an example of the first control) that moves theupper swiveling body 3, theboom 4, thearm 5, thebucket 6, or any combination thereof in accordance with the operation information (an example of the first operation information) received by theoperation device 26; and network control (an example of the second control) that performs semi-automated control or the like in accordance with the control signal received from themanagement device 300. The manual control and the network control will be described below. - Next, functional blocks of the
controller 404 of the fixed-point measurement device 400, theshovel controller 50 of theshovel 100, or thecontroller 303 of themanagement device 300 will be described. - The functional blocks in the
controller 404 of the fixed-point measurement device 400 will be described. The functional blocks in thecontroller 404 are conceptual and are not necessarily physically configured as illustrated. All or a part of the functional blocks can be configured in a functionally or physically distributed or integrated manner in a given unit. All or a part of the processing functions performed in the functional blocks are or is realized by programs executed in the CPU. Alternatively, the functional blocks may be realized as hardware based on a wired logic. - A
transmission control part 411 transmits, to themanagement device 300, the measurement information obtained by thespace recognition device 403 and the position information stored in the positioninformation storage part 402 that are associated with each other. The transmission of the measurement information by thetransmission control part 411 is performed every time a predetermined time passes. For example, thetransmission control part 411 may transmit the measurement information every time the measurement information is obtained by the space recognition device 403 (e.g., every time a frame is updated). - The functional blocks in a shovel controller (one example of a first control device) 50 of the
shovel 100 will be described. The functional blocks in theshovel controller 50 are conceptual and are not necessarily physically configured as illustrated. All or a part of the functional blocks can be configured in a functionally or physically distributed or integrated manner in a given unit. All or a part of the processing functions performed in the functional blocks are or is realized by programs executed in the CPU. Alternatively, the functional blocks may be realized as hardware based on a wired logic. By realizing the programs, theshovel controller 50 includes aswitch control part 501, atransmission control part 502, areception control part 503, and asignal output part 504. - The
switch control part 501 performs switching between the manual control and the network control in accordance with an input operation of the input device D1. - The manual control (an example of the first control) refers to control that moves the
upper swiveling body 3, theboom 4, thearm 5, or thebucket 6 in accordance with an operation received by theoperation device 26. For example, when theleft operation lever 26L is operated in the forward and backward directions, obtained control is set to moving thearm 5 in the closing direction or moving thearm 5 in the opening direction. That is, the content assigned to the opening direction of the operation lever is control for movement in accordance with a tilt amount. In this way, the manual control does not include control of theshovel 100 based on the construction information representing the three-dimensional shape of the construction target. - The network control (an example of the second control) refers to control that moves the
upper swiveling body 3, theboom 4, thearm 5, thebucket 6, or any combination thereof based on the control signal received from themanagement device 300. For example, the control signal transmitted from themanagement device 300 in the network control may be a signal for control of the shovel 100 (e.g., semi-automated control or fully-automated control) in order to form the three-dimensional shape of the construction target based on the construction information. - For example, in the network control, after loading of soil and sand in the
bucket 6, operation information indicating an operation in a direction in which theboom 4 is opened is transmitted to themanagement device 300. Thereby, in a state where the opening surface of thebucket 6 is horizontally maintained so that thebucket 6 maintains the loaded state of the soil and sand, a control signal for moving theboom 4, theaim 5, and thebucket 6 so as to raise theboom 4 is received, and theboom 4, thearm 5, and thebucket 6 are moved based on the control signal. - As another example of the network control, when forming a three-dimensional shape defined for the construction target in accordance with the construction information, e.g., when forming a slope on the soil and sand, operation information indicating an operation in a direction in which the
arm 5 is opened is transmitted to themanagement device 300. Thereby, a control signal for moving theboom 4, thearm 5, and thebucket 6 so that the back surface of thebucket 6 moves over the slope is received, and semi-automated control that moves theboom 4, theaim 5, and thebucket 6 based on the control signal is performed. - Note that, the network control is not limited to the above-described control as long as the network control is control in which the
management device 300 performs assistance of movements (e.g., semi-automated control) in response to an operation received by theoperation device 26. - The
transmission control part 502 performs control for transmitting various information via the communication device T1 to themanagement device 300. For example, when theshovel 100 has been switched to the network control by theswitch control part 501, thetransmission control part 502 transmits, to themanagement device 300, operation information indicating the operation received by the operation device 26 (one example of second operation information), detection information indicating the detection results from various sensors provided in theshovel 100, and position information (including an orientation) of theshovel 100 obtained by the positioning device S6. The detection information includes, for example, information for identifying the positions of theboom 4, theaim 5, and the bucket 6 (attachments), such as a rotation angle of theboom 4 detected by the boom angle sensor (one example of a detection device) S1, a rotation angle of thearm 5 detected by the arm angle sensor (one example of the detection device) S2, and a rotation angle of thebucket 6 detected by the bucket angle sensor (one example of the detection device) S3. - The
reception control part 503 performs control for receiving various information via the communication device T1 from themanagement device 300. For example, when thetransmission control part 502 has received the operation information, thereception control part 503 receives, from themanagement device 300, a control signal for performing semi-automated control or the like of theshovel 100 in accordance with the operation information. Also, when the detection information has been transmitted to themanagement device 300, the control signal is a control signal for controlling the positions of theboom 4, theaim 5, and thebucket 6 defined from the detection information, in other words, a control signal for performing control based on the current moving status of theshovel 100. - The
signal output part 504 outputs, to the hydraulic system or the like, the control signal for controlling the hydraulic system or the like. For example, when theshovel 100 has been switched to the manual control by theswitch control part 501, thesignal output part 504 outputs, to the hydraulic system, the control signal for moving the component corresponding to the operation direction in response to the operation received by theoperation device 26. - For example, when the
shovel 100 has been switched to the network control by theswitch control part 501, thesignal output part 504 outputs, to the hydraulic system, the control signal received from themanagement device 300. Thereby, it is possible to realize semi-automated control or the like with the assistance of themanagement device 300. - The functional blocks in the controller (one example of a second control device) 303 of the
management device 300 will be described. The functional blocks in thecontroller 303 are conceptual and are not necessarily physically configured as illustrated. All or a part of the functional blocks can be configured in a functionally or physically distributed or integrated manner in a given unit. All or a part of the processing functions performed in the functional blocks are or is realized by programs executed in the CPU. Alternatively, the functional blocks may be realized as hardware based on a wired logic. By realizing the programs, thecontroller 303 includes areception control part 331, a virtual working sitespace generation part 332, a movingtrack generation part 333, asignal generation part 334, and atransmission control part 335. - The
management device 300 is a device provided for assisting the working of theshovel 100. Themanagement device 300 may be realized by such a device as a server. Note that, themanagement device 300 is not limited to being provided from a server or the like, and may be realized through a cloud service. - When the
shovel 100 has been switched to the network control, themanagement device 300 generates a control command for performing work, and performs control for transmitting the generated control command to theshovel 100. - The
management device 300 may provide the control assistance of theshovel 100 as, for example, a paid service. For example, themanagement device 300 may measure the time from after theshovel 100 has been switched to the network control until the network control ends. A manager of themanagement device 300 may charge a manager of theshovel 100 for money equivalent to the measured time. How money is charged may be in any way, and may be a daily or monthly fixed charge. - The
reception control part 331 may pertain control for receiving various information via a communication device T2 from the fixed-point measurement device 400 and theshovel 100. - For example, the
reception control part 331 receives the measurement information and the position information from the fixed-point measurement device 400. - As another example, the
reception control part 331 receives, from theshovel 100, the position information, the detection information, and the operation information. The detection information includes detection results of various sensors. The detection results of various sensors include, for example, the rotation angle of theboom 4 detected by the boom angle sensor S1, the rotation angle of thearm 5 detected by the arm angle sensor S2, and the rotation angle of thebucket 6 detected by the bucket angle sensor S3. Because themanagement device 300 previously retains the sizes of theboom 4, thearm 5, and thebucket 6, themanagement device 300 can recognize the current statuses of the attachments of theshovel 100 including the position of thebucket 6. Therefore, themanagement device 300 can recognize the current position of theshovel 100, and the current moving statuses of theshovel 100 and the attachments thereof. The detection information may further include detection results of the machine body tilt sensor S4 and the swivel angular velocity sensor S5. When those detection results are included, themanagement device 300 can generate a control signal in consideration of the detection results. - The virtual working site
space generation part 332 generates the virtual working site space representing a three-dimensional shape of the working site based on the measurement information and the position information received by thereception control part 331 from the fixed-point measurement device 400. The measurement information is a measurement result indicating a distance between the fixed-point measurement device 400 serving as a reference and an object in the working site. That is, from the measurement information and the position information, it is possible to recognize distances from the positions indicated by the position information to the objects. Therefore, the virtual working sitespace generation part 332 can generate a three-dimensional map representing the positions and the shapes of the objects existing in the working site from the position information and the measurement information, which are obtained from each of the two or more fixed-point measurement devices 400 disposed in the working site. The generated three-dimensional map is stored in the working siteinformation storage part 322. - When the network control has been selected in the
shovel 100, the movingtrack generation part 333 generates a moving track along which one or more of thebucket 6, theupper swiveling body 3, and thelower traveling body 1 of theshovel 100 move. - For example, when operation information indicating raising of the
boom 4 has been received in a state where thebucket 6 is loaded with soil and sand and the like, the movingtrack generation part 333 generates a moving track of thebucket 6 for performing the raising of theboom 4 in a state where the opening surface of thebucket 6 is maintained approximately horizontally. - As another example, a moving track of the
bucket 6 may be generated for forming the shape of soil and sand represented in the three-dimensional map into a shape indicated by the construction information. - Based on the current status of the
shovel 100 indicated by the detection information, thesignal generation part 334 generates a control signal for thebucket 6, theupper swiveling body 3, or thelower traveling body 1 of theshovel 100 to move along the generated moving track. The generated control signal is a signal for moving theboom 4, thearm 5, thebucket 6, theupper swiveling body 3, thelower traveling body 1, or any combination thereof. - The
transmission control part 335 transmits the control signal, generated by thesignal generation part 334, to theshovel 100. Thereby, theshovel 100 can perform semi-automated control or the like in accordance with the moving track generated by themanagement device 300. - Next, a process for the
management device 300 to generate the control signal will be described.FIG. 7 is a conceptual view illustrating the virtual working site space generated by the virtual working sitespace generation part 332. - A three-dimensional map of a virtual
working site space 1701 as illustrated inFIG. 7 is generated based on the measurement information and the position information from the fixed-point measurement device 400. The construction information indicates constructing aslope 1702. - The virtual working site
space generation part 332 can identify a position coordinate P (xL, yL, zL) indicating aposition 1713 of thebucket 6 in a machine body coordinatesystem 1712 of theshovel 100 based on: the sizes of the components of theshovel 100; and the rotation angle of theboom 4, the rotation angle of thearm 5, and the rotation angle of thebucket 6 included in the detection information. - The
management device 300 receives, from theshovel 100, the position information (including the orientation) of theshovel 100 obtained by the positioning device S6. The position information (including the orientation) indicates the position and the orientation of theshovel 100 in a reference coordinatesystem 1711, in other words, a relative positional relationship between the reference coordinatesystem 1711 and the machine body coordinatesystem 1712. Based on the relative positional relationship between the reference coordinatesystem 1711 and the machine body coordinatesystem 1712, the virtual working sitespace generation part 332 can identify a position coordinate P (xG, yG, zG) indicating theposition 1713 of thebucket 6 in the reference coordinatesystem 1711. - The moving
track generation part 333 can generate a moving track for moving thebucket 6 so as to construct theslope 1702, with the current position of thebucket 6 being a start point. - Next, the control signal transmitted to the
shovel 100 will be described.FIG. 8 is a view illustrating a movement performed in accordance with the control signal received by theshovel 100 according to the present embodiment. The example as illustrated inFIG. 8 is an example in which a movingtrack 1802 of thebucket 6 of theshovel 100 is generated for construction of aslope 1801. - In order to move the
bucket 6 along the movingtrack 1802, themanagement device 300 generates, and then transmits, a control signal that is for rotating thebucket 6 in arotation direction 1811, for rotating thearm 5 in arotation direction 1812, and for rotating theboom 4 in arotation direction 1813. - When the
reception control part 503 of theshovel 100 has received the control signal, thesignal output part 504 outputs the received control signal to the hydraulic system or the like. In this way, in the present embodiment, it is possible to provide theshovel 100 with, for example, semi-automated control. - Next, a flow of a process when semi-automated control of the
shovel 100 is performed in the shovel control system SYS according to the present embodiment will be described.FIG. 9 is a sequence diagram illustrating the flow of the process when the semi-automated control of theshovel 100 is performed in the shovel control system SYS according to the present embodiment. - First, the fixed-
point measurement device 400 measures objects and the like existing therearound using the space recognition device 403 (S1801). Thetransmission control part 411 of the fixed-point measurement device 400 transmits measurement information, which is a measurement result, to the management device 300 (S1802). - Then, the virtual working site
space generation part 332 of themanagement device 300 generates, based on the received measurement information, the three-dimensional map of the virtual working site space 1701 (S1803). Note that, in steps S1801 to S1803, the three-dimensional map stored in the working siteinformation storage part 322 may be updated every time the fixed-point measurement device 400 performs the measurement. - Then, in accordance with the operation received by the
switch control part 501 from the input device D1, theshovel 100 is switched to the network control (S1804). - Then, the
transmission control part 502 of theshovel 100 notifies themanagement device 300 of being switched to the network control (S1805). - In response to the notification of being switched to the network control, the moving
track generation part 333 of themanagement device 300 reads out the construction information of theshovel 100 from the construction information storage part 321 (S1806). - The
shovel controller 50 of theshovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S6 (S1807). The detection information and the position information are regularly obtained. Then, thetransmission control part 502 transmits the detection information and the position information to the management device 300 (S1808). - Then, the moving
track generation part 333 of themanagement device 300 generates a moving track from the current position of theshovel 100 in order to perform construction in accordance with the construction information (S1809). - Again, the
shovel controller 50 of theshovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S6 (S1810). Moreover, theshovel controller 50 receives an operation of the operation device 26 (S1811). - Then, the
transmission control part 502 transmits the position information, the detection information, and the operation information (S1812). - Then, in the
management device 300, when thereception control part 331 has received the position information, the detection information, and the operation information, thesignal generation part 334 generates a control signal for moving thelower traveling body 1, thebucket 6, or the like along the moving track from the current position thereof (S1813). - The
transmission control part 335 transmits the control signal, generated by thesignal generation part 334, to the shovel 100 (S1814). - The
signal output part 504 outputs the received control signal to the hydraulic system (S1815). In the present embodiment, steps S1810 to S1815 are repeated for moving theshovel 100 along the moving track. - In the above-described embodiment, in which the
management device 300 transmits the control signal to theshovel 100, such high-level control as semi-automated control can be realized even in theshovel 100. Therefore, it is possible to reduce the operation burden on operators. - In the above-described embodiment, the
management device 300 receives the position information and the detection information from theshovel 100, thereby recognizing the current position of theshovel 100 and the current moving status (e.g., the position of the bucket 6) of theshovel 100. However, the above-described embodiment does not limit a way to recognize the current position and the current moving status of theshovel 100 to the way based on the position information and the detection information from theshovel 100. In the present modified example described below, the position and the moving status of theshovel 100 are identified based on the measurement information from the fixed-point measurement device 400. - The fixed-
point measurement device 400 according to the present modified example transmits the measurement information. Because the measurement information includes information indicating a distance from the fixed-point measurement device 400 to an object, the measurement information also includes the position of theshovel 100 from the fixed-point measurement device 400 serving as a reference, and the shape of theshovel 100. Therefore, the virtual working sitespace generation part 332 recognizes the position and the shape of theshovel 100 based on the received measurement information. From the shape of theshovel 100, it is possible to recognize the positions of the attachments. In other words, themanagement device 300 of the present modified example can identify, from the measurement information, the position of theshovel 100 and the moving status (e.g., the position of the bucket 6) of theshovel 100. - Also, the fixed-
point measurement device 400 may be provided with a photographing device. The fixed-point measurement device 400 may transmit image information photographed by the photographing device to themanagement device 300. The virtual working sitespace generation part 332 of themanagement device 300 may identify the position and the moving status of theshovel 100 based on a combination of the measurement information and the image information. - In the above-described embodiment, the
management device 300 performs control based on the measurement information of the fixed-point measurement device 400. However, the above-described embodiment is not limited to the case where the fixed-point measurement device 400 performs the measurement. For example, a detachable space recognition device for theshovel 100 may be provided. - Before performing the network control, the space recognition device is attached to the
shovel 100. Then, the communication device T1 of theshovel 100 may transmit, to themanagement device 300, the measurement information that is a measurement result of the space recognition device. - Moreover, the detachable component for the
shovel 100 is not limited to the space recognition device, and any one or more of the positioning device S6, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be detachable. - That is, according to the present modified example, in which the positioning device S6, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are attached to the
shovel 100 together with the space recognition device, it is possible to realize similar control to the control in the above-described embodiment. - The space recognition device, the positioning device S6, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be borrowed from, for example, a predetermined vendor. Then, these components borrowed from the predetermined vendor may be attached to the
shovel 100. - In the present modified example, providing the
shovel 100 with sensing-related components as standard equipment involves an increase in cost, while there is a desire to perform semi-automated control or the like using those sensing-related components. In view thereof, the present modified example proposes a way to equip theshovel 100 with sensing-related components, if necessary. Therefore, even if the fixed-point measurement device 400 is not disposed in the working site unlike in the above-described embodiment, control assistance of theshovel 100 can be realized by themanagement device 300. Therefore, it is possible to reduce the operation burden on operators. - In the above-described embodiment, what is called semi-automated control is performed, in which when the
management device 300 has received the operation information received from theshovel 100, themanagement device 300 generates, and then transmits, the control signal. However, performing the semi-automated control as in the above-described embodiment is by no means a limitation, and themanagement device 300 may perform fully-automated control of theshovel 100. In the second embodiment, theshovel 100 performing the fully-automated control will be described. Note that, the configurations of themanagement device 300 and theshovel 100 are similar to those in the above-described embodiment, and thus description thereof will be omitted. - Next, a flow of a process when fully-automated control of the
shovel 100 is performed in the shovel control system SYS according to the present embodiment will be described.FIG. 10 is a sequence diagram illustrating the flow of the process when the fully-automated control of theshovel 100 is performed in the shovel control system SYS according to the present embodiment. - First, in accordance with similar steps to the above-described S1801 to S1803, the
management device 300 performs generation of a three-dimensional map of the working site (S2001 to S2003). Note that, in steps S2001 to S2003, the three-dimensional map may be updated every time the fixed-point measurement device 400 performs the measurement. - Then, in accordance with the operation received by the
switch control part 501 from the input device D1, theshovel 100 is switched to the network control (S2004). In the present embodiment, the fully-automated control is performed when theshovel 100 is switched to the network control. Note that, such a way to perform switching is by no means a limitation. For example, upon switching theshovel 100 to the network control, a user may select either the semi-automated control as described in the first embodiment or the fully-automated control as described in the present embodiment. - Note that, the present embodiment is not limited to the method of switching to the network control by the operation of the input device D1. For example, switching to the network control may be performed in accordance with operation information received by the
switch control part 501 from a communication terminal of the manager of the working site. In this way, in the present embodiment, the switching to the network control can be performed even without an operator who rides in theshovel 100. - Subsequently, in accordance with similar steps to S1805 to S1809, the
management device 300 generates a moving track for the shovel to work (S2005 to S2009). - The
shovel controller 50 of theshovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S6 (S2010). Then, thetransmission control part 502 transmits the detection information and the position information to the management device 300 (S2011). - In the
management device 300, when thereception control part 331 has received the position information and the detection information, thesignal generation part 334 generates a control signal for moving thelower traveling body 1, thebucket 6, or the like along the moving track from the current position thereof (S2012). - The
transmission control part 335 transmits the control signal, generated by thesignal generation part 334, to the shovel 100 (S2013). - The
signal output part 504 outputs the received control signal to the hydraulic system (S2014). In the present embodiment, steps S2010 to S2014 are repeated for moving theshovel 100 along the moving track. - That is, in the present embodiment, the control signal for moving the
shovel 100 is generated, and then transmitted, based on the position information and the detection information received from theshovel 100. Thereby, even without an operator who rides in theshovel 100, it is possible to perform construction through the fully-automated control using theshovel 100. - In the above-described embodiments, the semi-automated control or the fully-automated control is performed in the
shovel 100. However, the control that can be realized in theshovel 100 is not limited to the semi-automated control or the fully-automated control. In a third embodiment, remote control performed in theshovel 100 will be described. -
FIG. 11 is a schematic view illustrating a configurational example of a shovel control system SYS1 according to the present embodiment. In the example as illustrated inFIG. 11 , theshovel 100, themanagement device 300, the fixed-point measurement device 400, and a remote operation room RC are connected to each other via the communication network NW. Note that, the configurations of theshovel 100 and themanagement device 300 are similar to those in the above-described embodiments. - The fixed-
point measurement device 400 may be provided with a photographing device. The fixed-point measurement device 400 may transmit, to themanagement device 300, the measurement information including image information obtained by the photographing device. - In the
shovel 100, theswitch control part 501 enables switching to the network control or the manual control. The network control according to the present embodiment illustrates remote control. Note that, upon performing switching to the network control, any one of the semi-automated control of theshovel 100, the fully-automated control of theshovel 100, and the remote control of theshovel 100 may be selectable. - Upon the switching to the network control being performed, remote control by the remote operation room RC is started. Note that, the switching to the network control is not limited to being through the operation received by the input device D1 of the
shovel 100, and may be based on operation information from a communication terminal of the manager of the working site. - Upon the network control being switched by the
switch control part 501, the detection information from various sensors provided in theshovel 100 is transmitted to themanagement device 300 using the communication device T1 provided in theshovel 100. - The virtual working site
space generation part 332 of themanagement device 300 generates a three-dimensional map of the working site. Based on the three-dimensional map and the received image information, the virtual working sitespace generation part 332 of themanagement device 300 generates a display screen representing the surroundings of theshovel 100 from the position of theshovel 100. The display screen may be a virtual display screen representing the surroundings of theshovel 100 as viewed from thecab 10 of theshovel 100, an overhead display screen representing the surroundings of theshovel 100, a virtual three-dimensional map of the working site, or any combination thereof. Then, thetransmission control part 335 transmits the generated display screen to the remote operation room RC. - The remote operation room RC in the shovel control system SYS1 according to the present embodiment is provided with a display device DR, an operation device D1R, a pressure sensor D2R, an operation seat DS, a
remote controller 80, and the communication device T2. An operator OP rides at the operation seat DS. - The remote controller (one example of a remote control device) 80 performs overall control of the remote operation room RC.
- The communication device T2 transmits and receives information between the
management device 300 and theshovel 100. - The display device DR displays a display screen received from the
management device 300 via the communication device T2. Thereby, even if the operator OP at the operation seat DS is in the remote operation room RC, the operator OP can confirm the status surrounding theshovel 100. - The operator OP at the operation seat DS in the remote operation room RC operates an operation device (one example of a remote operation device) D1R. Then, the pressure sensor D2R detects the operation content received by the operation device D1R.
- In the present embodiment, the manual control or the semi-automated control of the
shovel 100 may be performed from the remote operation room RC. - When the manual control is performed, the
remote controller 80 generates a control signal corresponding to the detected operation content. For example, one operation lever of the operation device D1R is used for the swiveling operation and the operation of thearm 5. When the operation lever is operated in the forward and backward directions, theremote controller 80 generates a control signal for moving thearm cylinder 8 by the action of a control pressure corresponding to the amount of the lever operation. In this way, theremote controller 80 generates a control signal for performing the manual control of theshovel 100 in accordance with the operation amount of the operation lever. Then, the communication device T2 transmits the generated control signal to theshovel 100. When theremote controller 80 transmits the control signal, it is possible to realize the manual control of theshovel 100 through the remote operation. - Note that, the remote operation of the
shovel 100 from the remote operation room RC according to the present embodiment is not limited to the above-described manual control, and may be semi-automated control with the assistance of themanagement device 300. Next, the case of performing the semi-automated control will be described. - Next, a flow of a process when semi-automated control of the
shovel 100 is performed in the shovel control system SYS1 according to the present embodiment will be described.FIG. 12 is a sequence diagram illustrating the flow of the process when the semi-automated control of theshovel 100 is performed by a remote operation in the shovel control system SYS1 according to the present embodiment. - First, the fixed-
point measurement device 400 measures objects and the like existing therearound using the space recognition device 403 (S2201). In the present embodiment, a photographing device may be used to photograph the surroundings. Thetransmission control part 411 of the fixed-point measurement device 400 transmits measurement information, which is a measurement result, to the management device 300 (S2202). The measurement information also includes the photographed image information. - Then, the virtual working site
space generation part 332 of themanagement device 300 generates, based on the received measurement information, the three-dimensional map of the virtual working site space 1701 (S2203). The virtual working sitespace generation part 332 may attach image information to the generated three-dimensional shape. In steps S2201 to S2203, the three-dimensional map stored in the working siteinformation storage part 322 may be updated every time the fixed-point measurement device 400 performs the measurement. - Then, in the
shovel 100, theswitch control part 501 performs switching to the network control (remote control) in accordance with an input operation received from the input device D1 or operation information received from a communication terminal (S2204). In the sequence diagram as illustrated inFIG. 12 , settings for pertaining the semi-automated control are made. - Then, the
transmission control part 502 of theshovel 100 notifies themanagement device 300 of being switched to the network control (S2205). - Then, based on the three-dimensional map of the working site and the image information, the virtual working site
space generation part 332 of themanagement device 300 generates a display screen that can be referred to from the position of the shovel 100 (S2206). - The
transmission control part 335 of themanagement device 300 transmits the generated display screen to the remote operation room RC (S2207). - The
remote controller 80 of the remote operation room RC displays the received display screen on the display device DR (S2208). - Meanwhile, the moving
track generation part 333 of themanagement device 300 reads out the construction information of theshovel 100 from the construction information storage part 321 (S2209). - The
shovel controller 50 of theshovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S6 (S2210). The detection information and the position information are regularly obtained. Then, thetransmission control part 502 transmits the detection information and the position information to the management device 300 (S2211). - Then, the moving
track generation part 333 of themanagement device 300 generates a moving track from the current position of theshovel 100 in order to perform construction in accordance with the construction information (S2212). - Meanwhile, the
shovel controller 50 of theshovel 100 obtains the detection information indicating the detection results of various sensors, and the position information from the positioning device S6 (S2213). Then, thetransmission control part 502 transmits the position information and the detection information (S2214). - Meanwhile, the
remote controller 80 receives an operation from the operation device D1R via the pressure sensor D2R (S2215). - Then, using the communication device T2, the
remote controller 80 transmits the operation information indicating the received operation (one example of remote operation information) (S2216). - Then, in the
management device 300, when thereception control part 331 has received the position information and the detection information and then the operation information, thesignal generation part 334 generates a control signal for moving thelower traveling body 1, thebucket 6, or the like along the moving track from the current position thereof in accordance with the operation (S2217). - The
transmission control part 335 transmits the control signal, generated by thesignal generation part 334, to the shovel 100 (S2218). - The
signal output part 504 outputs the received control signal to the hydraulic system (S2219). In the present embodiment, steps S2213 to S2219 are repeated for moving theshovel 100 along the moving track. - In the present embodiment as described above, the remote operation room RC and the
management device 300 are separately provided. However, the present embodiment is not limited to the case where the remote operation room RC and themanagement device 300 are separately provided, and themanagement device 300 may be provided in the remote operation room RC. - In the present embodiment, by performing an operation in the remote operation room RC, it is possible to control the
shovel 100 even from a remote place. Therefore, even if the working site is a remote place, an operator of theshovel 100 can be readily provided. - The
shovel 100 according to the embodiments and the modified examples as described above, each having the above-described configuration, can perform switching between the manual control and the network control. That is, theshovel 100 can perform working through the manual control when there is no need for high-level control using sensing-related components, and can perform working through the network control with the assistance of themanagement device 300 when there is a need for high-level control. Thereby, it is possible to reduce the operation burden on the operator. - In the above-described embodiments, the working site is visualized by the fixed-
point measurement device 400, and thus themanagement device 300 can recognize the status of the working site. Therefore, even if theshovel 100 does not include any high-level sensing-related component, theshovel 100 can perform work based on the status of the working site by moving in accordance with the control signal from themanagement device 300. For example, theshovel 100 moves in accordance with the control signal from themanagement device 300, thereby enabling thebucket 6 to move so as to form a three-dimensional shape of the working site in accordance with the construction information retained by themanagement device 300. - In the embodiments and the modified examples as described above, even if the shovel does not include any sensing-related component such as a space recognition device and does not include any controller that can realize machine control (MC), it is possible to realize high-level control such as semi-automated control, fully-automated control, or remote control as described above, and thus realize reduction in cost.
- Although embodiments of the present disclosure have been described above in detail, the present disclosure is not limited to such specific embodiments, and various alterations and modifications are possible within the scope of the claims as recited.
Claims (12)
1. A shovel, comprising:
a lower traveling body;
an upper swiveling body swivelably mounted to the lower traveling body;
an attachment attached to the upper swiveling body;
an operation device including an electric operation lever;
a communication device configured to transmit or receive information to or from an external device; and
a control device configured to perform switching between
first control that controls the lower traveling body, the upper swiveling body, the attachment, or any combination thereof in accordance with first operation information received by the operation device, and
second control that receives, from the external device, a control signal for controlling the lower traveling body, the upper swiveling body, the attachment, or any combination thereof, and controls the lower traveling body, the upper swiveling body, the attachment, or any combination thereof in accordance with the received control signal.
2. The shovel according to claim 1 , wherein
upon performing the second control, the communication device transmits, to the external device, second operation information received by the operation device, and receives, from the external device, the control signal based on the second operation information.
3. The shovel according to claim 1 , further comprising a detection device configured to detect a position of the attachment, wherein
upon performing the second control, the communication device transmits, to the external device, a detection result of the position detected by the detection device, and receives, from the external device, the control signal for controlling the attachment based on the detection result.
4. The shovel according to claim 1 , wherein
the first control does not include control of the shovel based on construction information representing a three-dimensional shape of a construction target, and
the second control includes the control of the shovel for forming the three-dimensional shape of the construction target based on the construction information.
5. The shovel according to claim 2 , wherein
the first control does not include control of the shovel based on construction information representing a three-dimensional shape of a construction target, and
the second control includes the control of the shovel for forming the three-dimensional shape of the construction target based on the construction information.
6. The shovel according to claim 3 , wherein
the first control does not include control of the shovel based on construction information representing a three-dimensional shape of a construction target, and
the second control includes the control of the shovel for forming the three-dimensional shape of the construction target based on the construction information.
7. A shovel control system, comprising:
a shovel;
an external device; and
a space recognition device, wherein
the space recognition device includes a first communication device configured to transmit, to the external device, measurement information obtained by measuring surroundings of the shovel,
the shovel includes
a lower traveling body,
an upper swiveling body swivelably mounted to the lower traveling body,
an attachment attached to the upper swiveling body,
an operation device,
a second communication device configured to transmit or receive information to or from the external device, and
a first control device configured to perform switching between
first control that controls the lower traveling body, the upper swiveling body, the attachment, or any combination thereof in accordance with first operation information received by the operation device, and
second control that receives, from the external device, a control signal for controlling the lower traveling body, the upper swiveling body, the attachment, or any combination thereof, and controls the lower traveling body, the upper swiveling body, the attachment, or any combination thereof in accordance with the received control signal, and
the external device includes
a third communication device configured to receive the measurement information from the space recognition device, and
a second control device configured to generate the control signal based on the measurement information, and
the third communication device transmits the control signal to the second communication device.
8. The shovel control system according to claim 7 , wherein
the shovel further includes a detection device configured to detect a position of the attachment, wherein
upon performing the second control, the second communication device transmits, to the external device, a detection result of the position detected by the detection device, and receives, from the external device, the control signal for controlling the attachment based on the detection result, and
the second control device of the external device generates the control signal based on the detection result and the measurement information.
9. The shovel control system according to claim 8 , wherein
the external device further includes a storage device configured to store construction information representing a three-dimensional shape of a construction target, and
the second control device further generates the control signal based on the detection result, the measurement information, and the construction information.
10. The shovel control system according to claim 7 , further comprising a remote control device, wherein
the remote control device includes a fourth communication device and a remote operation device,
the fourth communication device transmits, to the external device, remote operation information received by the remote operation device, and
the second control device further generates the control signal based on the remote operation information.
11. The shovel control system according to claim 8 , further comprising a remote control device, wherein
the remote control device includes a fourth communication device and a remote operation device,
the fourth communication device transmits, to the external device, remote operation information received by the remote operation device, and
the second control device further generates the control signal based on the remote operation information.
12. The shovel control system according to claim 9 , further comprising a remote control device, wherein
the remote control device includes a fourth communication device and a remote operation device,
the fourth communication device transmits, to the external device, remote operation information received by the remote operation device, and
the second control device further generates the control signal based on the remote operation information.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022174949A JP2024065876A (en) | 2022-10-31 | 2022-10-31 | Excavator and excavator control system |
JP2022-174949 | 2022-10-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
US20240141618A1 true US20240141618A1 (en) | 2024-05-02 |
Family
ID=88558486
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US18/497,262 Pending US20240141618A1 (en) | 2022-10-31 | 2023-10-30 | Shovel and shovel control system |
Country Status (3)
Country | Link |
---|---|
US (1) | US20240141618A1 (en) |
EP (1) | EP4372153A1 (en) |
JP (1) | JP2024065876A (en) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016121010A1 (en) * | 2015-01-28 | 2016-08-04 | 株式会社日立製作所 | System for operating work machines |
JP6838137B2 (en) | 2017-03-07 | 2021-03-03 | 住友建機株式会社 | Excavator |
CN111108249A (en) * | 2017-12-27 | 2020-05-05 | 住友建机株式会社 | Excavator |
JP7341396B2 (en) * | 2019-12-03 | 2023-09-11 | コベルコ建機株式会社 | Remote operation support server and remote operation support system |
-
2022
- 2022-10-31 JP JP2022174949A patent/JP2024065876A/en active Pending
-
2023
- 2023-10-26 EP EP23205954.3A patent/EP4372153A1/en active Pending
- 2023-10-30 US US18/497,262 patent/US20240141618A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
EP4372153A1 (en) | 2024-05-22 |
JP2024065876A (en) | 2024-05-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11492777B2 (en) | Shovel and system of managing shovel | |
CN112867831B (en) | Excavator | |
CN113039326B (en) | Shovel, control device for shovel | |
US11686065B2 (en) | Shovel | |
US20220002979A1 (en) | Shovel and shovel management apparatus | |
JP7474192B2 (en) | Excavator | |
US20210262191A1 (en) | Shovel and controller for shovel | |
CN118007731A (en) | Excavator and management system thereof | |
US20210010229A1 (en) | Shovel | |
US20210262196A1 (en) | Excavator and control apparatus for excavator | |
US20220010521A1 (en) | Shovel and construction system | |
US20230078047A1 (en) | Excavator and system for excavator | |
US20240026651A1 (en) | Display device for shovel, and shovel | |
CN117468520A (en) | Excavator and construction system | |
US20210054595A1 (en) | Shovel | |
US20220220696A1 (en) | Shovel and controller for shovel | |
CN113677855A (en) | Shovel and control device for shovel | |
US20240018750A1 (en) | Display device for shovel, shovel, and assist device for shovel | |
US20220341124A1 (en) | Shovel and remote operation support apparatus | |
US20240141618A1 (en) | Shovel and shovel control system | |
JP2022154722A (en) | Excavator | |
JP2020165256A (en) | Shovel | |
US20240026653A1 (en) | Shovel and control device for shovel | |
US20240167245A1 (en) | Shovel, shovel control device, and machine learning device | |
US20240175243A1 (en) | Shovel control device and shovel |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
AS | Assignment |
Owner name: SUMITOMO HEAVY INDUSTRIES, LTD., JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:WU, CHUNNAN;REEL/FRAME:067461/0189 Effective date: 20240514 |