CN111902583A

CN111902583A - Excavator

Info

Publication number: CN111902583A
Application number: CN201980021376.1A
Authority: CN
Inventors: 吴春男
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2018-03-23
Filing date: 2019-03-20
Publication date: 2020-11-06
Also published as: KR20200130833A; WO2019182066A1; EP3770335A4; US20210002850A1; JP7474192B2; KR102659076B1; EP3770335A1; JPWO2019182066A1

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); a traveling hydraulic motor (2M) as a traveling actuator for driving the lower traveling body (1); a space recognition device (70) provided on the upper slewing body (3); an orientation detection device (71) that detects information relating to the relative relationship between the orientation of the upper revolving structure (3) and the orientation of the lower traveling structure (1); and a controller (30) as a control device provided on the upper slewing body (3). The controller (30) operates the traveling hydraulic motor (2M) on the basis of the output of the space recognition device (70) and the output of the direction detection device (71).

Description

Excavator

Technical Field

The present invention relates to an excavator.

Background

Conventionally, there is known a shovel in which a boom cylinder, an arm cylinder, and a bucket cylinder are automatically extended and retracted in response to a button operation by an operator so that an attachment posture is suitable for parking (see patent document 1).

Prior art documents

Patent document

Patent document 1: japanese laid-open patent publication No. 8-136737

Disclosure of Invention

Technical problem to be solved by the invention

However, the excavator described above automatically changes only the posture of the attachment, and cannot automatically move the excavator to the parking position.

Accordingly, it is desirable to provide a shovel that can assist movement to a parking position.

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; a travel actuator that drives the lower traveling body; a space recognition device provided on the upper slewing body; an orientation detection device that detects information relating to a relative relationship between the orientation of the upper revolving structure and the orientation of the lower traveling structure; and a control device provided in the upper slewing body, the control device operating the travel actuator based on an output of the space recognition device and an output of the direction detection device.

Effects of the invention

According to the above aspect, it is possible to provide a shovel capable of supporting movement to a parking position.

Drawings

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

Fig. 2 is a top view of the excavator of fig. 1.

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

FIG. 4A is a diagram of a portion of a hydraulic system associated with operation of an arm cylinder.

Fig. 4B is a diagram of a part of the hydraulic system relating to the operation of the hydraulic motor for swiveling.

Fig. 4C is a diagram of a portion of the hydraulic system associated with operation of the boom cylinder.

FIG. 4D is a diagram of a portion of a hydraulic system associated with operation of a bucket cylinder.

Fig. 5A is a diagram of a portion of a hydraulic system associated with operation of a left travel hydraulic motor.

Fig. 5B is a diagram of a portion of the hydraulic system associated with operation of a right travel hydraulic motor.

Fig. 6 is a functional block diagram showing a configuration example of the controller.

Fig. 7 is a flowchart of an example of the parking process.

Fig. 8 is a diagram showing an example of a parking space selection screen.

Fig. 9 is a plan view of an example of an actual parking lot.

Fig. 10 is a diagram showing another example of the parking space selection screen.

Fig. 11 is a plan view of another example of an actual parking lot.

Fig. 12 is a diagram showing still another example of the parking space selection screen.

Fig. 13 is a diagram showing still another example of the parking space selection screen.

Fig. 14 is a functional block diagram showing another configuration example of the controller.

Fig. 15 is a diagram showing a configuration example of an electric operation system.

Fig. 16 is a schematic diagram showing a configuration example of a management system for a shovel.

Detailed Description

First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to fig. 1 and 2. Fig. 1 is a side view of the shovel 100, and fig. 2 is a plan view of the shovel 100.

In the present embodiment, the lower traveling body 1 of the shovel 100 includes a crawler belt 1C. The crawler belt 1C is driven by a traveling hydraulic motor 2M as a traveling actuator mounted on the lower traveling body 1. Specifically, crawler belt 1C includes left crawler belt 1CL and right crawler belt 1 CR. The left crawler belt 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler belt 1CR is driven by a right traveling hydraulic motor 2 MR.

An upper turning body 3 is rotatably mounted on the lower traveling body 1 via a turning mechanism 2. The turning mechanism 2 is driven by a turning hydraulic motor 2A as a turning actuator mounted on the upper turning body 3. However, the turning actuator may be a turning motor generator as an electric actuator.

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

The boom 4 is supported by the upper slewing body 3 so as to be vertically pivotable. Further, a boom angle sensor S1 is attached to the boom 4. The boom angle sensor S1 can detect a boom angle θ 1 which is a turning angle of the boom 4. The boom angle θ 1 is, for example, a rising angle from a state in which the boom 4 is lowered to the lowest position. Therefore, the boom angle θ 1 becomes maximum when the boom 4 is lifted to the highest position.

The arm 5 is rotatably supported by the boom 4. Further, the arm 5 is attached with an arm angle sensor S2. The arm angle sensor S2 can detect an arm angle θ 2 that is a rotation angle of the arm 5. The arm angle θ 2 is, for example, an opening angle from a state where the arm 5 is retracted to the maximum. Therefore, the arm angle θ 2 is maximized when the arm 5 is maximally opened.

The bucket 6 is rotatably supported by the arm 5. Further, a bucket angle sensor S3 is attached to the bucket 6. The bucket angle sensor S3 can detect a bucket angle θ 3 as a rotation angle of the bucket 6. The bucket angle θ 3 is an opening angle from a state where the bucket 6 is maximally retracted. Therefore, the bucket angle θ 3 is maximized when the bucket 6 is maximally opened.

In the embodiment of fig. 1, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are each configured by a combination of an acceleration sensor and a gyro sensor. However, at least one of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be configured by only an acceleration sensor. The boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, or may be a rotary encoder, a potentiometer, an inertial measurement unit, or the like. The same applies to the stick angle sensor S2 and the bucket angle sensor S3.

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 space recognition device 70, a direction detection device 71, a positioning device 73, a body inclination sensor S4, a slewing angular velocity sensor S5, and the like. The cab 10 is provided with an operation device 26, a controller 30, an information input device 72, a display device D1, an audio output device D2, and the like. In the present description, for convenience, the side of the upper slewing body 3 to which the excavation attachment AT is attached is referred to as the front side, and the side to which the counterweight is attached is referred to as the rear side.

The space recognition device 70 is configured to be able to recognize objects existing in a three-dimensional space around the shovel 100. The space recognition device 70 is configured to calculate a distance from the space recognition device 70 or the shovel 100 to the recognized object. The space recognition device 70 is, for example, 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. In the present embodiment, space recognition device 70 includes a front sensor 70F attached to the front end of the upper surface of cab 10, a rear sensor 70B attached to the rear end of the upper surface of upper revolving unit 3, a left sensor 70L attached to the left end of the upper surface of upper revolving unit 3, and a right sensor 70R attached to the right end of the upper surface of upper revolving unit 3. An upper sensor for recognizing an object existing in a space above the upper slewing body 3 may be attached to the shovel 100.

The space recognition device 70 may be configured to detect an object existing around the shovel 100. Examples of the object include a human being, an animal, a vehicle (dump truck or the like), a work machine material, a construction machine, a building, an electric wire, a fence, a pit, and the like. When the space recognition device 70 is configured to detect a person as an object, the space recognition device is configured to be able to distinguish between the person and an object other than the person. The space recognition device 70 may be configured to recognize the type of the object.

The space recognition device 70 may be configured to recognize the state of the road surface. Specifically, the space recognition device 70 may be configured to identify the type of an object present on the road surface, for example. The kind of the object existing on the road surface is, for example, a cigarette, a can, a plastic bottle, a stone, or the like.

The direction detection device 71 is configured to detect information relating to the relative relationship between the direction of the upper revolving unit 3 and the direction of the lower traveling unit 1. Direction detecting device 71 may be constituted by a combination of a geomagnetic sensor attached to lower traveling structure 1 and a geomagnetic sensor attached to upper revolving structure 3, for example. Alternatively, the direction detection device 71 may be constituted by a combination of a GNSS receiver mounted on the lower traveling structure 1 and a GNSS receiver mounted on the upper revolving structure 3. The orientation detection device 71 may be a rotary encoder, a rotary position sensor, or the like. In the configuration in which the upper slewing body 3 is rotationally driven by the slewing motor generator, the direction detector 71 may be constituted by a resolver. The orientation detection device 71 may be attached to, for example, a center joint portion provided in association with the turning mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper turning body 3.

The orientation detection device 71 may be constituted by a camera attached to the upper revolving unit 3. At this time, the orientation detection device 71 performs known image processing on an image (input image) captured by a camera attached to the upper revolving structure 3 to detect an image of the lower traveling structure 1 included in the input image. Then, the orientation detection device 71 detects the image of the lower traveling body 1 by using a known image recognition technique, and determines the longitudinal direction of the lower traveling body 1. Then, an angle formed between the direction of the front-rear axis of the upper revolving structure 3 and the longitudinal direction of the lower traveling structure 1 is derived toward the detection device 71. The front-rear axis direction of the upper revolving structure 3 is derived from the mounting position of the camera. Since the crawler belt 1C protrudes from the upper revolving structure 3, the orientation detection device 71 can determine the longitudinal direction of the lower traveling structure 1 by detecting an image of the crawler belt 1C. At this time, the orientation detection device 71 may be integrated with the controller 30.

The information input device 72 is configured to allow an operator of the excavator to input information to the controller 30. In the present embodiment, the information input device 72 is a switch panel provided in the vicinity of the display unit of the display device D1. However, the information input device 72 may be a touch panel disposed on the display portion of the display device D1, or may be an audio input device such as a microphone disposed in the cab 10.

The positioning device 73 is configured to measure the position of the upper slewing body 3. In the present embodiment, positioning device 73 is a GNSS receiver that detects the position of upper revolving unit 3 and outputs the detected value to controller 30. The positioning device 73 may also be a GNSS compass. At this time, positioning device 73 can detect the position and orientation of upper revolving unit 3.

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

The rotation angular velocity sensor S5 detects the rotation angular velocity of the upper slewing body 3. In the present embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The revolution angular velocity sensor S5 may also detect a revolution speed. The slew velocity may be calculated from the slew angular velocity.

Hereinafter, at least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, and the turning angular velocity sensor S5 is also referred to as a posture detection device. The posture of the excavation attachment AT is detected from the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, for example.

The display device D1 is configured to display various information. In the present embodiment, the display device D1 is a liquid crystal display provided in the cab 10. However, the display device D1 may be a display of a mobile terminal such as a smartphone.

The sound output device D2 is configured to output sound. The sound output device D2 includes at least one of a device that outputs sound to an operator in the cab 10 and a device that outputs sound to a worker outside the cab 10. The sound output device D2 may be a speaker of the mobile terminal.

The operation device 26 is a device used for an operator to operate the actuator. The operation device 26 includes, for example, an operation lever and an operation pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

The controller 30 is a control device for controlling the shovel 100. In the present embodiment, the controller 30 is constituted by a computer including a CPU, a RAM, an NVRAM, a ROM, and the like. The controller 30 reads programs corresponding to the respective functions from the ROM, loads the programs into the RAM, and causes the CPU to execute the corresponding processes. The functions include, for example, a machine guide function for guiding (guiding) a manual operation of the shovel 100 by an operator, and a machine control function for supporting the manual operation of the shovel 100 by the operator or automatically or autonomously operating the shovel 100.

Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to fig. 3. Fig. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100. The mechanical power transmission system, the working oil line, the pilot line, and the electrical control system are shown in fig. 3 by double lines, solid lines, broken lines, and dotted lines, respectively.

The hydraulic 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, and the like.

In fig. 3, the hydraulic system is configured to be able to circulate hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the intermediate bypass line 40 or the parallel line 42.

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

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

The pilot pump 15 is configured to be able to supply hydraulic oil to a hydraulic control apparatus including an operation device 26 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 and the like after reducing the pressure of the hydraulic oil by an orifice and the like.

The control valve 17 is a hydraulic control device that controls a hydraulic system in the shovel 100. In the present embodiment, the control valve 17 includes control valves 171 to 176. Control valve 175 includes control valve 175L and control valve 175R, and control valve 176 includes control valve 176L and control valve 175R. The control valve 17 is configured to be able to selectively supply the hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

The operation device 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. The pressure (pilot pressure) of the hydraulic oil supplied to each pilot port is a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each hydraulic actuator. However, the operation device 26 may be of an electrically controlled type, instead of the pilot pressure type as described above. At this time, the control valve in the control valve 17 may be an electromagnetic solenoid type spool valve.

The discharge pressure sensor 28 may be 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 can be configured to detect the content of an operation performed by the operator on 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 a pressure (operation pressure), and outputs the detected values to the controller 30. The operation content of the operation device 26 may be detected by a sensor other than the operation pressure sensor.

Main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to the hydraulic oil tank via the left intermediate bypass line 40L or the left parallel line 42L. The right main pump 14R circulates the hydraulic oil to the hydraulic oil tank via the right intermediate bypass line 40R or the right parallel line 42R.

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

control valves

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

control valves

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

The control valve 171 is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and discharge the hydraulic oil discharged from the left travel hydraulic motor 2ML to a hydraulic oil tank.

The control valve 172 is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR to a hydraulic oil tank.

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

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

The control valve 175L is a spool valve for switching the flow of the hydraulic oil in order to supply the 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 in order 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 in order to supply hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and discharge the 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 in order to supply hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to a hydraulic oil tank.

The left parallel line 42L is a working oil line 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 blocked by any one of the

control valves

171, 173, and 175L, the left parallel line 42L can supply the hydraulic oil to the control valve further downstream. The right parallel line 42R is a working oil line 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 blocked 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 regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L 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 discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge amount by adjusting the swash plate tilt angle of the left main pump 14L 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 prevent the absorbed power (e.g., absorption horsepower) of the main pump 14, which is represented by the product of the discharge pressure and the discharge amount, from exceeding the output power (e.g., output horsepower) of the engine 11.

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

The left operation lever 26L is used for the swing operation and the operation of the arm 5. When the control is performed in the forward/backward direction, the left control lever 26L introduces a control pressure corresponding to the lever operation amount to the pilot port of the control valve 176 by the hydraulic oil discharged from the pilot pump 15. When the control lever is operated in the left-right direction, the left control lever 26L introduces a control pressure corresponding to the lever operation amount to the pilot port of the control valve 173 by the hydraulic oil discharged from the pilot pump 15.

Specifically, when operated in the arm retracting direction, the left control lever 26L introduces hydraulic oil to the right pilot port of the control valve 176L and introduces hydraulic oil to the left pilot port of the control valve 176R. When the arm opening direction is operated, the left control lever 26L introduces hydraulic oil to the left pilot port of the control valve 176L and introduces hydraulic oil to the right pilot port of the control valve 176R. When the left swing direction is operated, the left operation lever 26L introduces hydraulic oil to the left pilot port of the control valve 173, and when the right swing direction is operated, the left operation lever 26L introduces hydraulic oil to the right pilot port of the control valve 173.

The right control lever 26R is used for the operation of the boom 4 and the operation of the bucket 6. When the control is performed in the forward/backward direction, the right control lever 26R introduces a control pressure corresponding to the lever operation amount to the pilot port of the control valve 175 by the hydraulic oil discharged from the pilot pump 15. When the control lever is operated in the left-right direction, the right control lever 26R introduces a control pressure corresponding to the lever operation amount to the pilot port of the control valve 174 by the hydraulic oil discharged from the pilot pump 15.

Specifically, when the boom lowering direction is operated, the right control lever 26R introduces hydraulic oil to the right pilot port of the control valve 175R. When the operation is performed in the boom raising direction, the right control lever 26R introduces hydraulic oil to the right pilot port of the control valve 175L and introduces hydraulic oil to the left pilot port of the control valve 175R. When the control lever 26R is operated in the bucket retracting direction, the hydraulic oil is introduced into the left pilot port of the control valve 174, and when the control lever 26R is operated in the bucket opening direction, the hydraulic oil is introduced into the right pilot port of the control valve 174.

The traveling bar 26D is used for the operation of the crawler belt 1C. Specifically, the left travel lever 26DL is used for the operation of the left crawler belt 1 CL. The left travel lever 26DL may be configured to be linked with a left travel pedal. When the control is performed in the forward/backward direction, the left travel lever 26DL introduces a control pressure corresponding to the lever operation amount to the pilot port of the control valve 171 by the hydraulic oil discharged from the pilot pump 15. The right walking bar 26DR is used for the operation of the right crawler belt 1 CR. The right travel bar 26DR may be configured to be linked with a right travel pedal. When the control is performed in the forward/backward direction, the right travel lever 26DR introduces a control pressure corresponding to the lever operation amount to the pilot port of the control valve 172 by the hydraulic oil discharged from the pilot pump 15.

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

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

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

The controller 30 receives the output of the operating pressure sensor 29 and outputs a control instruction to the regulator 13 as needed to change the discharge rate of the main pump 14. The controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, and outputs a control instruction to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

In the left intermediate bypass line 40L, a left choke 18L is disposed between the control valve 176L located at the most downstream side and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. And, the left orifice 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 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. As the control pressure increases, the controller 30 decreases the discharge rate of the left main pump 14L, for example, and as the control pressure decreases, the controller 30 increases the discharge rate of the left main pump 14L. The discharge rate of the right main pump 14R is 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 the 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 any one of the hydraulic actuators is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of the hydraulic oil discharged from the left main pump 14L decreases or disappears 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, and allows sufficient hydraulic oil to flow into the operation target hydraulic actuator, thereby ensuring the driving of the operation target hydraulic actuator. The controller 30 also controls the discharge rate of the right main pump 14R in the same manner.

According to the above configuration, the hydraulic system of fig. 3 can suppress unnecessary energy consumption in the main pump 14 in the standby state. Unnecessary energy consumption includes pumping loss of the working oil discharged from main pump 14 in intermediate bypass line 40. When the hydraulic actuator is operated, the hydraulic system of fig. 3 can reliably supply a sufficient amount of hydraulic oil required from the main pump 14 to the hydraulic actuator to be operated.

Next, a configuration in which the controller 30 operates the actuator using the device control function will be described with reference to fig. 4A to 4D, and fig. 5A and 5B. Fig. 4A to 4D are diagrams of a part of the hydraulic system. Specifically, fig. 4A is a diagram of a part of the hydraulic system related to the operation of the arm cylinder 8, and fig. 4B is a diagram of a part of the hydraulic system related to the operation of the swing hydraulic motor 2A. Fig. 4C is a diagram of a part of the hydraulic system related to the operation of the boom cylinder 7, and fig. 4D is a diagram of a part of the hydraulic system related to the operation of the bucket cylinder 9. Similarly, fig. 5A and 5B are diagrams of a part of the hydraulic system. Specifically, fig. 5A is a diagram of a part of the hydraulic system related to the operation of the left traveling hydraulic motor 2ML, and fig. 5B is a diagram of a part of the hydraulic system related to the operation of the right traveling hydraulic motor 2 MR.

As shown in fig. 4A to 4D, 5A and 5B, the hydraulic system includes a proportional valve 31 and a shuttle valve 32. Proportional valve 31 includes proportional valves 31AL to 31FL and 31AR to 31FR, and shuttle valve 32 includes shuttle valves 32AL to 32FL and 32AR to 32 FR.

The proportional valve 31 is configured to function as a device control valve. The proportional valve 31 is disposed in 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 operates in response to a control instruction output from the controller 30. 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 has two inlet ports and one outlet port. One of the two 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 cause 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 act on the pilot port of the corresponding control valve.

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

For example, as shown in fig. 4A, the left operation lever 26L is used to operate the arm 5. Specifically, the left control lever 26L causes a pilot pressure corresponding to the operation in the front-rear direction to act on the pilot port of the control valve 176 by the hydraulic oil discharged from the pilot pump 15. More specifically, when the operation is performed in the arm retracting direction (rear side), the left operation lever 26L 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. When the arm opening direction (front side) is operated, the left operation lever 26L causes pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

The left operating lever 26L is provided with a switch NS. In the present embodiment, the switch NS is a push switch. The operator can manually operate the left operating lever 26L while pressing the switch NS with a finger. The switch NS may be provided on the right operating lever 26R, or may be provided at another position in the cab 10.

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

Proportional valve 31AL is operated in accordance with a current instruction output from controller 30. The proportional valve 31AL adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32 AL. The proportional valve 31AR operates in accordance with a current instruction output from the controller 30. The proportional valve 31AR adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32 AR. The proportional valves 31AL and 31AR can adjust the pilot pressures so that the control valve 176 can be stopped 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 31AL and the shuttle valve 32AL, regardless of the boom retracting operation performed by the operator. That is, the controller 30 can retract the arm 5 regardless of the arm retracting operation performed by the operator. 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 31AR and the shuttle valve 32AR, regardless of the boom opening operation performed by the operator. That is, the controller 30 can open the arm 5 regardless of the arm opening operation performed by the operator.

Also, as shown in fig. 4B, the left operating lever 26L is also used to operate the swing mechanism 2. Specifically, the left control lever 26L causes a pilot pressure corresponding to the operation in the left-right direction to act on the pilot port of the control valve 173 by the hydraulic oil discharged from the pilot pump 15. More specifically, when the left swing direction (left direction) is operated, the left control lever 26L causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 173. When the left operation lever 26L is operated in the rightward turning direction (rightward direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 173.

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

The proportional valve 31BL operates in accordance with a current instruction output from the controller 30. The proportional valve 31BL adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31BL and the shuttle valve 32 BL. The proportional valve 31BR operates in accordance with a current instruction output from the controller 30. The proportional valve 31BR adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31BR and the shuttle valve 32 BR. The proportional valves 31BL and 31BR can adjust pilot pressures so that the control valve 173 can be stopped at any valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31BL and the shuttle valve 32BL, regardless of the left swing operation performed by the operator. That is, the controller 30 can make the turning mechanism 2 turn left regardless of the left turning operation by the operator. The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31BR and the shuttle valve 32BR, regardless of the right swing operation performed by the operator. That is, the controller 30 can cause the turning mechanism 2 to turn right regardless of the right turning operation by the operator.

As shown in fig. 4C, the right operation lever 26R is used to operate the boom 4. Specifically, the right control lever 26R causes a pilot pressure corresponding to the operation in the front-rear direction to act on the pilot port of the control valve 175 by the hydraulic oil discharged from the pilot pump 15. More specifically, when the operation is performed in the boom raising direction (rear side), the right control lever 26R causes the 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 (forward side), the right control lever 26R causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175R.

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

The proportional valve 31CL operates in accordance with a current instruction output from the controller 30. The proportional valve 31CL adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31CL and the shuttle valve 32 CL. The proportional valve 31CR operates in accordance with a current instruction output from the controller 30. The proportional valve 31CR adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31CR and the shuttle valve 32 CR. The proportional valves 31CL and 31CR can adjust pilot pressures so that the control valve 175 can be stopped at any valve position.

With this configuration, regardless of the boom raising operation by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31CL and the shuttle valve 32 CL. That is, the controller 30 can lift the boom 4 regardless of the boom-up operation performed by the operator. 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 31CR and the shuttle valve 32CR, regardless of the boom lowering operation performed by the operator. That is, the controller 30 can lower the boom 4 regardless of the boom lowering operation performed by the operator.

As shown in fig. 4D, the right operating lever 26R is used to operate the bucket 6. Specifically, the right control lever 26R causes a pilot pressure corresponding to the operation in the left-right direction to act on the pilot port of the control valve 174 by the hydraulic oil discharged from the pilot pump 15. More specifically, when the control lever is operated in the bucket retracting direction (left direction), the right control lever 26R causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 174. When the control is performed in the bucket opening direction (right direction), the right control lever 26R causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 174.

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

Proportional valve 31DL operates in accordance with a current instruction output from controller 30. The proportional valve 31DL adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31DL and the shuttle valve 32 DL. The proportional valve 31DR operates in accordance with a current instruction output from the controller 30. The proportional valve 31DR adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31DR and the shuttle valve 32 DR. The pilot pressures of the proportional valves 31DL and 31DR can be adjusted so that the control valve 174 can be stopped at any valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31DL and the shuttle valve 32DL regardless of the bucket retracting operation performed by the operator. That is, the controller 30 can retract the bucket 6 regardless of the bucket retracting operation performed by the operator. The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31DR and the shuttle valve 32DR regardless of the bucket opening operation performed by the operator. That is, the controller 30 can open the bucket 6 regardless of the bucket opening operation performed by the operator.

As shown in fig. 5A, the left travel lever 26DL is used to operate the left crawler belt 1 CL. Specifically, the left travel lever 26DL causes a pilot pressure corresponding to the operation in the front-rear direction to act on a pilot port of the control valve 171 by the hydraulic oil discharged from the pilot pump 15. More specifically, when the left travel lever 26DL is operated in the forward direction (forward side), the pilot pressure corresponding to the operation amount is applied to the left pilot port of the control valve 171. When the left travel lever 26DL is operated in the backward direction (backward direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 171.

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

Proportional valve 31EL is operated in accordance with a current instruction output from controller 30. The proportional valve 31EL adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 171 through the proportional valve 31EL and the shuttle valve 32 EL. Proportional valve 31ER is operated in accordance with a current instruction output from controller 30. The proportional valve 31ER adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 171 through the proportional valve 31ER and the shuttle valve 32 ER. The proportional valves 31EL and 31ER can adjust the pilot pressures so that the control valve 171 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL and the shuttle valve 32EL regardless of the left forward operation performed by the operator. That is, the controller 30 can advance the left crawler belt 1CL regardless of the left advance operation by the operator. The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER and the shuttle valve 32ER, regardless of the left reverse operation performed by the operator. That is, the controller 30 can retract the left crawler belt 1CL regardless of the left retraction operation by the operator.

As shown in fig. 5B, the right walking bar 26DR is used to operate the right crawler belt 1 CR. Specifically, the right travel lever 26DR causes a pilot pressure corresponding to the operation in the front-rear direction to act on a pilot port of the control valve 172 by the hydraulic oil discharged from the pilot pump 15. More specifically, when the right travel lever 26DR is operated in the forward direction (forward side), the right pilot port of the control valve 172 is acted on by a pilot pressure corresponding to the operation amount. When the control valve is operated in the backward direction (rearward direction), the right travel lever 26DR causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 172.

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

Proportional valve 31FL operates in accordance with a current instruction output from controller 30. The proportional valve 31FL adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FL and the shuttle valve 32 FL. Proportional valve 31FR is operated in accordance with a current instruction output from controller 30. The proportional valve 31FR adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FR and the shuttle valve 32 FR. The pilot pressures of proportional valves 31FL and 31FR can be adjusted so that control valve 172 can be stopped 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 172 via the proportional valve 31FL and the shuttle valve 32FL, regardless of the right forward movement operation by the operator. That is, the controller 30 can advance the right crawler belt 1CR regardless of the right advancing operation by the operator. The controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FR and the shuttle valve 32FR regardless of the backward and rightward operation by the operator. That is, the controller 30 can retract the right crawler 1CR regardless of the right backward movement operation by the operator.

In the above-described embodiment, the hydraulic operation lever provided with the hydraulic pilot circuit is used, but an electric operation lever provided with an electric pilot circuit may be used instead of the hydraulic operation lever provided with the hydraulic pilot circuit. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. 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. According to this configuration, when a manual operation using an electric operation lever is performed, the controller 30 controls the solenoid valve based on an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving each control valve. In addition, each control valve may be constituted by an electromagnetic spool valve. At this time, the solenoid spool operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

Next, the function of the controller 30 will be described with reference to fig. 6. Fig. 6 is a functional block diagram showing a configuration example of the controller 30. In the example of fig. 6, the controller 30 is configured to be able to receive signals output from at least one of the posture detection device, the operation device 26, the space recognition device 70, the direction detection device 71, the information input device 72, the positioning device 73, the switch NS, and the like, perform various calculations, and output a control instruction to at least one of the proportional valve 31, the display device D1, the audio output device D2, and the like. The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, and a turning angular velocity sensor S5. The controller 30 includes a posture detection unit 30A, a determination unit 30B, and an autonomous control unit 30C as functional elements that perform various functions. Each functional element may be constituted by hardware or software.

The attitude detection unit 30A is configured to detect information related to the attitude of the shovel 100. In the present embodiment, the attitude detection unit 30A detects information relating to the attitude of the shovel 100 from the output of the attitude detection device. The attitude detecting unit 30A may detect the attitude of the excavation attachment AT as the attitude of the shovel 100 based on the output of the attitude detecting device. The attitude detecting unit 30A may detect the attitude of the upper revolving unit 3 (the orientation of the upper revolving unit 3 with respect to the orientation of the lower traveling unit 1) as the attitude of the shovel 100 based on the output of at least one of the attitude detecting device and the orientation detecting device.

The determination unit 30B is configured to be able to determine the presence or absence of a desired space. In the present embodiment, the determination unit 30B is configured to be able to determine whether or not there is a parking space, which is a space where the shovel 100 can be parked, and whether or not there is a passing space, which is a space where the shovel 100 can pass. That is, the determination unit 30B is configured to be able to determine whether or not a space larger than the body of the shovel 100 exists in the designated space designated as the parking space or whether or not a space larger than the body of the shovel 100 (a space through which the body can pass) continuously exists on the route from the current position to the designated space designated as the parking space. Specifically, the determination unit 30B determines the presence or absence of the parking space based on the output of the space recognition device 70. When it is determined that there is a parking space, the determination unit 30B determines whether there is a space through which the shovel 100 moves from the current position to the parking space without bringing the shovel 100 into contact with an external object. When it is determined that there is a passing space, the determination unit 30B determines that the shovel 100 can be moved and parked in the parking space.

The autonomous control unit 30C is configured to autonomously operate the shovel 100. In the present embodiment, the autonomous control unit 30C is configured to calculate a target trajectory from the current position of the shovel 100 to the parking space, and to move the shovel 100 along the target trajectory. The target track is a track drawn by a predetermined portion of the shovel 100 when the shovel 100 autonomously moves. The target track includes, for example, a target track related to the crawler 1C. In this case, the predetermined portion is, for example, the front end or the rear end of the crawler belt 1C. The target trajectory may also include, for example, a target trajectory associated with the excavation attachment AT. In this case, the predetermined portion is, for example, the tip of the boom 4. The target trajectory may be a trajectory drawn by the center point of the shovel 100 as a predetermined portion. Typically, the center point of the excavator 100 is a point on the rotating shaft. Alternatively, the target track may be a track having a width depicted by the outline of the excavator 100 moving from the current position to the parking space.

The target trajectory is calculated, for example, for moving and parking the excavator 100 to a specific parking space. At this time, the target trajectory is calculated in consideration of the action that the excavator 100 can implement. Then, the autonomous control unit 30C determines the drive method of the actuator based on the calculated target trajectory. For example, when the shovel 100 is moved backward, the autonomous control unit 30C selects an appropriate moving method from among turning, pivot steering, jogging, and straight traveling, and determines the driving method of the traveling hydraulic motor 2M. At this time, the autonomous control unit 30C may determine whether or not it is necessary to operate the turning mechanism 2 in addition to the travel driving unit such as the travel hydraulic motor 2M. The autonomous control unit 30C may determine whether or not the attachment may come into contact with peripheral equipment or other construction machines, and may determine whether or not the attachment needs to be operated.

Next, a process of moving and parking the shovel 100 by the controller 30 (hereinafter, referred to as a "parking process") will be described with reference to fig. 7. Fig. 7 is a flowchart of an example of the parking process.

First, the controller 30 determines whether or not the parking mode button is pressed (step ST 1). In the present embodiment, the controller 30 repeatedly performs this determination at a predetermined control cycle. The parking mode button is, for example, a switch NS provided at the front end of the left operation lever 26L. The parking mode button may be a software button displayed on the display device D1 provided with a touch panel. The controller 30 repeats this determination until it is determined that the parking mode button has been pressed (no at step ST 1).

If it is determined that the parking mode button has been pressed (yes at step ST1), the controller 30 displays a setting screen (step ST 2). In the present embodiment, the controller 30 displays a parking space selection screen as a setting screen on the display device D1.

Fig. 8 shows a configuration example of the parking space selection screen. The parking space selection screen GA includes a shovel graphic G1 and a parking space graphic G2. The parking space selection screen GA shown in fig. 8 can be displayed on a display device mounted on a support device including a mobile terminal such as a smartphone held by an operator. In this case, the support apparatus can function as a communication device to control communication with the shovel via a short-range wireless communication network such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or wireless LAN, a cellular phone communication network, or a satellite communication network.

The shovel pattern G1 and the parking space pattern G2 show the positional relationship between the upper slewing body 3 and the parking space. In the present embodiment, the shovel pattern G1 shows the shape of the upper revolving unit 3 when the upper revolving unit 3 is viewed from directly above. Parking space pattern G2 represents the approximate position of the space settable as a parking space with respect to upper slewing body 3. Specifically, parking space pattern G2 includes right parking space pattern G2R indicating a space located on the right side of upper revolving unit 3, front parking space pattern G2F indicating a space located on the front side of upper revolving unit 3, left parking space pattern G2L indicating a space located on the left side of upper revolving unit 3, and rear parking space pattern G2B indicating a space located on the rear side of upper revolving unit 3. However, the parking space pattern G2 may include five or more parking space patterns including at least one of a right oblique front side parking space pattern, a left oblique front side parking space pattern, a right oblique rear side parking space pattern, a left oblique rear side parking space pattern, and the like. Further, parking space pattern G2 may indicate a more strict position of the space that can be set as the parking space with respect to upper revolving structure 3. Alternatively, the parking space pattern G2 may correspond to only the parking space recognized by the space recognition device 70. At this time, for example, when it is determined that there is no parking space on the left side of upper revolving unit 3, controller 30 may not display left parking space pattern G2L.

The parking space graphic G2 may be displayed superimposed on the camera image. The camera image is, for example, an overhead image generated as a viewpoint conversion image from images acquired by a plurality of cameras mounted on the upper revolving structure 3. At this time, the overhead image is displayed around the shovel figure G1.

The parking space selection screen GA may be a screen relating to a scene when the shovel 100 is viewed from the rear side, or may be a screen relating to a scene when the shovel 100 is viewed from the side, instead of a screen relating to a scene when the shovel 100 is viewed from directly above as described above.

The operator of the shovel 100 selects the parking space pattern G2 including the space in which the shovel 100 is to be parked, while viewing the parking space selection screen GA.

Then, the controller 30 determines whether or not a target parking space is set (step ST 3). The operator of the excavator 100 presses the parking mode button in the cab 10 of the excavator 100 located at the position shown in fig. 9, for example. Fig. 9 is a top view of an actual parking lot in a construction site or garage (parking lot). When the parking mode button is pressed, the controller 30 displays a parking space selection screen GA. At this time, the operator can set the space SP in the actual parking lot as the target parking space by selecting the right parking space pattern G2R.

In the example of fig. 9, when left parking space pattern G2L is selected, determination unit 30B of controller 30 determines whether or not there is a space in which excavator 100 can be parked on the left side of upper revolving unit 3 based on the output of space recognition device 70. In the example of fig. 9, wall W is present on the left side of upper revolving unit 3, and there is no space in which excavator 100 can be parked. At this time, the determination unit 30B may determine that there is no space on the left side of the upper revolving structure 3 in which the shovel 100 can be parked, and display a text message indicating this on the parking space selection screen GA.

Similarly, when the right parking space pattern G2R is selected, the determination unit 30B determines whether or not there is a space on the right side of the upper revolving structure 3 in which the shovel 100 can be parked, based on the output of the space recognition device 70.

In the example of fig. 9, the space SP designated as a parking space is a space larger than the body of the shovel 100. That is, a space SP in which the shovel 100 can be parked is present on the right side of the upper revolving structure 3. The controller 30 recognizes the designated space SP as the end point of the target track. Therefore, it is assumed that the controller 30 can stop the travel of the shovel 100 at the designated space SP even if there is another space farther than the designated space SP.

At this time, the determination unit 30B determines that the space SP in which the shovel 100 can be parked exists on the right side of the upper revolving structure 3. When it is determined that the space SP exists, the determination unit 30B determines whether or not a passing space for moving the shovel 100 from the current position to the space SP exists. That is, the determination unit 30B determines whether or not a space larger than the body of the shovel 100 (a space through which the body can pass) is continuously present on the route from the current position to the space SP designated as the parking space.

When determining that the passing space cannot be secured due to the presence of an obstacle or the like between the current position and the space SP, the determination unit 30B may determine that the shovel 100 cannot be moved to the space SP and display a text message indicating that fact on the parking space selection screen GA. When determining that the passing space can be secured, the determination unit 30B sets the space SP as the target parking space.

If it is determined that the target parking space is not set (no in step ST3), the controller 30 repeats the determination in step ST3 until the target parking space is set.

If it is determined that the target parking space is set (yes at step ST3), the controller 30 adjusts the posture of the accessories (step ST 4). In the present embodiment, the autonomous control unit 30C of the controller 30 changes the posture of the excavation attachment AT to a posture suitable for walking (hereinafter referred to as "walking posture"). The traveling posture is a posture registered in advance, and for example, the posture is a posture in which the boom angle θ 1 is maximized and the arm angle θ 2 and the bucket angle θ 3 are minimized. Specifically, when determining that the posture of the excavation attachment AT detected by the posture detection unit 30A is not the walking posture, the autonomous control unit 30C changes the posture of the excavation attachment AT to the walking posture.

In the present embodiment, the controller 30 is basically configured on the premise that the operator of the shovel 100 does not operate the operation device 26 while the process after step ST4 is executed. Therefore, the shovel 100 can be configured to invalidate the operation performed by the operator on the operation device 26, in addition to the operation for forcibly ending the parking process. The operation for forcibly ending the parking process is, for example, a re-operation of the parking mode button. The operator of the shovel 100 may perform operations related to the processing up to step ST3 outside the cab 10. At this time, the operator of the shovel 100 can monitor the operation of the shovel 100 from outside the cab 10 while the processes after step ST4 are being executed, and can forcibly end the parking process as needed by an operation from a mobile terminal or the like.

Then, the autonomous control unit 30C determines a target track (step ST 5). In the example of fig. 9, the autonomous control unit 30C determines a track drawn by the rear end of the crawler belt 1C when the shovel 100 moves from the current position to the space SP. Then, the autonomous control unit 30C determines the space SP as the end point of the target track. At this time, the operation sequence of the crawler 1C is also determined according to whether or not steering is necessary. The operation sequence of the crawler belt 1C may include, for example, the operation sequences of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2 MR.

Then, the autonomous control unit 30C moves the shovel 100 along the determined target track (step ST 6). In the example of fig. 9, the autonomous control unit 30C first performs a rotational steering of about 45 degrees in the counterclockwise direction according to the determined driving method of the crawler belt 1C, and directs the rear end of the crawler belt 1C to the space SP. Specifically, the autonomous control unit 30C rotates the right traveling hydraulic motor 2MR in the forward direction and rotates the left traveling hydraulic motor 2ML in the reverse direction to perform the counterclockwise rotation steering. Then, the autonomous control unit 30C executes a slow turn, and while moving the shovel 100 backward along the target track that curves slowly in the counterclockwise direction, the lower traveling body 1 is oriented in the same direction as the other shovels that are parked around. Specifically, the autonomous control unit 30C performs slow turning in the counterclockwise direction by reversely rotating the left traveling hydraulic motor 2ML at a rotation speed faster than the reverse rotation of the right traveling hydraulic motor 2 MR. Then, the autonomous control unit 30C linearly moves backward to move the entire shovel 100 into the space SP. Specifically, the autonomous control unit 30C reversely rotates the right traveling hydraulic motor 2MR and the left traveling hydraulic motor 2ML at the same rotational speed to directly retract the shovel 100.

The autonomous control unit 30C may change the posture of the excavation attachment AT as needed when driving the crawler 1C. For example, if it is determined that there is a possibility that the excavation attachment AT will come into contact with an electric wire extending AT a position higher than the cab 10 when the shovel 100 is retracted, the boom 4 can be lowered. At this time, the autonomous control unit 30C may recognize the presence of an obstacle such as a wire from the output of the space recognition device 70. The autonomous control unit 30C may lift the boom 4 after the wire is passed, and return the posture of the excavation attachment AT to the walking posture.

The autonomous control unit 30C may rotate the upper slewing body 3 as necessary when driving the crawler belt 1C. For example, in the example of fig. 9, if the autonomous control unit 30C performs a turning steering of 45 degrees or more in the counterclockwise direction without turning the upper turning body 3, there is a possibility that the excavation attachment AT may contact the wall W. AT this time, the autonomous control unit 30C can prevent the excavation attachment AT from coming into contact with the wall W by turning the upper turning body 3 clockwise before or during the turning. The autonomous control unit 30C may recognize the presence of an obstacle such as a wall W from the output of the space recognition device 70.

Then, the autonomous control unit 30C grounds the accessories in the target parking space (step ST 7). In the example of fig. 9, the autonomous control unit 30C stops the operation of the crawler belt 1C after the entire excavator 100 enters the space SP, and changes the posture of the excavation attachment AT to a posture suitable for parking (hereinafter, referred to as "parking posture"). The parking posture is a posture registered in advance, for example, a posture in which the bucket 6 is in contact with the ground. However, the parking posture may be the same as the walking posture, or may be another posture in which the excavation attachment AT does not contact the ground. The parking position may be selectable from a plurality of positions. The same applies to walking postures.

Then, the autonomous control unit 30C notifies the completion of parking (step ST 8). In the present embodiment, the autonomous control unit 30C displays information notifying that the vehicle is stopped AT the time when the posture of the excavation attachment AT is changed to the parking posture on the display device D1, and outputs information notifying that the vehicle is stopped from the audio output device D2.

Next, another example of the parking space selection screen will be described with reference to fig. 10. Fig. 10 shows another configuration example of the parking space selection screen. The parking space selection screen GB includes a map graphic including information related to the arrangement of other construction machines, loading/unloading stations, offices, and the like in the parking lot, and a parking space graphic GS. The loading/unloading station is a place for loading/unloading the shovel 100 to/from a transport vehicle such as a trailer.

The parking space graphic GS represents the position of a parking space selectable for a space in which the excavator 100 is parked, i.e., a parking space. In the example of fig. 10, the parking space pattern GS includes 27 parking space patterns GS1 to GS 27. Specifically, the parking space pattern GS shown in fig. 10 corresponds to the parking lot shown in fig. 11. Fig. 11 is a plan view of an actual parking lot. The parking lot of fig. 11 is, for example, a parking lot owned by a construction machine rental company, and includes three parking space rows capable of parking 9 excavators in parallel. At the present time, 18 excavators are parked in the parking lot of fig. 11 in addition to the excavator 100 that has just been unloaded from the trailer. In the example of fig. 11, position information on each parking space is registered in advance. The position information related to each parking space includes, for example, the latitude, longitude, and altitude of the center point of each parking space.

The controller 30 may be displayed in a manner as shown in fig. 10 to enable an operator to distinguish a parking space pattern GS associated with a parking space in which another construction machine such as a shovel, a bulldozer, a wheel loader, a crane, or a road roller is parked from a parking space pattern GS associated with a parking space in which another construction machine is not parked, among the parking space patterns GS. In the example of fig. 10, parking space graphics GS associated with parking spaces where other construction machines have been parked are shaded a little. On the other hand, the parking space figure GS related to the parking space where other construction machines are not parked is not marked with a dot shade.

In this case, each construction machine such as a shovel or a wheel loader is mounted with a device capable of specifying position information such as a GNSS receiver. The position information of each construction machine is transmitted from each construction machine to a management device disposed in an office or the like via a communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network. Thus, the management device can grasp the current position information of each construction machine, and can grasp the arrangement information in the parking lot. Also, the management apparatus can transmit the configuration information to a predetermined excavator 100 to be parked. Thus, the operator of the excavator 100 can confirm the parking space selection screen GB shown in fig. 10 on the display device D1 provided inside the cab 10. The parking space selection screen GB shown in fig. 10 may be displayed on the display device D1 of the management device. The parking space selection screen GB shown in fig. 10 may be displayed on a display device D1 including a support device of a mobile terminal such as a smartphone held by the operator.

In this situation, the operator of the excavator 100 selects the parking space pattern GS corresponding to the parking space in which the excavator 100 is desired to be parked by a touch operation or the like while viewing the parking space selection screen GB inside the cab 10 or outside the cab 10. The controller 30 may display the parking space selection screen GB in such a manner that the operator can distinguish the parking space graphic GS selected by the operator from the other parking space graphics GS as shown in fig. 10. In the example of fig. 10, the parking space pattern GS26 selected by the operator is hatched with diagonal lines.

In this manner, the operator of the shovel 100 can set the space SP in the actual parking lot as shown in fig. 11 as the target parking space by selecting the parking space pattern GS 26.

When it is determined that the target parking space is set, the autonomous control unit 30C of the controller 30 creates a trajectory from the current position to the designated space based on the arrangement information, and operates at least one of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2 MR. Then, the autonomous control unit 30C compares the output of the positioning device 73 with the created track, and at least one of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR is operated to move the shovel 100 to the vicinity of the target parking space. In the example of fig. 11, the shovel 100 is moved along a movement path TR shown by a dotted line. The creation of the track up to the designated space based on the current position of the configuration information may be performed by the management apparatus. When moving the shovel 100, the autonomous control unit 30C may change the posture of the excavation attachment AT as needed or may rotate the upper revolving structure 3 so that the shovel 100 does not contact another object as described above.

Next, still another example of the parking space selection screen will be described with reference to fig. 12. Fig. 12 shows a parking space selection screen GC as another configuration example of the parking space selection screen. The parking space selection screen GC shown in fig. 12 includes graphs G10 to G15. The graph G10 represents a shovel 100 that the operator wants to park. The graph G11 represents an excavator that has been parked in a parking lot. In the example shown in fig. 12, 18 figures G11 each indicating 18 excavators parked are displayed on the display device D1. In fig. 12, one of 18 patterns G11 is determined using a lead line.

The graph G12 represents a parking space in which the excavator 100 can be parked. In the example shown in fig. 12, a graph G12 (graphs G12A to G12D) each indicating four selectable parking spaces is displayed on the display device D1. The display device D1 allows the operator to distinguish between a selected parking space and an unselected parking space among the selectable parking spaces by changing at least one of the color, pattern, and the like of the graphic G12. Specifically, the display device D1 shows a case where the parking space indicated by the graphic G12D is selected by the operator. The operator can select a desired parking space by performing a touch operation on a portion corresponding to the desired parking space on the touch panel attached to the display device D1.

The graph G13 shows a flow of processing until the shovel 100 starts autonomous traveling. In the example shown in fig. 12, the display device D1 shows a case where the autonomous travel of the shovel 100 is started after the parking space selection and the route selection are performed by displaying three text labels "select parking space", "select route", and "start travel". Further, the display device D1 shows a case where the process related to the parking space selection is being performed at the present time by making the color of the text label "select parking space" different from the other two text labels.

The graph G14 represents the current date. In the example shown in fig. 12, a graph G14 shows a case where the current date is 2016, 7, and 22.

The graph G15 represents information related to a parking lot. In the example shown in fig. 12, the name of the parking lot is "×" and the position of the parking lot is "east longitude × north latitude" is shown in the graph G15.

A parking space selection screen GC displayed after selecting one of the selectable parking spaces is shown in fig. 13. The parking space selection screen GC shown in fig. 13 displays a graphic G16 and the graphic G13 distinguishes the text label "select path" from the other two text labels in terms of two differences from the parking space selection screen GC shown in fig. 12.

The graph G16 represents a path that can be taken when moving the shovel 100 from the current position to the selected parking space. In the example shown in fig. 13, graphics G16A and G16B indicating two selectable paths are displayed in the display device D1. The display device D1 allows the operator to distinguish between a selected route and an unselected route among the selectable routes by changing at least one of the color, line type, and the like of the graphic G16. Specifically, the display device D1 shows a case where the operator selects the route indicated by the graph G16A (solid line). The operator can select a desired path by performing a touch operation on a portion corresponding to the desired path on the touch panel attached to the display device D1.

In the example shown in fig. 13, the display device D1 shows a case where the processing related to the route selection is being performed at the present time by making the color of the text label "select a route" different from the other two text labels.

After selecting one of the selectable paths, the controller 30 starts autonomous walking of the shovel 100. During autonomous walking of the shovel 100, the display device D1 may display a screen showing a situation in which a graphic G10, which graphic G10 represents the shovel 100, moves along a graphic G16A, which graphic G16A represents the selected path. At this time, the display device D1 may prompt the operator that the autonomous travel of the shovel 100 is currently being performed by making the color of the text label "start travel" different from the other two text labels.

Next, another configuration example of the controller 30 will be described with reference to fig. 14. Fig. 14 is a functional block diagram showing another configuration example of the controller 30. In the example of fig. 14, the controller 30 is configured to receive a signal output from at least one of the posture detection device, the space recognition device 70, the information input device 72, the positioning device 73, the abnormality detection sensor 74, and the like, perform various calculations, and output a control instruction to the proportional valve 31 and the like. The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, and a turning angular velocity sensor S5.

The controller 30 shown in fig. 14 is connected to the abnormality detection sensor 74, and includes a target setting unit F1, an abnormality monitoring unit F2, a stop determination unit F3, an intermediate target setting unit F4, a position calculation unit F5, an object detection unit F6, a speed instruction generation unit F7, a speed calculation unit F8, a speed restriction unit F9, and a flow rate instruction generation unit F10, which are different from the controller 30 shown in fig. 6 mainly in two respects. Therefore, the description of the same parts will be omitted below, and different parts will be described in detail.

The attitude detection unit 30A is configured to detect information relating to the attitude of the shovel 100, similarly to the attitude detection unit 30A shown in fig. 6. In the example of fig. 14, the posture detecting unit 30A determines whether or not the posture of the shovel 100 is the walking posture. The posture detection unit 30A is configured to allow the excavator 100 to travel autonomously when it is determined that the posture of the excavator 100 is the travel posture.

The target setting unit F1 is configured to set a target related to autonomous traveling of the shovel 100. In the example of fig. 14, the target setting unit F1 sets the parking space in which the excavator 100 is parked and the route to the parking space as the target based on the output of the information input device 72. Specifically, the target setting unit F1 sets a parking space (see the graph G12D of fig. 13) selected by the operator of the shovel 100 using the touch panel as a target parking space (target point), and sets a path (see the graph G16A of fig. 13) selected by the operator of the shovel 100 using the touch panel as a target path.

The abnormality monitoring unit F2 is configured to monitor an abnormality of the shovel 100. In the example of fig. 14, the abnormality monitoring unit F2 determines the degree of abnormality of the shovel 100 based on the output of the abnormality detection sensor 74. The abnormality detection sensor 74 is at least one of a sensor that detects an abnormality of the engine 11, a sensor that detects an abnormality related to the temperature of the hydraulic oil, and the like, for example.

The stop determination unit F3 is configured to determine whether or not the shovel 100 needs to be stopped based on various information. In the example of fig. 14, the stop determination unit F3 determines whether or not the excavator 100 that is traveling autonomously needs to be stopped, based on the output of the abnormality monitoring unit F2. Specifically, for example, when the degree of abnormality of the shovel 100 determined by the abnormality monitoring unit F2 exceeds a predetermined degree, the stop determination unit F3 determines that the shovel 100 in autonomous travel needs to be stopped. On the other hand, for example, when the degree of abnormality of the shovel 100 determined by the abnormality monitoring unit F2 is equal to or less than a predetermined degree, the stop determination unit F3 determines that the autonomous travel of the shovel 100 can be continued without stopping the shovel 100 in the autonomous travel.

The intermediate target setting unit F4 is configured to set an intermediate target related to autonomous traveling of the shovel 100. In the example of fig. 14, when the posture detector 30A determines that the posture of the shovel 100 is the walking posture and the stop determination unit F3 determines that the shovel 100 does not need to be stopped, the intermediate target setting unit F4 divides the target route set by the target setting unit F1 into a plurality of sections and sets the end point of each section as an intermediate target point.

The position calculation unit F5 is configured to calculate the current position of the shovel 100. In the example of fig. 14, the position calculation unit F5 calculates the current position of the shovel 100 from the output of the positioning device 73.

The calculation unit C1 is configured to calculate the difference between the position of the intermediate target point set by the intermediate target setting unit F4 and the current position of the shovel 100 calculated by the position calculation unit F5.

The object detection unit F6 is configured to detect an object present around the shovel 100. In the example of fig. 14, the object detection unit F6 detects an object existing around the shovel 100 from the output of the space recognition device 70. When an object (e.g., a person) existing in the traveling direction of the shovel 100 that is traveling autonomously is detected, the object detection unit F6 generates a stop instruction for stopping the autonomous traveling of the shovel 100.

The speed instruction generating unit F7 is configured to generate an instruction relating to the traveling speed. In the example of fig. 14, the speed command generation unit F7 generates a speed command from the difference calculated by the calculation unit C1. Basically, the speed command generation unit F7 is configured to generate a larger speed command as the difference increases. The speed command generation unit F7 is configured to generate a speed command for bringing the difference calculated by the calculation unit C1 close to zero.

The speed calculation unit F8 is configured to calculate the current traveling speed of the shovel 100. In the example of fig. 14, the speed calculation unit F8 calculates the current traveling speed of the shovel 100 from the change in the current position of the shovel 100 calculated by the position calculation unit F5.

The calculation unit C2 is configured to calculate a speed difference between the travel speed corresponding to the speed instruction generated by the speed instruction generation unit F7 and the current travel speed of the shovel 100 calculated by the speed calculation unit F8.

The speed limiting unit F9 is configured to limit the traveling speed of the shovel 100. In the example of fig. 14, the speed limiter F9 outputs the limit value instead of the speed difference calculated by the calculator C2 when the speed difference exceeds the limit value, and outputs the speed difference as it is when the speed difference calculated by the calculator C2 is equal to or less than the limit value. The limit value may be a value registered in advance or may be a value calculated automatically.

The flow rate instruction generating unit F10 is configured to generate an instruction regarding the flow rate of the hydraulic oil supplied from the main pump 14 to the traveling hydraulic motor 2M. In the example of fig. 14, the flow rate instruction generator F10 generates a flow rate instruction based on the speed difference output from the speed limiter F9. Basically, the flow rate instruction generating unit F10 is configured to generate a larger flow rate instruction as the speed difference increases. The flow rate instruction generator F10 is configured to generate a flow rate instruction for bringing the speed difference calculated by the calculator C2 close to zero.

The flow rate instructions generated by the flow rate instruction generating unit F10 are current instructions for the proportional valves 31EL, 31ER, 31FL, and 31FR (see fig. 5A and 5B). In response to the current instruction, proportional valve 31EL operates to change the pilot pressure acting on the left pilot port of control valve 171. Therefore, the flow rate of the hydraulic oil flowing into the left traveling hydraulic motor 2ML is adjusted to a flow rate corresponding to the flow rate command generated by the flow rate command generating unit F10. The proportional valve 31ER also acts in the same manner. Then, the proportional valve 31FR operates in accordance with the current instruction to change the pilot pressure acting on the right pilot port of the control valve 172. Therefore, the flow rate of the hydraulic oil flowing into the right traveling hydraulic motor 2MR is adjusted to a flow rate corresponding to the flow rate command generated by the flow rate command generating unit F10. The proportional valve 31FL also operates in the same manner. As a result, the traveling speed of the shovel 100 is adjusted to a traveling speed corresponding to the speed instruction generated by the speed instruction generating unit F7. The traveling speed of the shovel 100 is a concept including a traveling direction. This is because the traveling direction of the shovel 100 is determined by the rotation speed and rotation direction of the left traveling hydraulic motor 2ML and the rotation speed and rotation direction of the right traveling hydraulic motor 2 MR.

With this configuration, the controller 30 can realize autonomous traveling of the shovel 100 from the current position to the target parking space.

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; a traveling hydraulic motor 2M as a traveling actuator for driving the lower traveling unit 1; a space recognition device 70 provided in the upper slewing body 3; an orientation detection device 71 that detects information relating to the relative relationship between the orientation of the upper revolving structure 3 and the orientation of the lower traveling structure 1; and a controller 30 as a control device provided in the upper slewing body 3. The controller 30 is configured to operate the traveling hydraulic motor 2M based on the output of the space recognition device 70 and the output of the direction detection device 71, and move the excavator to the parking space recognized by the space recognition device 70. With this configuration, the shovel 100 can support the shovel 100 to move to the parking position. As a result, the shovel 100 can be efficiently parked in a desired parking space. Further, the shovel 100 can prevent contact between the shovel 100 and another object due to an erroneous operation during parking or the like.

The shovel 100 includes, for example: an attachment actuator that drives an excavation attachment AT as an attachment mounted on the upper slewing body 3; and a posture detection device for detecting the posture of the excavation attachment AT. The attachment actuator includes, for example, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. The attitude detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, and a bucket angle sensor S3. The controller 30 may be configured to change the posture of the excavation attachment AT by operating the attachment actuator based on the output of the posture detection device and the output of the space recognition device 70, so as to prevent the excavation attachment AT from coming into contact with the object recognized by the space recognition device 70. With this configuration, the controller 30 can prevent the excavation attachment AT from coming into contact with another object when the excavator 100 is moved by operating the travel hydraulic motor 2M. Other objects are wires, other excavators or vehicles, etc.

The shovel 100 includes, for example, a turning hydraulic motor 2A as a turning actuator for turning the upper turning body 3. Further, the controller 30 may be configured to operate the turning hydraulic motor 2A based on the output of the space recognition device 70 and the output of the direction detection device 71 to turn the upper turning body 3 so as to prevent the excavator 100 from contacting the object recognized by the space recognition device 70. With this configuration, the controller 30 can prevent the counterweight and the like from coming into contact with other objects when the traveling hydraulic motor 2M is operated to move the shovel 100.

The shovel 100 has, for example, an information input device 72. The information input device 72 may be configured such that an operator can input a direction of the parking space viewed from the upper revolving structure 3, for example. Specifically, as shown in fig. 8, the information input device 72 may be configured such that the operator can select a direction of the parking space viewed from the shovel 100 from four directions, i.e., front, rear, left, and right. In this case, the space recognition device 70 may be configured to recognize the parking space in the direction selected by the information input device 72. That is, the controller 30 may omit recognizing the parking space in the unselected direction by the space recognition device 70. With this configuration, the controller 30 can quickly and reliably determine the presence or absence of the parking space in the selected direction. Further, the controller 30 can omit the determination of the presence or absence of the parking space in the unselected direction, and thus can reduce the calculation load.

The information input device 72 may be configured to allow an operator to input a position of a parking space, for example. Specifically, as shown in fig. 10, the information input device 72 may be configured such that the operator can select a desired parking space from 27 parking spaces in which latitude, longitude, and altitude are registered in advance. In this case, the space recognition device 70 may be configured to recognize the parking space located at the position selected using the information input device 72. With this configuration, the controller 30 can park the shovel 100 in a parking space located at a position distant from the current position after moving the shovel 100 to the parking space.

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. Further, the features described separately can be combined as long as technically contradictory results are not generated.

For example, in the above embodiment, a hydraulic operation lever provided with a hydraulic pilot circuit is disclosed. Specifically, in the hydraulic pilot circuit related to the left control lever 26L as the arm control lever, the hydraulic oil supplied from the pilot pump 15 to the remote control valve of the left control lever 26L is transmitted to the pilot port of the control valve 176 at a flow rate corresponding to the opening degree of the remote control valve that opens and closes in response to the tilting of the left control lever 26L.

However, instead of the hydraulic operation lever provided with such a hydraulic pilot circuit, an electric operation lever provided with an electric pilot circuit may be employed. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. 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. According to this configuration, when a manual operation using an electric operation lever is performed, the controller 30 controls the solenoid valve in accordance with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure, thereby moving each control valve in the control valve 17. In addition, each control valve may be constituted by an electromagnetic spool valve. At this time, the solenoid spool operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

In the case of using an electric operation system having an electric operation lever, the controller 30 can easily perform an autonomous control function, as compared with the case of using a hydraulic operation system having a hydraulic operation lever. Fig. 15 shows a configuration example of the electric operation system. Specifically, the electric operation system of fig. 15 is an example of a boom operation system for moving the boom 4 up and down, and is mainly configured by the pilot pressure operation type control valve 17, the boom operation lever 26A as an electric operation lever, the controller 30, the boom raising operation solenoid valve 60, and the boom lowering operation solenoid valve 62. The electric operation system of fig. 15 can be similarly applied to a travel operation system for advancing/retracting the lower traveling body 1, a swing operation system for swinging the upper revolving structure 3, an arm operation system for opening/retracting the arm 5, a bucket operation system for opening/retracting the bucket 6, and the like.

The pilot pressure operation type control valve 17 includes a control valve 171 (refer to fig. 3) associated with the left traveling hydraulic motor 2ML, a control valve 172 (refer to fig. 3) associated with the right traveling hydraulic motor 2MR, a control valve 173 (refer to fig. 3) associated with the swing hydraulic motor 2A, a control valve 175 (refer to fig. 3) associated with the boom cylinder 7, a control valve 176 (refer to fig. 3) associated with the arm cylinder 8, and a control valve 174 (refer to fig. 3) associated with the bucket cylinder 9, and the like. The solenoid valve 60 is configured to be able to adjust the pressure of the hydraulic oil in 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 pressure of the hydraulic oil in the 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 the operation signal (electric signal) output from the operation signal generating portion 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 operates in response to a boom-up operation signal (electric signal) and controls a pilot pressure, which is a boom-up operation signal (pressure signal), acting on a 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 operates in response to a boom lowering operation signal (electric signal) and controls a pilot pressure, which is a boom lowering operation signal (pressure signal), acting on a lowering-side pilot port of the control valve 175.

When the autonomous control is executed, the controller 30 generates a boom-up operation signal (electric signal) or a boom-down operation signal (electric signal) from the correction operation signal (electric signal) in place of the operation signal (electric signal) output from the operation signal generating unit of the boom control lever 26A, for example. The correction operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by a control device or the like other than the controller 30.

The information acquired by the shovel 100 can be shared with a manager and other shovel operators and the like by a management system SYS of the shovel as shown in fig. 16. Fig. 16 is a schematic diagram showing a configuration example of a management system SYS of the shovel. The management system SYS is a system that manages one or more excavators 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 shovel 100, the support device 200, and the management device 300 constituting the management system SYS may be one or a plurality of devices. In the example of fig. 16, the management system SYS includes one shovel 100, one support device 200, and one management device 300.

Typically, the support apparatus 200 is a mobile terminal apparatus, such as a laptop, a tablet, or a smartphone carried by a worker or the like at a construction site. The support device 200 may be a mobile terminal device carried by an operator of the shovel 100. The support apparatus 200 may be a fixed terminal apparatus.

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

At least one of the support apparatus 200 and the management apparatus 300 may include a monitor and a remote operation device. At this time, the operator can operate the shovel 100 using the remote operation operating device. The remote operation device is connected to the controller 30 mounted on the shovel 100 through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.

The parking space selection screens GA to GC shown in fig. 8, 10, 12, and 13 are typically displayed on the display device D1 provided in the cab 10, but may be displayed on a display device connected to at least one of the assistance device 200 and the management device 300. This is to enable the operator using the support apparatus 200 or the manager using the management apparatus 300 to set the target parking space, the target route, and the like.

In the management system SYS of the shovel 100 as described above, the controller 30 of the shovel 100 may transmit, to at least one of the support device 200 and the management device 300, information related to at least one of the time and the place when the parking mode button is pressed, a target trajectory used when the shovel 100 is autonomously moved (when autonomous traveling is performed), a trajectory that a predetermined part actually follows when autonomous traveling is performed, and the like. In this case, the controller 30 may transmit at least one of the output of the space recognition device 70, the image captured by the monocular camera, and the like to at least one of the support device 200 and the management device 300. The image may be a plurality of images taken during the autonomous walking. The controller 30 may transmit, to at least one of the support device 200 and the management device 300, information related to at least one of data related to the operation content of the shovel 100, data related to the posture of the excavation attachment, and the like during autonomous walking. This is to enable the worker using the support apparatus 200 or the manager using the management apparatus 300 to acquire information on the shovel 100 during autonomous traveling.

As described above, the management system SYS of the shovel 100 according to the embodiment of the present invention can share information on the shovel 100 acquired during the autonomous traveling with the administrator and the operator of the shovel.

Further, the controller 30 is configured to park the shovel 100 in the target parking space, but may be configured to move the shovel 100 from the parking space to a desired position.

The present application claims priority based on japanese patent application No. 2018-057172 filed on 3/23/2018, the entire contents of which are incorporated by reference in the present specification.

Description of the symbols

1-lower traveling body, 1C-track, 1 CL-left track, 1 CR-right track, 2-swing mechanism, 2A-swing hydraulic motor, 2M-travel hydraulic motor, 2 ML-left travel hydraulic motor, 2 MR-right travel hydraulic motor, 3-upper swing body, 4-boom, 5-arm, 6-bucket, 7-boom cylinder, 8-arm cylinder, 9-bucket cylinder, 10-cab, 11-engine, 13-regulator, 14-main pump, 15-pilot pump, 17-control valve, 18-restrictor, 19-control pressure sensor, 26-operating device, 26A-boom operating lever, 26D-travel lever, 26 DL-left travel lever, 26 DR-right travel lever, 26L-left control lever, 26R-right control lever, 28-discharge pressure sensor, 29DL, 29DR, 29LA, 29LB, 29RA, 29 RB-operation pressure sensor, 30-controller, 30A-attitude detecting section, 30B-determining section, 30C-autonomous control section, 31 AL-31 DL, 31 AR-31 DR-proportional valve, 32 AL-32 DL, 32 AR-32 DR-reciprocating valve, 40-intermediate bypass line, 42-parallel line, 60, 62-solenoid valve, 70-space identifying device, 70F-front sensor, 70B-rear sensor, 70L-left sensor, 70R-right sensor, 100-shovel, 71-orientation detecting device, 72-information input device, 73-positioning device, 74-abnormality detection sensor, 171-176-control valve, 200-support device, 300-management device, AT-excavation attachment, C1, C2-arithmetic unit, D1-display device, D2-sound output device, F1-target setting unit, F2-abnormality monitoring unit, F3-stop determination unit, F4-intermediate target setting unit, F5-position calculation unit, F6-object detection unit, F7-speed indication generation unit, F8-speed calculation unit, F9-speed limitation unit, F10-flow indication generation unit, NS-switch, S1-boom angle sensor, S2-arm angle sensor, S3-bucket angle sensor, S4-body inclination sensor, S5-rotation angle speed sensor.

The claims (modification according to treaty clause 19)

1. An excavator, having:

a lower traveling body;

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

a travel actuator that drives the lower traveling body;

a space recognition device provided on the upper slewing body;

an orientation detection device that detects information relating to a relative relationship between the orientation of the upper revolving structure and the orientation of the lower traveling structure; and

a control device provided on the upper slewing body,

the control device operates the travel actuator based on an output of the space recognition device and an output of the direction detection device.

2. The shovel of claim 1,

the control device is configured to move the shovel to the inputted designated space.

3. The shovel of claim 1 having:

an attachment actuator that drives an attachment mounted on the upper slewing body; and

a posture detecting device that detects a posture of the accessory,

the control device is configured to operate the attachment actuator based on the output of the posture detection device and the output of the space recognition device, and prevent the attachment from changing the posture of the attachment when the attachment comes into contact with the object recognized by the space recognition device.

4. The shovel of claim 1 having:

a turning actuator for turning the upper turning body,

the control device is configured to operate the turning actuator based on the output of the space recognition device and the output of the direction detection device, and prevent the excavator from turning the upper turning body in contact with the object recognized by the space recognition device.

5. The shovel of claim 1 having an information input device,

the information input device is configured to be capable of inputting a direction of a predetermined space viewed from the upper slewing body,

the space recognition device is configured to recognize a designated space in a direction input through the information input device.

6. The shovel of claim 1 having an information input device,

the information input device is configured to be capable of inputting a position of a designated space,

the space recognition device is configured to recognize a designated space located at a position input by the information input device.

7. The shovel of claim 1,

the control device is configured to move the shovel based on the configuration information.

(appendant) the shovel of claim 1, wherein,

the control device determines whether there is a space through which the body of the shovel can pass.

(appendant) the shovel of claim 1, wherein,

the control device determines a driving method of the travel actuator according to a target trajectory.

(appendant) the shovel of claim 9, wherein,

the control device controls the travel actuator and an attachment actuator that drives an attachment according to the position information with respect to the target track.

(appendant) the shovel of claim 9, wherein,

the control device changes the orientation of the crawler belt by turning according to the target track.

(appendant) the shovel of claim 11, wherein,

the control device performs the turning and slewing operations at the same time.

(appendant) the shovel of claim 1, wherein,

the control device sets a parking space as a target.

(appendant) the shovel of claim 13, wherein,

the control device sets a target trajectory according to the parking space.

(appendant) the shovel of claim 1, wherein,

the control device brings the bucket into contact with the ground after stopping the travel actuator of the excavator entering the parking space.

Claims

1. An excavator, having:

a lower traveling body;

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

a travel actuator that drives the lower traveling body;

a space recognition device provided on the upper slewing body;

a control device provided on the upper slewing body,

2. The shovel of claim 1,

3. The shovel of claim 1 having:

a posture detecting device that detects a posture of the accessory,

4. The shovel of claim 1 having:

a turning actuator for turning the upper turning body,

5. The shovel of claim 1 having an information input device,

6. The shovel of claim 1 having an information input device,

7. The shovel of claim 1,