CN111670286A

CN111670286A - Shovel and management system for shovel

Info

Publication number: CN111670286A
Application number: CN201980010909.6A
Authority: CN
Inventors: 西贵志
Original assignee: Sumitomo SHI Construction Machinery Co Ltd
Current assignee: Sumitomo SHI Construction Machinery Co Ltd
Priority date: 2018-01-30
Filing date: 2019-01-30
Publication date: 2020-09-15
Also published as: KR20200111193A; US20200354921A1; CN118007731A; JPWO2019151335A1; EP3748089A1; WO2019151335A1; EP3748089A4; EP3748089B1

Abstract

A shovel (100) according to an embodiment of the present invention includes: a lower traveling body (1); an upper revolving body (3) which is rotatably mounted on the lower traveling body (1); an excavation attachment as an attachment attached to the upper slewing body (3); and a controller (30) mounted on the upper revolving structure (3) and serving as a control device capable of executing automatic control. The controller (30) is configured to stop the automatic control when the information relating to the operation of the shovel (100) shows a trend different from that of the conventional one.

Description

Shovel and management system for shovel

Technical Field

The present invention relates to an excavator and an excavator management system.

Background

Conventionally, an excavator is known which can selectively use: a manual control mode in which only the arm is operated when the arm lever is operated; and an automatic control mode in which not only the arm but also the boom and the bucket are operated when the arm lever is operated (refer to patent document 1). In the automatic control mode, the excavator is capable of automatically moving the attachment so that the bucket moves along a slope having a preset inclination angle. Specifically, the excavator can generate linear movement of the tip end of the bucket by automatically operating the boom and the bucket in accordance with the operation of the arm lever.

Prior art documents

Patent document

Patent document 1: japanese Kohyo publication Hei No. 7-509294

Disclosure of Invention

Technical problem to be solved by the invention

However, excavators are commonly used in a variety of operating environments. Therefore, even in the automatic control mode, the operating environment around the excavator sometimes becomes an operating environment different from the previously assumed operating environment. In this case, in the excavator, the operation in the automatic control mode continues even if the operation environment changes. For example, in an emergency in the automatic control mode, when the operator operates the arm lever in order to open the arm and press the bucket up an incline, the excavator may automatically raise the boom to move the bucket up the incline as the arm is opened. At this time, the operator may not be able to press the bucket up the slope as intended.

Therefore, it is desirable to cause the shovel to perform an operation different from the operation by the automatic control even during the automatic control in a case where the operating environment of the shovel becomes an operating environment different from the operating environment assumed in advance.

Means for solving the technical problem

An excavator according to an embodiment of the present invention includes: a lower traveling body; an upper revolving body which is rotatably mounted on the lower traveling body; an attachment attached to the upper slewing body; and a control device mounted on the upper slewing body and capable of executing automatic control, wherein the control device is configured to stop the automatic control when information relating to the operation of the shovel or information relating to the state of the peripheral device shows a trend different from that of a conventional one.

Effects of the invention

According to the above aspect, in a case where the operating environment of the shovel becomes an operating environment different from a previously assumed operating environment, even during the automatic control, the shovel can be caused to perform an operation different from the operation based on the automatic control.

Drawings

Fig. 1 is a side view of a shovel according to an embodiment of the present invention.

Fig. 2 is a diagram showing a configuration example of a basic system of the shovel of fig. 1.

Fig. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel of fig. 1.

Fig. 4 is a block diagram showing an example of the relationship of functional elements related to the execution of automatic control in the controller.

Fig. 5 is a block diagram showing an example of the configuration of functional elements for calculating various indication values.

Fig. 6 is a diagram showing a state of a hydraulic system when an arm opening operation is performed during automatic excavation control in the excavator in which the emergency stop function is set to be non-operational.

Fig. 7 is a diagram showing movement of the excavation attachment when the arm opening operation is performed during automatic excavation control in the excavator in which the emergency stop function is set to be non-operational.

Fig. 8 is a diagram showing a state of a hydraulic system when an arm opening operation is performed during automatic excavation control in the excavator in which the emergency stop function is set to operate.

Fig. 9 is a diagram showing movement of the excavation attachment when the arm opening operation is performed during automatic excavation control in the excavator in which the emergency stop function is set to operate.

Fig. 10 is a diagram showing a state of a hydraulic system when a boom lowering operation is performed during automatic excavation control in an excavator in which an emergency stop function is set to be in operation.

Fig. 11 is a diagram showing movement of the excavation attachment when the boom lowering operation is performed during the automatic excavation control in the excavator in which the emergency stop function is set to be in operation.

Fig. 12 is a block diagram showing another example of the relationship of functional elements related to the execution of automatic control in the controller.

Fig. 13 is a block diagram showing another configuration example of functional elements for calculating various indication values.

Fig. 14 is a plan view of a work site showing movement of the excavation attachment when the swing operation is performed during the automatic compound swing control.

Fig. 15 is a diagram showing the movement of the excavation attachment when the left turning operation is performed while the upper turning body 3 is turning right in the excavator in which the emergency stop function is set to operate.

Fig. 16 is a diagram showing a configuration example of the electric operation system.

Fig. 17 is a schematic diagram showing a configuration example of a management system for a shovel.

Detailed Description

Fig. 1 is a side view of a shovel 100 as an excavator according to an embodiment of the present invention. An upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the shovel 100 via a revolving mechanism 2. A boom 4 is attached to the upper slewing body 3. An arm 5 is attached to a front end of the boom 4, and a bucket 6 as a terminal attachment is attached to a front end of the arm 5.

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

Specifically, the boom cylinder 7 is driven by the tilting of the boom lever, the arm cylinder 8 is driven by the tilting of the arm lever, and the bucket cylinder 9 is driven by the tilting of the bucket lever. Similarly, the right-side travel hydraulic motor 1R (see fig. 2) is driven by the tilting of the right travel lever, the left-side travel hydraulic motor 1L (see fig. 2) is driven by the tilting of the left travel lever, and the turning hydraulic motor 2A (see fig. 2) is driven by the tilting of the turning lever. In this manner, the corresponding actuator is driven in accordance with the operation of each lever, whereby the control of the shovel 100 by the manual operation of the operator (hereinafter, referred to as "manual control") is executed.

Further, a boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

The boom angle sensor S1 is configured to detect the turning angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the turning angle of the boom 4 with respect to the upper swing body 3 (hereinafter referred to as "boom angle"). The boom angle is, for example, a minimum angle when the boom 4 is lowered to the maximum, and increases as the boom 4 is raised.

The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the turning angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"). The arm angle is, for example, a minimum angle when the arm 5 is retracted to the maximum, and increases as the arm 5 is opened.

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

The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor detecting a stroke amount of a corresponding hydraulic cylinder, a rotary encoder detecting a rotation angle around a coupling pin, an inertia measuring unit, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, and the like.

The upper slewing body 3 is provided with a cab 10 as a cab and is mounted with a power source such as an engine 11. The upper slewing body 3 is provided with a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, an emergency stop switch 48, a body tilt sensor S4, a slewing angular velocity sensor S5, an imaging device S6, a communication device T1, and a positioning device P1.

The controller 30 is configured to function as a control device for controlling the driving of the shovel 100. In the present embodiment, the controller 30 is constituted by a computer including a CPU, a RAM, a ROM, and the like. The respective functions provided by the controller 30 are realized by, for example, the CPU executing a program stored in the ROM. The functions include, for example, a facility guide function for guiding (guiding) a manual operation of the excavator 100 by the operator and a facility control function for automatically supporting the manual operation of the excavator 100 by the operator. The device guide apparatus 50 included in the controller 30 is configured to be able to perform a device guide function and a device control function.

The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

The input device 42 is configured to allow an operator to input various information to the controller 30. The input device 42 includes, for example, at least 1 of a touch panel, a rotary switch, a membrane switch, and the like provided in the cab 10.

The audio output device 43 is configured to output audio information. The sound output device 43 may be, for example, an alarm such as an in-vehicle speaker or a buzzer connected to the controller 30. In the present embodiment, the audio output device 43 outputs various audio information in accordance with an instruction from the controller 30.

The storage device 47 is configured to store various information. The storage device 47 is a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output from various devices during operation of the shovel 100, or may store information acquired via various devices before operation of the shovel 100 is started. The storage device 47 may store data relating to the target construction surface acquired via the communication device T1 or the like, for example. The target construction surface may be set by an operator of the excavator 100 or may be set by a construction manager or the like.

The emergency stop switch 48 is configured to function as a switch for stopping the operation of the shovel 100. The emergency stop switch 48 is, for example, a switch provided in a position where an operator sitting on a driver's seat can operate the switch in the cab 10. In the present embodiment, the emergency stop switch 48 is a foot switch provided under the feet of the operator in the cab 10. When operated by the operator, the emergency stop switch 48 outputs an instruction to the engine control unit to stop the engine 11. The emergency stop switch 48 may be a hand-push switch provided around the driver's seat.

The body inclination sensor S4 is configured to detect the inclination of the upper slewing body 3. In the present embodiment, the body inclination sensor S4 is an acceleration sensor that detects the inclination of the upper slewing body 3 with respect to the virtual horizontal plane. The body inclination sensor S4 may be a combination of an acceleration sensor and a gyro sensor, or may be an inertial measurement unit or the like. The body tilt sensor S4 detects, for example, the tilt angle (roll angle) of the upper slewing body 3 about the front-rear axis and the tilt angle (pitch angle) about the left-right axis. The front-rear axis and the left-right axis of the upper revolving structure 3 are orthogonal to each other at, for example, a shovel center point which is one point on the revolving shaft of the shovel 100.

The imaging device S6 is configured to acquire an image of the periphery of the shovel 100. In the present embodiment, the imaging device S6 includes a front camera S6F that images a space in front of the shovel 100, a left side camera S6L that images a space on the left side of the shovel 100, a right side camera S6R that images a space on the right side of the shovel 100, and a rear camera S6B that images a space behind the shovel 100.

The imaging device S6 is a monocular camera having an imaging element such as a CCD or a CMOS, for example, and outputs a captured image to the display device 40. The imaging device S6 may be configured to function as the space recognition device S7. The space recognition device S7 is configured to be able to detect objects existing in a three-dimensional space around the shovel 100. The object is for example at least 1 of a person, an animal, a shovel, a device or a building etc. The space recognition device S7 may be configured to be able to calculate the distance between the space recognition device S7 or the shovel 100 and the object detected by the space recognition device S7. The space recognition device S7 may be an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a range image sensor, an infrared sensor, or the like.

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

The communication device T1 is configured to control communication with an external device located outside the shovel 100. In the present embodiment, the communication device T1 controls communication with an external device via at least 1 of a satellite communication network, a mobile phone communication network, a short-range wireless communication network, the internet, and the like.

The positioning device P1 is configured to measure the position of the upper slewing body 3. The positioning device P1 may be configured to measure the orientation of the upper slewing body 3. Positioning device P1 is, for example, a GNSS compass, detects the position and orientation of upper revolving unit 3, and outputs the detected values to controller 30. Therefore, the positioning device P1 can also function as a direction detection device that detects the direction of the upper slewing body 3. The orientation detecting means may be an orientation sensor attached to the upper slewing body 3. The position and the direction of the upper slewing body 3 may be measured by a slewing angular velocity sensor S5.

The turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper revolving structure 3. The turning angular velocity sensor S5 may be configured to be able to detect or calculate the turning angle of the upper turning body 3. In the present embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, an inertial measurement unit, or the like.

Fig. 2 is a block diagram showing a configuration example of a basic system of the shovel 100, and a mechanical power transmission line, a working oil line, a pilot line, and an electric control line are shown by a double line, a solid line, a broken line, and a dotted line, respectively.

The basic system of the shovel 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a discharge pressure sensor 28, an operation pressure sensor 29, a controller 30, a proportional valve 31, a shuttle valve 32, and the like.

The engine 11 is a drive source of the shovel 100. In the present embodiment, the engine 11 is a diesel engine that is operated to maintain a predetermined number of revolutions. An output shaft of the engine 11 is connected to input shafts of the main pump 14 and the pilot pump 15, respectively.

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

The regulator 13 is configured to control the discharge rate of the main pump 14. In the present embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in accordance with an instruction from the controller 30. The controller 30 receives outputs of the discharge pressure sensor 28, the operation pressure sensor 29, and the like, for example, and outputs an instruction to the regulator 13 as necessary to change the discharge rate of the main pump 14.

The pilot pump 15 is configured to supply hydraulic oil to pilot-operated equipment including the operation device 26 and the proportional valve 31 via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 can be realized by the main pump 14. That is, in addition to the function of supplying the hydraulic oil to the control valve 17, the main pump 14 may also have a function of supplying the hydraulic oil to the operation device 26, the proportional valve 31, and the like after reducing the pressure of the hydraulic oil by a throttle valve and the like.

The control valve 17 is a pilot operated device that controls a hydraulic system in the excavator 100. In the present embodiment, the control valve 17 includes control valves 171 to 176. The control valve 17 can selectively supply the hydraulic oil discharged from the main pump 14 to 1 or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-side travel hydraulic motor 1L, a right-side travel hydraulic motor 1R, and a turning hydraulic motor 2A. The turning hydraulic motor 2A may be a turning motor generator as an electric actuator.

The operating device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding one of the control valves 17 via the pilot line. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each hydraulic actuator. At least 1 of the operation devices 26 is configured to be able to supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line and the shuttle valve 32.

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

The operation pressure sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the present embodiment, the operation pressure sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each actuator as pressure, and outputs the detected values to the controller 30 as operation data. The operation content of the operation device 26 may be detected by a sensor other than the operation pressure sensor.

The proportional valve 31 is disposed on a pipe line connecting the pilot pump 15 and the shuttle valve 32, and is configured to be capable of changing a flow passage area of the pipe line. In the present embodiment, the proportional valve 31 is a solenoid valve that operates in accordance with an instruction output from the controller 30. The proportional valve 31 also functions as a plant control valve. Therefore, regardless of the operation device 26 by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32.

The shuttle valve 32 is configured to have 2 inlet ports and 1 outlet port. One of the 2 inlet ports is connected to the operating device 26 and the other is connected to the proportional valve 31. The discharge port is connected to a pilot port of a corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can apply the higher pilot pressure of the pilot pressure generated by the operation device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

With this configuration, even when the operation for a specific operation device 26 is not performed, the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26.

Next, the device guide apparatus 50 included in the controller 30 will be described. The device guide apparatus 50 is configured to perform a device guide function, for example. In the present embodiment, the equipment guide device 50 notifies the operator of work information such as the distance between the target construction surface and the work site of the attachment, for example. The data related to the target construction surface is stored in the storage device 47 in advance, for example. The data on the target construction surface is expressed in, for example, a reference coordinate system. The reference coordinate system is, for example, a world geodetic system. The operator can define an arbitrary point on the construction site as a reference point, and set the target construction surface based on the relative positional relationship between each point on the target construction surface and the reference point. The working site of the attachment is, for example, a cutting edge of the bucket 6 or a back surface of the bucket 6. The equipment guide device 50 guides the operation of the shovel 100 by notifying the operator of the work information via at least 1 of the display device 40, the sound output device 43, and the like.

The equipment guide 50 may also perform an equipment control function that automatically supports manual operation of the excavator 100 by the operator. For example, when the operator manually performs an excavation operation, the equipment guide device 50 may automatically operate at least 1 of the boom 4, the arm 5, and the bucket 6 so that the distance between the target construction surface and the front end position of the bucket 6 is maintained at a predetermined value.

In the present embodiment, the device guide apparatus 50 is incorporated in the controller 30, but may be a control apparatus provided separately from the controller 30. In this case, the device booting apparatus 50 is constituted by a computer including, for example, a CPU, a RAM, a ROM, and the like, as in the controller 30. Each function provided by the device boot apparatus 50 is realized by the CPU executing a program stored in the ROM or the like. The facility guidance device 50 and the controller 30 are connected to be able to communicate with each other via a communication network such as a CAN.

Specifically, the equipment guide 50 acquires information from at least 1 of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, the turning angular velocity sensor S5, the imaging device S6, the positioning device P1, the communication device T1, the input device 42, and the like. Then, the equipment guide 50 calculates the distance between the bucket 6 and the target construction surface, for example, based on the acquired information, and notifies the operator of the excavator 100 of the magnitude of the distance between the bucket 6 and the target construction surface by at least one of sound and light (image display).

The device guide apparatus 50 is capable of executing a device control function for automatically supporting a manual operation, and therefore includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, and an automatic control unit 54.

The position calculation unit 51 is configured to calculate the position of the object. In the present embodiment, the position calculating unit 51 calculates a coordinate point in a reference coordinate system of the working portion of the attachment. Specifically, the position calculating unit 51 calculates a coordinate point of the cutting edge of the bucket 6 from the respective turning angles of the boom 4, the arm 5, and the bucket 6. The position calculation unit 51 may calculate not only the coordinate point of the center of the cutting edge of the bucket 6 but also the coordinate point of the left end of the cutting edge of the bucket 6 and the coordinate point of the right end of the cutting edge of the bucket 6. At this time, the output of the body inclination sensor S4 may be used.

The distance calculation unit 52 is configured to calculate the distance between 2 objects. In the present embodiment, the distance calculation unit 52 calculates the vertical distance between the cutting edge of the bucket 6 and the target construction surface. The distance calculation unit 52 may calculate a distance (for example, a vertical distance) between the coordinate point of each of the left and right edges of the cutting edge of the bucket 6 and the target construction surface so that the implement guide 50 can determine whether or not the excavator 100 is facing the target construction surface.

The information transmission unit 53 is configured to notify various information to the operator of the shovel 100. In the present embodiment, the information transmission unit 53 notifies the operator of the shovel 100 of the magnitude of the distance calculated by the distance calculation unit 52. Specifically, the information transmission unit 53 notifies the operator of the shovel 100 of the magnitude of the vertical distance between the cutting edge of the bucket 6 and the target construction surface using visual information and audible information.

For example, the information transmission unit 53 may notify the operator of the magnitude of the vertical distance between the cutting edge of the bucket 6 and the target construction surface using intermittent sound emitted from the sound output device 43. In this case, the information transmission unit 53 shortens the interval of the intermittent sound as the vertical distance is smaller. The information transmission unit 53 may use continuous sound, or may indicate a difference in the magnitude of the vertical distance by changing the level, intensity, or the like of the sound. The information transmission unit 53 may issue an alarm when the cutting edge of the bucket 6 is at a position lower than the target construction surface. The alarm is for example a continuous tone significantly larger than a pause tone.

The information transmission unit 53 may display the magnitude of the vertical distance between the cutting edge of the bucket 6 and the target construction surface on the display device 40 as the operation information. The display device 40 displays the operation information received from the information transmission unit 53 on the screen together with the image data received from the image pickup device S6, for example. The information transmission unit 53 may notify the operator of the magnitude of the vertical distance using, for example, an image of a simulator or an image of a bar graph indicator.

The automatic control unit 54 is configured to automatically support manual operation of the excavator 100 by an operator by automatically operating the actuator. For example, when the operator manually performs the arm retracting operation, the automatic control unit 54 may automatically extend and retract at least 1 of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the distance between the target construction surface and the cutting edge of the bucket 6 is maintained at a predetermined value. At this time, the operator can retract the arm 5 while maintaining the distance between the target construction surface and the cutting edge of the bucket 6 by, for example, simply operating the arm lever in the retracting direction. Such automatic control may be configured to be executed when a predetermined switch as one of the input devices 42 is pressed. That is, the automatic control unit 54 may switch the operation mode of the shovel 100 from the manual control mode to the automatic control mode when a predetermined switch is pressed. The manual control mode indicates an operation mode in which manual control is performed, and the automatic control mode indicates an operation mode in which automatic control is performed. The predetermined switch may be, for example, a device control switch (hereinafter, referred to as "MC switch 42A"), or may be disposed in the grip portion of the operation lever as a push switch. At this time, the operator may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode by pressing the MC switch 42A again, or may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode by pressing an equipment control stop switch (hereinafter, referred to as "MC stop switch 42B") that is a switch different from the MC switch 42A. The MC stop switch 42B may be disposed adjacent to the MC switch 42A, or may be disposed in a grip portion of another operation lever. Alternatively, the MC stop switch 42B may be omitted.

Alternatively, such automatic control may be executed when the MC switch 42A is pressed. At this time, the operator can retract the arm 5 while maintaining the distance between the target construction surface and the cutting edge of the bucket 6 by operating the arm lever in the arm retracting direction while pressing the MC switch 42A located at the grip portion of the arm lever, for example. This is because the boom cylinder 7 and the bucket cylinder 9 automatically follow up in accordance with the arm retracting operation by the arm cylinder 8. Further, the operator can stop the automatic control by simply releasing the finger from the MC switch 42A. Hereinafter, control for automatically operating the excavation attachment while maintaining the distance between the target construction surface and the cutting edge of the bucket 6 is referred to as "automatic excavation control" which is one of automatic controls (equipment control functions).

The automatic control unit 54 may automatically rotate the turning hydraulic motor 2A so that the upper turning body 3 faces the target construction surface when a predetermined switch such as the MC switch 42A is pressed. At this time, the operator can directly face the upper slewing body 3 to the target construction surface by simply pressing a predetermined switch or by operating the slewing operation lever in a state where the predetermined switch is pressed. Alternatively, the operator can cause the upper slewing body 3 to face the target construction surface by simply pressing a predetermined switch, and start the machine control function, that is, the state of the excavator 100 becomes a state in which the automatic control can be executed. Hereinafter, control for causing the upper slewing body 3 to face the target construction surface will be referred to as "automatic facing control" which is one of automatic controls (equipment control functions). In the automatic front-facing control, the equipment guide 50 determines that the excavator 100 is front-facing the target construction surface when, for example, the left-end vertical distance between the coordinate point of the left end of the cutting edge of the bucket 6 and the target construction surface is equal to the right-end vertical distance between the coordinate point of the right end of the cutting edge of the bucket 6 and the target construction surface. However, the equipment guide device 50 may determine that the excavator 100 is facing the target construction surface when the difference between the left-end vertical distance and the right-end vertical distance is equal to or smaller than a predetermined value, instead of the left-end vertical distance being equal to the right-end vertical distance, that is, the difference between the left-end vertical distance and the right-end vertical distance being zero.

The automatic control unit 54 may be configured to automatically perform boom raising swing or boom lowering swing when a predetermined switch such as the MC switch 42A is pressed. At this time, the operator can start boom raising swing or boom lowering swing by simply pressing a predetermined switch or operating the swing lever in a state where the predetermined switch is pressed. Hereinafter, control for automatically starting boom raising swing or boom lowering swing is referred to as "automatic combined swing control" which is one of automatic controls (equipment control functions).

In the present embodiment, the automatic control unit 54 can operate each actuator independently and automatically by independently and automatically adjusting the pilot pressure applied to the control valve corresponding to each actuator. For example, in the automatic direct alignment control, the automatic control unit 54 may operate the turning hydraulic motor 2A based on a difference between the left-end vertical distance and the right-end vertical distance. Specifically, when the swing lever is operated in a state where a predetermined switch is pressed, the automatic control unit 54 determines whether or not the swing lever is operated in a direction in which the upper swing body 3 is directed to the target construction surface. For example, when the swing operation lever is operated to swing the upper swing body 3 in a direction in which the vertical distance between the cutting edge of the bucket 6 and the target construction surface (upward surface) increases, the automatic control unit 54 does not perform the automatic normal facing control. On the other hand, when the swing operation lever is operated to swing the upper swing body 3 in a direction in which the vertical distance between the cutting edge of the bucket 6 and the target construction surface (upward surface) decreases, the automatic control unit 54 executes the automatic right alignment control. As a result, the turning hydraulic motor 2A can be operated so that the difference between the left-end vertical distance and the right-end vertical distance is reduced. When the difference becomes equal to or less than a predetermined value or zero, the automatic control unit 54 stops the turning hydraulic motor 2A. Alternatively, the automatic control unit 54 may set a turning angle at which the difference becomes equal to or smaller than a predetermined value or zero as a target angle, and perform turning angle control so that the angle difference between the target angle and the current turning angle (detected value) becomes zero. In this case, the turning angle is, for example, an angle of the front-rear axis of the upper revolving structure 3 with respect to a predetermined reference direction.

The automatic control unit 54 may be configured to stop the automatic control when a predetermined condition is satisfied. The "case where the predetermined condition is satisfied" may include, for example, "a case where the information on the operation of the shovel 100 shows a tendency different from the usual tendency". Hereinafter, the function of stopping the automatic control when the predetermined condition is satisfied is referred to as an "emergency stop function".

The "information related to the operation of the shovel 100" is, for example, "information related to the operation of the operation device 26". For example, the automatic control unit 54 may be configured to determine that "the information relating to the operation of the shovel 100 shows a tendency different from the usual tendency" when the operation device 26 is suddenly operated. Alternatively, the "information on the operation of the shovel 100" may be "information on the operation of the swing lever mounted on the upper swing body 3". At this time, the automatic control unit 54 may be configured to determine that "the information relating to the operation of the shovel 100 shows a tendency different from the usual tendency" when an operation of revolving the upper revolving structure 3 in a direction opposite to the revolving performed by the automatic forward facing control or the automatic combined revolving control as the automatic control is performed, for example. When it is determined that the information on the operation of the shovel 100 shows a tendency different from the usual tendency, the automatic control unit 54 may be configured to stop the automatic control.

The "case where the predetermined condition is satisfied" may include, for example, a "case where the instability of the shovel 100 increases" such as a "case where the inclination of the upper revolving structure 3 is in a predetermined state". The "case where the tilt of the upper slewing body 3 is in a predetermined state" includes, for example, "a case where the pitch angle of the upper slewing body 3 is at a predetermined angle", "a case where the absolute value of the change rate (change rate) of the pitch angle is at least a predetermined value", and "a case where the change amount of the pitch angle is at least a predetermined value". The same is true with respect to the roll angle. At this time, the automatic control unit 54 may be configured to stop the automatic control based on the output of the body inclination sensor S4. Specifically, the automatic control unit 54 may stop the automatic control when detecting that the pitch angle of the upper slewing body 3 is a predetermined angle based on the output of the body inclination sensor S4, and may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode.

The "case where the predetermined condition is satisfied" may include, for example, "a case where the emergency stop switch 48, which is a foot switch provided under the foot of the operator, is depressed".

Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to fig. 3. Fig. 3 shows a configuration example of a hydraulic system mounted on the shovel 100 shown in fig. 1. In fig. 3, the mechanical power transmission line, the working oil line, the pilot line, and the electric control line are shown by a double line, a solid line, a broken line, and a dotted line, respectively, as in fig. 2.

The hydraulic system circulates the working oil from the left main pump 14L driven by the engine 11 to the working oil tank via the left intermediate bypass line 40L or the left parallel line 42L, and circulates the working oil from the right main pump 14R driven by the engine 11 to the working oil tank via the right intermediate bypass line 40R or the right parallel line 42R. Left main pump 14L and right main pump 14R correspond to main pump 14 of fig. 2.

The left intermediate bypass line 40L is a hydraulic oil line passing through the

control valves

171, 173, 175L, and 176L disposed in the control valve 17. The right middle bypass line 40R is a hydraulic oil line passing through the

control valves

172, 174, 175R, and 176R disposed in the control valve 17.

Control valves

175L and 175R correspond to control valve 175 of fig. 2. The

control valves

176L and 176R correspond to the control valve 176 of fig. 2.

The control valve 171 is a spool valve that switches the flow of the hydraulic oil so as to supply the hydraulic oil discharged from the left main pump 14L to the left traveling hydraulic motor 1L and discharge the hydraulic oil discharged from the left traveling hydraulic motor 1L to a hydraulic oil tank.

The control valve 172 is a spool valve that switches the flow of the hydraulic oil so as to supply the hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 1R and discharge the hydraulic oil discharged from the right travel hydraulic motor 1R to a hydraulic oil tank.

The control valve 173 is a spool valve that switches the flow of the hydraulic oil so as to supply the hydraulic oil discharged from the left main pump 14L to the hydraulic motor for slewing 2A and discharge the hydraulic oil discharged from the hydraulic motor for slewing 2A to a hydraulic oil tank.

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

The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply hydraulic oil discharged from the left main pump 14L to the boom cylinder 7.

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

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

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

The left parallel line 42L is a working oil line connected in parallel with the left intermediate bypass line 40L. When the flow of the hydraulic oil through the left intermediate bypass line 40L is restricted or shut off by any one of the

control valves

171, 173, and 175L, the left parallel line 42L can supply the hydraulic oil to the control valves further downstream. The right parallel line 42R is a working oil line connected in parallel with the right intermediate bypass line 40R. When the flow of the hydraulic oil through the right intermediate bypass line 40R is restricted or shut off by any one of the

control valves

172, 174, and 175R, the right parallel line 42R can supply the hydraulic oil to the control valve further downstream.

The left regulator 13L is configured to be able to control the discharge rate of the left main pump 14L. In the present embodiment, the left regulator 13L controls the discharge rate of the left main pump 14L by, for example, adjusting the swash plate tilt angle of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. The right regulator 13R is configured to be able to control the discharge rate of the right main pump 14R. In the present embodiment, the right regulator 13R controls the discharge rate of the right main pump 14R by, for example, adjusting the swash plate tilt angle of the right main pump 14R in accordance with the discharge pressure of the right main pump 14R. The left and

right adjusters

13L and 13R correspond to the adjuster 13 of fig. 2. The left regulator 13L reduces the discharge amount by adjusting the swash plate tilt angle of the left main pump 14L in accordance with, for example, an increase in the discharge pressure of the left main pump 14L. The same applies to the right regulator 13R. This is to make the suction horsepower of the main pump 14, which is expressed by the product of the discharge pressure and the discharge amount, not exceed the output horsepower of the engine 11.

The left discharge pressure sensor 28L is an example of the discharge pressure sensor 28, and detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.

Here, negative control employed in the hydraulic system of fig. 3 will be described.

The left intermediate bypass line 40L is provided with a left throttle valve 18L between the control valve 176L located at the most downstream side and the hydraulic oil tank. The flow of the hydraulic oil discharged from the left main pump 14L is restricted by the left throttle valve 18L. Also, the left throttle valve 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30. The right intermediate bypass line 40R is provided with a right throttle 18R between the control valve 176R located at the most downstream side and the hydraulic oil tank. The flow of the hydraulic oil discharged from the right main pump 14R is restricted by the right throttle 18R. Also, the right throttle 18R generates a control pressure for controlling the right regulator 13R. The right control pressure sensor 19R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.

The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with the control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as the control pressure increases, and increases the discharge rate of the left main pump 14L as the control pressure decreases. The discharge rate of right main pump 14R is also controlled in the same manner.

Specifically, as shown in fig. 3, when the hydraulic actuators in the shovel 100 are not operated in the standby state, the hydraulic oil discharged from the left main pump 14L passes through the left intermediate bypass line 40L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the allowable minimum discharge rate, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left intermediate bypass line 40L. On the other hand, when a certain hydraulic actuator is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of the hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, and the control pressure generated upstream of the left throttle 18L is reduced. As a result, the controller 30 increases the discharge rate of the left main pump 14L, circulates a sufficient amount of hydraulic oil to the hydraulic actuator to be operated, and ensures the drive of the hydraulic actuator to be operated. The same applies to the hydraulic oil discharged from right main pump 14R.

With the above-described configuration, the hydraulic system of fig. 3 can suppress unnecessary power consumption in each of left and right

main pumps

14L, 14R in the standby state. The unnecessary energy consumption includes pumping loss in the left intermediate bypass line 40L by the working oil discharged from the left main pump 14L and pumping loss in the right intermediate bypass line 40R by the working oil discharged from the right main pump 14R. When the hydraulic actuator is operated, the hydraulic system of fig. 3 can supply a sufficient amount of hydraulic oil required for the hydraulic actuator to be operated from each of the left and right

main pumps

14L, 14R.

Next, a structure for automatically operating the actuator will be described. The boom operation lever 26A is an example of the operation device 26, and is used to operate the boom 4. The boom control lever 26A causes pilot pressure corresponding to the operation content to act on the pilot ports of the

control valves

175L and 175R by the hydraulic oil discharged from the pilot pump 15. Specifically, when the boom raising direction is operated, the boom operation lever 26A causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. When the operation is performed in the boom lowering direction, the boom operation lever 26A causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175R.

The operation pressure sensor 29A is an example of the operation pressure sensor 29, and detects the content of the operation of the operator on the boom lever 26A as pressure, and outputs the detected value to the controller 30. The operation content includes, for example, an operation direction and an operation amount (operation angle).

The proportional valves 31AL and 31AR constitute a boom proportional valve 31A as an example of the proportional valve 31, and the shuttle valves 32AL and 32AR constitute a boom shuttle valve 32A as an example of the shuttle valve 32. Proportional valve 31AL operates according to the current indication regulated by controller 30. The controller 30 adjusts the pilot pressure based on the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the shuttle valve 32 AL. The proportional valve 31AR operates according to the current instruction regulated by the controller 30. The controller 30 adjusts the pilot pressure based on the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32 AR. The proportional valves 31AL and 31AR can adjust the pilot pressures so that the

control valves

175L and 175R can stop at any valve positions.

With this configuration, during automatic excavation control, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the shuttle valve 32AL, regardless of the boom raising operation by the operator. That is, the controller 30 can automatically lift the boom 4. The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR regardless of the boom lowering operation by the operator. That is, the controller 30 can automatically lower the boom 4.

The arm control lever 26B is an example of the control device 26, and is used to control the arm 5. The arm control lever 26B causes a pilot pressure corresponding to the operation content to act on the pilot ports of the

control valves

176L and 176R by the hydraulic oil discharged from the pilot pump 15. Specifically, when the operation is performed in the arm opening direction, the arm control lever 26B can apply the pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. When the operation is performed in the arm retracting direction, the arm control lever 26B causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

The operation pressure sensor 29B is an example of the operation pressure sensor 29, and detects the content of the operation of the operator on the arm operation lever 26B as pressure, and outputs the detected value to the controller 30.

The proportional valves 31BL, 31BR constitute an arm proportional valve 31B as an example of the proportional valve 31, and the shuttle valves 32BL, 32BR constitute an arm shuttle valve 32B as an example of the shuttle valve 32. The proportional valve 31BL operates according to the current instruction regulated by the controller 30. The controller 30 adjusts the pilot pressure based on the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL and the shuttle valve 32 BL. The proportional valve 31BR operates according to the current instruction regulated by the controller 30. The controller 30 adjusts the pilot pressure based on the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR and the shuttle valve 32 BR. The proportional valves 31BL, 31BR can adjust the pilot pressures so that the

control valves

176L, 176R can stop at any valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL and the shuttle valve 32BL, regardless of the boom retracting operation by the operator. That is, the controller 30 can automatically retract the arm 5. The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR and the shuttle valve 32BR, regardless of the boom opening operation by the operator. That is, the controller 30 can automatically open the arm 5.

Thus, in the automatic excavation control, the arm cylinder 8 and the boom cylinder 7 are automatically operated in accordance with the operation amount of the arm control lever 26B, and thereby speed control or position control of the working portion is performed.

The shovel 100 may have a structure for automatically turning the upper turning body 3 left/right, a structure for automatically opening/retracting the bucket 6, and a structure for automatically advancing/retreating the lower traveling body 1. At this time, the hydraulic system portion related to the turning hydraulic motor 2A, the hydraulic system portion related to the operation of the bucket cylinder 9, the hydraulic system portion related to the operation of the left traveling hydraulic motor 1L, and the hydraulic system portion related to the operation of the right traveling hydraulic motor 1R may be configured similarly to the hydraulic system portion related to the operation of the boom cylinder 7, and the like.

Next, the details of the automatic control by the controller 30 will be described with reference to fig. 4. Fig. 4 is a block diagram showing an example of the relationship between the function elements F1 to F6 related to the execution of the automatic control in the controller 30.

As shown in fig. 4, the controller 30 has functional elements F1 to F6 related to execution of automatic control. The functional elements may be constituted by software, hardware, or a combination of software and hardware.

The function element F1 is configured to analyze an operation trend that is a trend based on a manual operation by an operator. In the present embodiment, the function element F1 analyzes the operation tendency based on the operation data output from the operation pressure sensor 29, and outputs the analysis result together with the operation data. The operation tendency includes, for example, an operation tendency to bring the cutting edge of the bucket 6 straight closer to the body, an operation tendency to bring the cutting edge of the bucket 6 straight farther from the body, an operation tendency to raise the cutting edge of the bucket 6 straight upward, an operation tendency to lower the cutting edge of the bucket 6 straight downward, and the like. And, the function element F1 outputs, as an analysis result, with which operation tendency the current operation tendency matches.

The function element F2 is configured to generate a target track. In the present embodiment, the functional element F2 refers to the design data stored in the storage device 47, and generates a trajectory to be followed by the cutting edge of the bucket 6 when performing the slope surface machining work.

The function element F3 is configured to be able to switch the operation mode of the shovel 100. In the present embodiment, the function element F3 switches the operation mode of the shovel 100 from the manual control mode to the automatic control mode when receiving an on instruction from the MC switch 42A, and switches the operation mode of the shovel 100 from the automatic control mode to the manual control mode when receiving an off instruction from the MC off switch 42B.

The function element F3 may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode based on the analysis result of the operation trend as the output of the function element F1. For example, the function element F3 may switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode when it is determined that "the information on the operation of the shovel 100 shows a trend different from the usual trend" as described above based on the analysis result of the operation trend as the output of the function element F1.

When switching to the automatic control mode, the operation data and the analysis result of the operation tendency as the output of the function element F1 are supplied to the function element F5. When the manual control mode is switched, the operation data in the output of the function element F1 is supplied to the function element F6.

The function element F4 is configured to calculate the current blade tip position. In the present embodiment, the function element F4 calculates a coordinate point of the cutting edge of the bucket 6 as the current cutting edge position from the boom angle α detected by the boom angle sensor S1, the arm angle β detected by the arm angle sensor S2, and the bucket angle γ detected by the bucket angle sensor S3. The functional element F4 may also use the output of the body inclination sensor S4 in calculating the current blade tip position.

Function element F5 is configured to calculate the next blade tip position when the automatic control mode is selected. In the present embodiment, when the automatic control mode is selected, the function element F5 calculates the cutting edge position after a predetermined time as the target cutting edge position based on the operation data and the analysis result of the operation tendency output from the function element F1, the target trajectory generated by the function element F2, and the current cutting edge position calculated by the function element F4.

In the present embodiment, when the automatic control mode is selected, the function element F6 calculates the boom instruction value α from the target cutting edge position calculated by the function element F5^*Arm instruction value β^*And bucket indicated value gamma^*To move the current blade tip position to the target blade tip position.

When the manual control mode is selected, the function element F6 calculates a boom instruction value α from the operation data^*Arm instruction value β^*And bucket indicated value gamma^*To effect movement of the actuator corresponding to the operational data.

When the automatic control mode is selected, the function element F6 calculates the boom instruction value α as necessary even when the boom operation lever 26A is not operated^*. This is to automatically operate the boom 4. The same applies to arm 5 and bucket 6.

On the other hand, when the manual control mode is selected, the function element F6 does not calculate the boom instruction value α when the boom operation lever 26A is not operated^*. This is because the boom 4 is not operated in the manual control mode unless the boom manipulating lever 26A is operated. The same applies to arm 5 and bucket 6.

Next, the details of the function element F6 will be described with reference to fig. 5. Fig. 5 is a block diagram showing a configuration example of a functional element F6 for calculating various indication values.

As shown in fig. 5, the controller 30 further includes functional elements F11 to F13, F21 to F23, and F31 to F33 related to generation of the instruction value. The functional elements may be constituted by software, hardware, or a combination of software and hardware.

Functional elements F11-F13 are indicated by boom indication value α^*The functional elements F21 to F23 are related to the arm instruction value β^*The functional elements F31 to F33 are related to the bucket instruction value γ^*Related functional requirements.

The functional elements F11, F21, and F31 are configured to generate an indication of the current output by the proportional valve 31. In the present embodiment, the function component F11 outputs a boom current instruction to the boom proportional valve 31A (see fig. 3), the function component F21 outputs an arm current instruction to the arm proportional valve 31B (see fig. 3), and the function component F31 outputs a bucket current instruction to the bucket proportional valve 31C.

The function elements F12, F22, and F32 are configured to calculate the displacement amount of a spool constituting the spool valve. In the present embodiment, the function element F12 calculates the displacement amount of the boom valve body constituting the control valve 175 relating to the boom cylinder 7 from the output of the boom valve body displacement sensor S11. The function element F22 calculates the displacement amount of the arm valve body constituting the control valve 176 for the arm cylinder 8 from the output of the arm valve body displacement sensor S12. The function element F23 calculates the displacement amount of the bucket spool constituting the control valve 174 relating to the bucket cylinder 9 from the output of the bucket spool displacement sensor S13.

The function elements F13, F23, and F33 are configured to calculate the rotation angle of the workpiece. In the present embodiment, the function element F13 calculates the boom angle α from the output of the boom angle sensor S1. The function element F23 calculates the arm angle β from the output of the arm angle sensor S2. The function element F33 calculates a bucket angle γ from the output of the bucket angle sensor S3.

Specifically, the function element F11 is basically the boom instruction value α generated by the function element F6^*At this time, the function element F11 adjusts the boom current command so that the difference between the target boom valve spool displacement amount derived from the boom current command and the boom valve spool displacement amount calculated by the function element F12 becomes zero, and then the function element F11 outputs the adjusted boom current command to the boom proportional valve 31A.

Boom proportional valve 31A changes the opening area in accordance with the boom current instruction, and causes a pilot pressure corresponding to the magnitude of the boom instruction current to act on the pilot port of control valve 175. The control valve 175 moves the boom spool in accordance with the pilot pressure, and causes the working oil to flow into the boom cylinder 7. The boom spool displacement sensor S11 detects the displacement of the boom spool, and feeds back the detection result to the function element F12 of the controller 30. The boom cylinder 7 extends and contracts in accordance with the inflow of the working oil, and vertically moves the boom 4. The boom angle sensor S1 detects the turning angle of the vertically moving boom 4, and feeds back the detection result to the function element F13 of the controller 30. The function element F13 feeds back the calculated boom angle α to the function element F4.

The function element F21 basically indicates the arm instruction value β generated by the function element F6^*At this time, the function element F21 adjusts the arm current command so that the difference between the target arm valve body displacement derived from the arm current command and the arm valve body displacement calculated by the function element F22 becomes zero, and then, the function element F21 outputs the adjusted arm current command to the arm proportional valve 31B.

Arm proportional valve 31B changes the opening area in accordance with the arm current instruction, and causes a pilot pressure corresponding to the magnitude of the arm instruction current to act on the pilot port of control valve 176. The control valve 176 moves the arm spool according to the pilot pressure, and causes the working oil to flow into the arm cylinder 8. The arm valve displacement sensor S12 detects the displacement of the arm valve, and feeds back the detection result to the functional element F22 of the controller 30. The arm cylinder 8 expands and contracts according to the inflow of the working oil, and opens/retracts the arm 5. The arm angle sensor S2 detects the rotation angle of the arm 5 that is opened/retracted, and feeds back the detection result to the functional element F23 of the controller 30. The function element F23 feeds back the calculated arm angle β to the function element F4.

Similarly, the function element F31 is basically the bucket instruction value γ generated by the function element F6^*The bucket current command to the bucket proportional valve 31C is generated so that the difference from the bucket angle γ calculated by the function element F33 becomes zero. At this time, the function element F31 adjusts the bucket current command so that the difference between the target bucket spool displacement amount derived from the bucket current command and the bucket spool displacement amount calculated by the function element F32 becomes zero. Then, the function element F31 outputs the adjusted bucket current instruction to the bucket proportional valve 31C.

The bucket proportional valve 31C changes the opening area in accordance with the bucket current instruction, and causes a pilot pressure corresponding to the magnitude of the bucket instruction current to act on the pilot port of the control valve 174. The control valve 174 moves the bucket spool according to the pilot pressure, and causes the working oil to flow into the bucket cylinder 9. The bucket spool displacement sensor S13 detects the displacement of the bucket spool, and feeds back the detection result to the functional element F32 of the controller 30. The bucket cylinder 9 expands and contracts according to the inflow of the working oil, and expands/contracts the bucket 6. The bucket angle sensor S3 detects the rotation angle of the bucket 6 that is opened/retracted, and feeds back the detection result to the functional element F33 of the controller 30. The function element F33 feeds back the calculated bucket angle γ to the function element F4.

As described above, the controller 30 constitutes a 3-level feedback loop for each workpiece. That is, the controller 30 constitutes a feedback loop relating to the spool displacement amount, a feedback loop relating to the rotation angle of the workpiece, and a feedback loop relating to the blade edge position. Therefore, the controller 30 can control the movement of the cutting edge of the bucket 6 with high accuracy when performing automatic control.

Next, the effect of the emergency stop function will be described with reference to fig. 6 to 9. Fig. 6 to 9 relate to the operation of the shovel 100 when a portion LP (see fig. 7) of the ground supporting the shovel 100 in the slope surface processing work collapses. More specifically, the present invention relates to the operation of the shovel 100 when the operator performs the boom-opening operation in a reflective manner to prevent the shovel 100 from tipping over when the shovel 100 tilts forward due to collapse of a portion LP of the ground surface located below the front end of the lower traveling structure 1. The operator attempts to prevent forward tipping of the excavator 100 by opening the stick 5 to bring the bucket 6 into contact with the slope.

More specifically, fig. 6 is a diagram showing a state of the hydraulic system when the arm opening operation is performed during the automatic excavation control in the excavator 100 in which the emergency stop function is set to be non-operational, and corresponds to fig. 3. Fig. 7 is a diagram showing the movement of the excavation attachment when the arm opening operation is performed during the automatic excavation control in the excavator 100 in which the emergency stop function is set to be non-operational, and corresponds to fig. 1.

When the emergency stop function is not activated, as shown in fig. 6, when the arm control lever 26B is operated in the arm opening direction with the MC switch 42A pressed, the hydraulic system increases the pilot pressures acting on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R, respectively. This is to retract the arm cylinder 8 to expand the arm 5. Therefore, as shown by an arrow AR1 in fig. 7, the arm 5 is opened as intended by the operator.

At this time, the controller 30 detects that the arm operation lever 26B is operated in the arm opening direction based on the output of the operation pressure sensor 29B. As the excavator 100 is tilted forward, the cutting edge of the bucket 6 approaches the target construction surface. Therefore, the controller 30 performs the boom raising operation to suppress the cutting edge of the bucket 6 from moving below the target construction surface. Specifically, the controller 30 outputs a control instruction to the proportional valve 31AL so that predetermined pilot pressures are applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R, respectively. This is to extend the boom cylinder 7 and raise the boom 4 in response to the opening of the arm 5. Therefore, as shown by an arrow AR2 in fig. 7, the boom 4 is raised against the intention of the operator. As shown in fig. 7, the vertical distance between the cutting edge of the bucket 6 and the target construction surface TS maintains the value D1 against the intention of the operator. That is, the operator cannot support the shovel 100 by bringing the bucket 6 into contact with the slope surface. As a result, the shovel 100 further tilts forward as indicated by arrow AR3 in fig. 7.

On the other hand, in the case where the emergency stop function is operating, the controller 30 can prevent the excavation attachment from automatically moving against the operator's intention as described above. Fig. 8 is a diagram showing a state of the hydraulic system when the arm opening operation is performed during the automatic excavation control in the excavator 100 in which the emergency stop function is set to operate, and corresponds to fig. 3. Fig. 9 is a diagram showing the movement of the excavation attachment when the arm opening operation is performed during the automatic excavation control in the excavator 100 in which the emergency stop function is set to operate, and corresponds to fig. 1.

In the case of the emergency stop function operation, as shown in fig. 8, when the arm operation lever 26B is operated in the arm opening direction, the hydraulic system increases the pilot pressures acting on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R, respectively, as in the case of the emergency stop function operation. This is to retract the arm cylinder 8 to expand the arm 5. Therefore, as shown by an arrow AR4 in fig. 9, the arm 5 is opened as intended by the operator.

At this time, the controller 30 detects that the arm operation lever 26B is operated in the arm opening direction based on the output of the operation pressure sensor 29B. Then, the controller 30 determines whether or not a prescribed condition for stopping the automatic control is satisfied. For example, the controller 30 determines that the predetermined condition is satisfied when the operation speed in the arm opening direction of the arm operation lever 26B exceeds a predetermined speed. When it is determined that the predetermined condition is satisfied, the controller 30 stops the automatic control. In this manner, the controller 30 can switch the operation mode of the shovel 100 from the automatic control mode to the manual control mode even during the automatic control.

In the case of stopping the automatic control, the controller 30 does not output a control instruction to the proportional valve 31AL, unlike the case where the emergency stop function is not operated. Therefore, the predetermined pilot pressure does not act on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R, respectively. That is, the boom cylinder 7 is not extended according to the opening of the arm 5, and the boom 4 is not raised. That is, as shown in fig. 9, the boom 4 does not rise against the intention of the operator. As a result, the vertical distance between the cutting edge of the bucket 6 and the target construction surface TS is shortened as the arm 5 is opened according to the intention of the operator, and becomes zero when the arm angle reaches a certain angle. That is, as shown in fig. 9, the operator can prevent the excavator 100 from further tilting forward by bringing the cutting edge of the bucket 6 into contact with the slope surface.

Next, the same effects of the emergency stop function will be described with reference to fig. 10 and 11. Fig. 10 and 11 relate to the operation of the shovel 100 when a portion LP of the ground supporting the shovel 100 collapses during a slope surface working operation by the boom retracting operation. More specifically, the present invention relates to an operation of the shovel 100 when the operator performs a boom lowering operation in a reflexive manner to prevent the shovel 100 from tipping when the shovel 100 tilts forward due to a collapse of a portion LP of the ground surface located below the front end of the lower traveling structure 1. The operator attempts to prevent the excavator 100 from tipping forward by lowering the boom 4 so that the bucket 6 contacts the slope.

In the case where the emergency stop function is operated, the controller 30 can prevent the excavation attachment from automatically moving against the intention of the operator even when the operator reflectively performs the boom lowering operation, as in the case where the operator reflectively performs the arm opening operation. Fig. 10 shows a state of the hydraulic system when the boom lowering operation is performed during the automatic excavation control in the excavator 100 in which the emergency stop function is set to be operated. Fig. 11 shows the movement of the excavation attachment when the boom lowering operation is performed during the automatic excavation control in the excavator 100 in which the emergency stop function is set to be in operation.

When it is detected from the output of the operation pressure sensor 29A that the boom manipulating lever 26A is operated in the boom lowering direction, the controller 30 determines whether or not a predetermined condition for stopping the automatic control is satisfied. For example, the controller 30 determines that the predetermined condition is satisfied when the operation speed in the boom lowering direction of the boom manipulating lever 26A exceeds a predetermined speed. When it is determined that the predetermined condition is satisfied, the controller 30 stops the automatic control.

When the automatic control is stopped, as shown in fig. 10, when the boom manipulating lever 26A is manipulated in the boom lowering direction, the hydraulic system increases the pilot pressure acting on the right pilot port of the control valve 175R. This is to retract the boom cylinder 7 to lower the boom 4. Therefore, as shown by an arrow AR5 in fig. 11, the boom 4 is lowered as intended by the operator. The arm 5 does not move automatically in response to the lowering of the boom 4.

As a result, the distance between the cutting edge of the bucket 6 and the target construction surface TS is shortened as the boom 4 is lowered in accordance with the intention of the operator, and becomes zero when the boom angle reaches a certain angle. That is, as shown in fig. 11, the operator can prevent the excavator 100 from further tilting forward by bringing the cutting edge of the bucket 6 into contact with the slope surface.

In the above configuration, the controller 30 stops the automatic control when the boom lever 26A or the arm lever 26B is suddenly operated. However, the controller 30 may stop the automatic control when detecting that the pitch angle of the upper slewing body 3 is equal to or larger than a predetermined angle from the output of the body inclination sensor S4. Alternatively, the controller 30 may stop the automatic control when the emergency stop switch 48, which is a foot switch provided under the feet of the operator in the cab 10, is depressed. Alternatively, the controller 30 may stop the automatic control when the MC stop switch 42B is pressed. In these cases, the operator can prevent the excavator 100 from tilting forward by, for example, opening the arm 5 or lowering the boom 4 to bring the bucket 6 into contact with the slope surface.

As described above, the shovel 100 according to the embodiment of the present invention includes: a lower traveling body 1; an upper revolving structure 3 which is rotatably mounted on the lower traveling structure 1; an excavation attachment as an attachment attached to upper slewing body 3; and a controller 30 mounted on the upper revolving structure 3 and serving as a control device capable of executing automatic control. The controller 30 is configured to stop the automatic control when the information on the operation of the shovel 100 or the information on the state of the peripheral device shows a tendency different from that in the conventional case. The case where the information on the operation of the shovel 100 shows a tendency different from that of the conventional case corresponds to, for example, a case where the bucket 6 cannot be pressed up to the slope as intended by the operator. The automatic control may be, for example, an automatic excavation control. The automatic control may be, for example, a control for moving the work site along the target trajectory. With this structure, the shovel 100 can move as intended by the operator even during automatic control.

The "information related to the operation of the shovel 100" may be, for example, information related to the operation of the operation device 26 mounted on the upper revolving structure 3. For example, the controller 30 may be configured to determine that "the information relating to the operation of the shovel 100 shows a tendency different from the usual tendency" when the operation device 26 is suddenly operated. The "case where the operation device 26 is suddenly operated" includes, for example, a case where an operation amount per unit time of an arm operation lever as the operation device 26 exceeds a predetermined value. The operation amount per unit time of the arm lever may be, for example, a tilt angle per unit time of the arm lever.

The automatic control may be, for example, an automatic facing control or an automatic compound turning control. The "information related to the operation of the shovel 100" may be information related to the operation of a swing lever mounted on the upper swing body 3. At this time, the controller 30 may be configured to determine that "the information relating to the operation of the shovel 100 shows a tendency different from the usual tendency" when an operation of revolving the upper revolving structure 3 in the direction opposite to the revolving performed by the automatic control is performed.

Next, the details of the automatic control by the controller 30 will be described with reference to fig. 12 and 13. Fig. 12 is a block diagram showing another example of the relationship between the function elements F1 to F6 related to the execution of the automatic control in the controller 30, and corresponds to fig. 4. Fig. 13 is a block diagram showing another configuration example of the functional element F6 for calculating various instruction values, and corresponds to fig. 5.

The difference between the configuration of fig. 12 and the configuration of fig. 4 is that the function element F2 generates a target trajectory from the output of the space recognition device S7, the function element F4 acquires a rotation angle, and the function element F6 calculates a rotation instruction value^*But otherwise identical to the structure of fig. 4. The configuration of fig. 13 differs from the configuration of fig. 5 in that functional elements related to automatic control of the turning hydraulic motor 2A are provided, but is otherwise the same as the configuration of fig. 5. Therefore, the description of the same parts will be omitted below, and the different parts will be described in detail.

In the example of fig. 12 and 13, the function element F2 generates a trajectory to be followed by the cutting edge of the bucket 6 as a target trajectory from the object data detected by the space recognition device S7. The object data is information related to objects existing around the shovel 100, such as the position and shape of the dump truck.

The function element F4 calculates a coordinate point of the cutting edge of the bucket 6 as the current cutting edge position from the boom angle α, the arm angle β, the bucket angle γ, and the turning angle calculated from the output of the turning angular velocity sensor S5. The functional element F4 may also use the output of the body inclination sensor S4 in calculating the current blade tip position.

When the automatic control mode is selected, function element F6 calculates boom instruction value α from the target cutting edge position calculated by function element F5^*Arm instruction value β^*Bucket indicated value gamma^*And a gyration indication value^*To move the current blade tip position to the target blade tip position.

The functional elements F41-F43 are the same as the rotation indication value^*Related functional requirements. Specifically, the function element F41 outputs a slewing current instruction to the slewing proportional valve 31D. The function element F42 calculates the displacement amount of the rotary valve element constituting the control valve 173 for the rotary hydraulic motor 2A based on the output of the rotary valve element displacement sensor S14. The function element F43 calculates the turning angle from the output of the turning angular velocity sensor S5.

The function element F41 basically indicates the rotation instruction value generated by the function element F6^*The turning current instruction to the turning proportional valve 31D is generated so that the difference from the turning angle calculated by the functional element F43 becomes zero. At this time, the function element F41 adjusts the turning current command so that the difference between the target turning valve body displacement derived from the turning current command and the turning valve body displacement calculated by the function element F42 becomes zero. Then, the function element F41 outputs the adjusted swing current instruction to the swing proportional valve 31D.

The swing proportional valve 31D changes the opening area in accordance with the swing current instruction, and causes a pilot pressure corresponding to the magnitude of the swing instruction current to act on the pilot port of the control valve 173. The control valve 173 moves the rotary valve body in accordance with the pilot pressure, and causes the hydraulic oil to flow into the hydraulic motor 2A for rotation. The rotary valve body displacement sensor S14 detects the displacement of the rotary valve body, and feeds back the detection result to the function element F42 of the controller 30. The turning hydraulic motor 2A turns in accordance with the inflow of the hydraulic oil, and turns the upper turning body 3. The turning angular velocity sensor S5 detects the turning angle of the revolving upper revolving structure 3, and feeds back the detection result to the functional element F43 of the controller 30. The function element F43 feeds back the calculated pivot angle to the function element F4.

As described above, the controller 30 in fig. 12 and 13 forms not only a 3-stage feedback loop for the boom angle α, the arm angle β, and the bucket angle γ, but also a 3-stage feedback loop for the turning angle. That is, the controller 30 constitutes a feedback loop relating to the amount of displacement of the rotary valve element, a feedback loop relating to the rotation angle of the upper revolving structure 3, and a feedback loop relating to the cutting edge position. Therefore, the controller 30 can control the movement of the cutting edge of the bucket 6 with high accuracy when performing automatic control.

Next, the automatic compound turning control will be described with reference to fig. 14 and 15. Fig. 14 and 15 show the movement of the excavation attachment during the work of loading the soil into the bed of the dump truck DT. Fig. 14 is a top view of a job site. Fig. 15 is a side view of the work site when the work site is viewed from the + Y side. For the sake of clarity, the illustration of the shovel 100 (except the bucket 6) is omitted in fig. 15.

The excavation attachment shown by a solid line in fig. 14 and 15 indicates a state of the excavation attachment when the excavation operation is completed, the excavation attachment shown by a dotted line indicates a state of the excavation attachment when the turning operation is being performed, and the excavation attachment shown by an alternate long and short dash line indicates a state of the excavation attachment immediately before the earth discharge operation is performed.

The point P11 represents the center point of the back surface of the bucket 6 when the excavation operation is completed, the point P12 represents the center point of the back surface of the bucket 6 when the turning operation is being performed, and the point P13 represents the center point of the back surface of the bucket 6 immediately before the earth removing operation is performed. The thick dotted lines of the joint point P11, the point P12, and the point P13 indicate the trajectory through which the center point of the back surface of the bucket 6 passes. The soil discharging operation is an operation for discharging soil in the bucket 6 onto the bed of the dump truck DT.

In the automatic compound swing control, for example, when the operator manually performs a swing operation, the automatic control unit 54 automatically extends and contracts at least 1 of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 so that the center point of the back surface of the bucket 6 moves along a predetermined track. The predetermined track is, for example, a target track calculated from information on the dump truck DT including the position and shape of the dump truck DT. The information on the dump truck DT as the peripheral device is acquired from the output of at least 1 of the space recognition device S7, the communication device T1, and the like, for example. At this time, the operator can move the center point of the back surface of the bucket 6 along a predetermined trajectory by simply operating the swing lever. That is, the operator can move the bucket 6, which is originally located near the ground, to the carriage of the dump truck DT at the height Hd while preventing the excavation attachment from contacting the dump truck DT, by simply operating the swing operation lever. Alternatively, the operator can move the bucket 6 on the body of the dump truck DT, which is originally located at the height Hd, to the vicinity of the ground while preventing the excavation attachment from contacting the dump truck DT, by simply operating the swing operation lever. The track used in the right swing (during boom raising swing) may be the same as or different from the track used in the left swing (during boom lowering swing).

Next, an emergency stop function related to the automatic compound turning control will be described. The emergency stop function is operated, for example, when the operator of the excavator 100 performs a right turning operation to reflectively perform a left turning operation when the dump truck DT starts moving when the dump truck DT starts to load earth and sand on the bed of the dump truck DT. Specifically, the emergency stop function is, for example, configured to prevent the excavator 100 from operating when the dump truck DT is in contact with the dump truck DT by the operator performing the left-turn operation in a reflective manner when the dump truck DT, which is originally stopped, suddenly starts to retreat. At this time, the operator tries to separate the bucket 6 from the dump truck DT while maintaining the height of the bucket 6 by pivoting the upper revolving structure 3, which is rotating rightward, in the opposite direction, i.e., in the left direction.

For example, when the swing lever is suddenly operated in the opposite direction, the automatic control unit 54 determines that "the information on the operation of the shovel 100 shows a tendency different from the usual tendency", and stops the automatic compound swing control.

When the emergency stop function is not operated, that is, when the automatic combined swing control is not stopped, even when the swing lever is suddenly operated to the left side, the center point of the back surface of the bucket 6 moves along the predetermined trajectory, and therefore the automatic control unit 54 lowers the height of the bucket 6 against the intention of the operator. The graph shown by the cross hatching in fig. 15 shows the position of the bucket 6 of the lowered height. That is, fig. 15 shows a case where the bucket 6 originally located at the height of the graph indicated by the dotted line is lowered to the height of the graph indicated by the cross-hatching.

On the other hand, when the emergency stop function is operated, that is, when the automatic combined swing control is stopped, the automatic control unit 54 moves the bucket 6 so that the center point of the back surface of the bucket 6 is deviated from the predetermined trajectory when the swing lever is suddenly operated to the left side. Therefore, the automatic control unit 54 can move the bucket 6 to the left side while maintaining the height of the bucket 6 according to the intention of the operator without lowering the height of the bucket 6 against the intention of the operator. The graph shown by diagonal hatching in fig. 15 shows the position of the bucket 6 moving to the left side with the height maintained. That is, fig. 15 shows a case where the bucket 6 originally located at the height of the graph shown by the dotted line is moved to the position of the graph shown by the diagonal hatching while maintaining the same height.

In this way, the controller 30 can prevent the excavation attachment from automatically moving against the intention of the operator when the operator reflectively performs the left-hand swing operation while the emergency stop function is operating.

The controller 30 may be configured to detect that the dump truck DT starts moving (for example, starts moving backward) based on the output of the space recognition device S7. At this time, the controller 30 determines which job is currently executed based on the outputs of the various sensors, and then acquires information on the past state of the peripheral device related to the job, which is registered in advance for each job. Further, for example, when it is determined that the currently executed operation is a loading operation for loading soil and sand on the bed of the dump truck DT, the controller 30 acquires information that the normal state of the dump truck DT, which is the peripheral device relating to the loading operation, is a stopped state. When the dump truck DT starts moving during the loading operation, the controller 30 can determine that the dump truck DT is in a state different from the normal state. The controller 30 can stop the automatic control according to the determination result.

The operation mode of the shovel 100 may have a stop mode in addition to the manual control mode and the automatic control mode. In this configuration, when the cutting edge of the bucket 6 as the working site is present in a region other than the region located above the bed of the dump truck DT, the controller 30 may stop the automatic control when the start of the movement of the dump truck DT is detected, and may switch the operation mode of the excavator 100 from the automatic control mode to the stop mode. In the stop mode, the controller 30 may stop the movement of the working site in the space between the dump truck DT and the point P11 indicating the center point of the back surface of the bucket 6 when the excavation operation is completed, regardless of whether the operation device 26 is operated. This is to prevent the working site from contacting the dump truck DT by waiting for the working site to stop until the dump truck DT stops, that is, by forcibly stopping the movement of the working site until the dump truck DT stops.

In this way, the controller 30 can switch the operation mode of the shovel 100 from the automatic control mode to the stop mode when detecting that the dump truck DT starts moving during the loading operation.

Alternatively, the operation mode of the shovel 100 may have an avoidance mode in addition to the manual control mode and the automatic control mode. Further, for example, when it is detected that the dump truck DT starts moving during the loading operation and the cutting edge of the bucket 6 as the operation portion is present in the region located above the bed of the dump truck DT, the controller 30 may switch the operation mode of the excavator 100 from the automatic control mode to the avoidance mode. In the avoidance mode, the controller 30 can avoid the cutting edge of the bucket 6 in the space between the point P11 representing the center point of the back surface of the bucket 6 when the excavation operation is completed and the dump truck DT by automatically operating the various hydraulic actuators, regardless of whether or not the operation device 26 has been operated. This is to prevent the working site from contacting the dump truck DT by forcibly moving the working site from the inside of the region located above the bed of the dump truck DT to the outside thereof until the dump truck DT stops.

In this way, the controller 30 can switch the operation mode of the shovel 100 from the automatic control mode to the avoidance mode when detecting that the dump truck DT starts moving during the loading operation.

The shovel 100 may have a switch associated with automatic control such as the MC switch 42A. In this case, the controller 30 may be configured to execute automatic control when the switch is operated.

Further, in the example shown in fig. 3, a hydraulic operation system including a hydraulic pilot circuit is disclosed. For example, in the hydraulic pilot circuit related to the boom operation lever 26A, the hydraulic oil supplied from the pilot pump 15 to the remote control valve 27A is supplied to the pilot port of the control valve 175 at a flow rate corresponding to the opening degree of the remote control valve 27A opened by the tilting of the boom operation lever 26A. Alternatively, in the hydraulic pilot circuit related to the arm control lever 26B, the hydraulic oil supplied from the pilot pump 15 to the remote control valve 27B is supplied to the pilot port of the control valve 176 at a flow rate corresponding to the opening degree of the remote control valve 27B opened by the tilting of the arm control lever 26B.

However, an electric operating system provided with an electric operating lever may be adopted instead of the hydraulic operating system provided with such a hydraulic pilot circuit. At this time, the lever operation amount of the electric operation lever is input as an electric signal to the controller 30. Further, an electromagnetic valve is disposed between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electric signal from the controller 30. With this configuration, when a manual operation using the electric operation lever is performed, the controller 30 can move each control valve by increasing or decreasing the pilot pressure by controlling the solenoid valve based on an electric signal corresponding to the lever operation amount.

In the case of using an electric operation system having an electric operation lever, the controller 30 can easily switch between the manual control mode and the automatic control mode. When the controller 30 switches the manual control mode to the automatic control mode, the plurality of control valves may be individually controlled by electric signals corresponding to the lever operation amounts of 1 electric lever.

Fig. 16 shows a configuration example of the electric operation system. Specifically, the electric operation system of fig. 16 is an example of a boom operation system, and is mainly configured by a pilot pressure operation type control valve 17, a boom operation lever 26A as an electric operation lever, a controller 30, a boom raising operation solenoid valve 60, and a boom lowering operation solenoid valve 62. The electric operation system of fig. 16 can be similarly applied to an arm operation system, a bucket operation system, and the like.

The pilot pressure operation type control valve 17 includes a control valve 175 (see fig. 2) associated with the boom cylinder 7, a control valve 176 (see fig. 2) associated with the arm cylinder 8, a control valve 174 (see fig. 2) associated with the bucket cylinder 9, and the like. The solenoid valve 60 is configured to be able to adjust the flow path area of a pipe line connecting the pilot pump 15 and the lift-side pilot port of the control valve 175. The solenoid valve 62 is configured to be able to adjust the flow path area of a pipe line connecting the pilot pump 15 and the lower pilot port of the control valve 175.

When the manual operation is performed, the controller 30 generates a boom raising operation signal (electric signal) or a boom lowering operation signal (electric signal) from an operation signal (electric signal) output from the operation signal generating unit of the boom control lever 26A. The operation signal output from the operation signal generating unit of the boom control lever 26A is an electric signal that changes in accordance with the operation amount and the operation direction of the boom control lever 26A.

Specifically, when the boom operation lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 60. The solenoid valve 60 adjusts the flow path area in response to a boom raising operation signal (electric signal) to control the pilot pressure applied to the lift-side pilot port of the control valve 175. Similarly, when the boom manipulating lever 26A is manipulated in the boom lowering direction, the controller 30 outputs a boom lowering manipulation signal (electric signal) corresponding to the lever manipulation amount to the electromagnetic valve 62. The solenoid valve 62 adjusts the flow path area in response to a boom lowering operation signal (electric signal) to control the pilot pressure applied to the lowering-side pilot port of the control valve 175.

In the case of executing the automatic control, the controller 30 generates a boom-up operation signal (electrical signal) or a boom-down operation signal (electrical signal) in place of the operation signal output from the operation signal generating portion of the boom manipulating lever 26A, for example, from the correction operation signal (electrical signal). The correction operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by an external control device or the like other than the controller 30.

Further, the information acquired by the shovel 100 can be shared with a manager and other shovel operators by a management system SYS of the shovel as shown in fig. 17. Fig. 17 is a schematic diagram showing a configuration example of a management system SYS of the shovel. The management system SYS is a system for managing the shovel 100. In the present embodiment, the management system SYS is mainly configured by the shovel 100, the support device 200, and the management device 300. The excavator 100, the support apparatus 200, and the management apparatus 300 constituting the management system SYS may be 1 machine or a plurality of machines. In the example of fig. 17, the management system SYS includes 1

excavator

100, 1

support device

200, and 1 management device 300.

The support apparatus 200 is typically a mobile terminal apparatus, for example, a computer such as a notebook PC, a tablet PC, or a smartphone, which is carried by a worker or the like located at a construction site. The support device 200 may be a computer carried by the operator of the shovel 100. However, the support apparatus 200 may be a fixed terminal apparatus.

The management device 300 is typically a fixed terminal device, for example, a server computer installed in a management center or the like outside a construction site. The management device 300 may also be a portable computer (e.g., a mobile terminal device such as a notebook PC, a tablet PC, or a smart phone).

At least one of the support apparatus 200 and the management apparatus 300 (hereinafter, referred to as "support apparatus 200 or the like") may include a monitor and a remote operation apparatus. At this time, the operator operates the shovel 100 while using the remote operation operating device. The remote operation device is connected to the controller 30 through a communication network such as a wireless communication network.

In the shovel management system SYS as described above, the controller 30 of the shovel 100 may transmit information on at least 1 of the time, the place, and the like at which the automatic control is stopped to the support device 200 and the like. At this time, the controller 30 may transmit the peripheral image, which is the image captured by the imaging device S6, to the support device 200 or the like. The peripheral image may be a plurality of peripheral images captured within a predetermined period including the time point at which the automatic control stops. The controller 30 may transmit, to the support device 200 or the like, information relating to at least 1 of data relating to the operation content of the shovel 100, data relating to the posture of the excavation attachment, and the like, within a predetermined period including the time point at which the automatic control is stopped. This is to enable the administrator using the support apparatus 200 and the like to obtain information on the work site shown in fig. 9, 11, 14, 15 and the like. That is, the reason why the administrator can analyze the operation such as stopping the automatic control is performed, and the like, and the administrator can improve the working environment of the shovel 100 based on the analysis result.

As described above, the management system SYS of the shovel 100 according to the embodiment of the present invention includes: a shovel 100 that stores at least 1 of the time, the place, the posture, and the peripheral image of the stop by automatic control of the shovel 100 in a storage device 47 or the like, and transmits at least 1 of the stored time, place, posture, and peripheral image to the outside at an arbitrary timing; and a management device 300 that receives at least 1 of the time, the location, the posture, and the peripheral image transmitted from the shovel 100, and outputs at least 1 of the received posture and the peripheral image. The posture is, for example, at least 1 of the posture of the shovel 100 when the automatic control is stopped and the posture of the excavation attachment when the automatic control is stopped. The management device 300 allows the administrator to recognize the posture of the shovel 100 by displaying an illustration image of the shovel 100 on a monitor, for example. The management device 300 can enable the manager to recognize the posture of the shovel 100 by outputting voice information, for example.

The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. The above-described embodiment can be applied to various modifications, replacements, and the like without departing from the scope of the present invention. Furthermore, the features described individually can be combined as long as no technical contradiction arises.

For example, in the above embodiment, the controller 30 causes the upper slewing body 3 to face the target construction surface by automatically operating the slewing hydraulic motor 2A. However, the controller 30 may cause the upper slewing body 3 to face the target construction surface by automatically operating the slewing motor-generator.

In the above-described embodiment, the operation data is generated by the operation device or the remote operation device, but may be automatically generated by a predetermined operation program.

Further, the controller 30 may cause the upper slewing body 3 to face the target construction surface by operating another actuator. For example, the controller 30 may cause the upper slewing body 3 to face the target construction surface by automatically operating the left-side traveling hydraulic motor 1L and the right-side traveling hydraulic motor 1R.

This application claims priority based on japanese patent application No. 2018-013970 filed on 30/1/2018, and the entire contents of this japanese patent application are incorporated by reference into this application.

Description of the symbols

1-lower traveling body, 1L-hydraulic motor for left-side traveling, 1R-hydraulic motor for right-side traveling, 2-swing mechanism, 2A-hydraulic motor for swing, 3-upper swing body, 4-boom, 5-arm, 6-bucket, 7-boom cylinder, 8-arm cylinder, 9-bucket cylinder, 10-cabin, 11-engine, 13-regulator, 13L-left regulator, 13R-right regulator, 14-main pump, 14L-left main pump, 14R-right main pump, 15-pilot pump, 17-control valve, 18L-left throttle valve, 18R-right throttle valve, 19L-left control pressure sensor, 19R-right control pressure sensor, 26-operation device, 26A-boom lever, 26B-arm lever, 27A, 27B-remote control valve, 28-discharge pressure sensor, 28L-left discharge pressure sensor, 28R-right discharge pressure sensor, 29A, 29B, 29C-operation pressure sensor, 30-controller, 31AL, 31AR, 31BL, 31 BR-proportional valve, 31A-boom proportional valve, 31B-arm proportional valve, 31C-bucket proportional valve, 31D-rotation proportional valve, 32AL, 32AR, 32BL, 32 BR-shuttle valve, 32A-boom shuttle valve, 32B-arm shuttle valve, 40-display device, 40L-left middle bypass line, 40R-right middle bypass line, 42-input device, 42A-MC switch, 42B-MC stop switch, 42L-left parallel pipe, 42R-right parallel pipe, 43-sound output device, 47-storage device, 48-emergency stop switch, 50-equipment guide device, 51-position calculation section, 52-distance calculation section, 53-information transmission section, 54-automatic control section, 60, 62-solenoid valve, 100-shovel, 171-174, 175L, 175R, 176L, 176R-control valve, 200-support device, 300-management device, F1-F6, F11-F13, F21-F23, F31-F33, F41-F43-function element, S1-boom angle sensor, S2-arm angle sensor, S3-bucket angle sensor, S4-body inclination sensor, S5-rotation angle speed sensor, s6-camera device, S6B-rear camera, S6F-front camera, S6L-left camera, S6R-right camera, S7-space recognition device, S11-movable arm valve core displacement sensor, S12-arm valve core displacement sensor, S13-bucket valve core displacement sensor, S14-rotary valve core displacement sensor, P1-positioning device and T1-communication device.

The claims (modification according to treaty clause 19)

1. A shovel is provided with:

a lower traveling body;

an upper revolving body which is rotatably mounted on the lower traveling body;

an attachment attached to the upper slewing body; and

a control device mounted on the upper slewing body and capable of executing automatic control,

the control device is configured to stop the automatic control when information on the operation of the shovel or information on the state of the peripheral device shows a tendency different from that of the past.

2. The shovel of claim 1,

the information related to the operation of the shovel is information related to an operation of an operation device mounted on the upper slewing body,

the control device is configured to determine that the information relating to the operation of the shovel shows a trend different from a usual trend when the operation device is suddenly operated.

3. The shovel of claim 1,

the automatic control is automatic dead-against control or automatic composite rotation control,

the information related to the operation of the shovel is information related to the operation of a swing operation lever mounted on the upper slewing body,

the control device is configured to determine that information relating to the operation of the excavator shows a tendency different from a usual tendency when an operation of turning the upper turning body in a direction opposite to the turning performed by the automatic control is performed.

4. The shovel of claim 1 having a switch associated with said automatic control,

the control device is configured to execute the automatic control when the switch is operated.

5. The shovel of claim 1,

the automatic control is a control of moving the working portion along the target track.

6. A shovel is provided with:

a lower traveling body;

an upper revolving body which is rotatably mounted on the lower traveling body;

an attachment attached to the upper slewing body;

a space recognition device attached to the upper slewing body;

a body inclination sensor that detects an inclination of the upper slewing body; and

the control device is configured to stop the automatic control in accordance with an output of the body inclination sensor or the space recognition device.

7. The shovel of claim 6,

8. A management system for an excavator, comprising:

an excavator that stores at least 1 of a time, a place, a posture, and a peripheral image of the excavator stopped by automatic control and transmits the stored time, place, posture, and peripheral image of the excavator; and

and a management device that receives at least 1 of the time, the location, the posture, and the peripheral image, and outputs at least 1 of the received posture and the peripheral image.

(appendant) the shovel of claim 1, wherein,

the 1 st operation signal output from the operation signal generating part of the operation lever is input to the control device,

and outputting a 2 nd operation signal to the solenoid valve controlling the pilot pressure of the control valve according to the input 1 st operation signal.

(appendant) the shovel of claim 6, wherein,

(appendant) the shovel of claim 1, wherein,

the control device stops the automatic control when the operator performs the boom opening operation reflectively or when the operator performs the boom lowering operation reflectively.

(appendant) the shovel of claim 6, wherein,

(appendant) the shovel of claim 5, wherein,

the target trajectory is generated from the output of the spatial recognition device.

(appendant) the shovel of claim 7, wherein,

the target trajectory is generated from an output of the spatial recognition device.

(appendant) the shovel of claim 7, wherein,

the target track is a track related to movement of the excavation attachment in work of loading sand on a carriage of the dump truck.

(appendant) the shovel of claim 6, wherein,

the control device performs feedback control according to the rotation angle.

Claims

1. A shovel is provided with:

a lower traveling body;

an upper revolving body which is rotatably mounted on the lower traveling body;

an attachment attached to the upper slewing body; and

2. The shovel of claim 1,

3. The shovel of claim 1,

5. The shovel of claim 1,

6. A shovel is provided with:

a lower traveling body;

an upper revolving body which is rotatably mounted on the lower traveling body;

an attachment attached to the upper slewing body;

a space recognition device attached to the upper slewing body;

7. The shovel of claim 6,

8. A management system for an excavator, comprising: