JP2021055433A - Shovel - Google Patents

Abstract

To provide a technique capable of improving safety when repeating a series of works by utilizing a shovel.SOLUTION: In a shovel 100 of one embodiment of this disclosure, a portion whose operation is restricted is set for each of a plurality of operation sections that correspond to each of an excavation operation, a boom lifting-up and revolving operation, a soil removing operation and a boom lifting-down and revolving operation which constitute a series of excavation works. For example, in an excavation operation section, a revolving operation of an upper structure 3 is restricted. In a boom lifting-up and revolving operation section, a lifting-down operation of a boom 4, an opening/closing operation of an arm 5, and an opening/closing operation of a bucket 6 are restricted. In a soil removing operation section, the revolving operation of the upper structure 3, the lifting-down operation of the boom 4, the closing operation of the arm 5, and the closing operation of the bucket 6 are restricted. In the boom lifting-down operation section, a lifting-up operation of the boom 4 is restricted.SELECTED DRAWING: Figure 7

Description

This disclosure relates to excavators.

For example, the excavator may repeatedly perform a series of operations composed of a plurality of operation sections, such as an excavation operation including an operation of excavating earth and sand and an operation of discharging earth and sand to a dump truck (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-71434

However, when the excavator is made to perform a series of operations repeatedly, there is a concern that the safety may be reduced. For example, an operator who gets on the excavator or an operator who remotely controls the excavator from the outside may make an operation error due to habituation, drowsiness, etc. if the excavator is repeatedly performed a series of operations. ..

Therefore, in view of the above problems, it is an object of the present invention to provide a technique capable of improving safety when a series of operations are repeatedly performed by using an excavator.

In order to achieve the above object, in one embodiment of the present disclosure,
A part where the movement is restricted is set for each of a plurality of predetermined movement sections.
Excavators are provided.

According to the above-described embodiment, it is possible to provide a technique capable of improving safety when a series of operations are repeatedly performed by using an excavator.

It is a side view of an excavator. It is a block diagram which shows an example of the structure of the excavator schematically. It is a figure which shows typically an example of the structure of the hydraulic system of a shovel. It is a figure which shows an example of the component part of the operation system about a boom in the hydraulic system of a shovel. It is a figure which shows an example of the component part of the operation system about a bucket in the hydraulic system of a shovel. It is a figure which shows an example of the component part of the operation system about the upper swing body in the hydraulic system of a shovel. It is a block diagram which shows an example of the structure about the operation continuation determination function of a shovel. It is a figure explaining a plurality of movements (sections) constituting excavation work of a shovel. It is a figure which shows an example of the operation permission / rejection of the driven element, the start condition of the operation section, and the continuation condition of the operation section set for each operation section in excavation work.

Hereinafter, modes for carrying out the invention will be described with reference to the drawings.

[Outline of excavator]
First, the outline of the excavator 100 according to the present embodiment will be described with reference to FIG.

FIG. 1 is a side view of the excavator 100 according to the present embodiment.

The excavator 100 according to the present embodiment constitutes an attachment (also referred to as a "working machine"), a lower traveling body 1, an upper rotating body 3 that is swivelably mounted on the lower traveling body 1 via a swivel mechanism 2. It includes a boom 4, an arm 5, a bucket 6, and a cabin 10.

The lower traveling body 1 travels the excavator 100 by hydraulically driving a pair of left and right crawlers by the traveling hydraulic motors 1L and 1R (see FIG. 2), respectively. That is, the pair of traveling hydraulic motors 1L and 1R as the driving elements drive the left and right crawlers as the driven elements, respectively.

The upper swivel body 3 is swiveled with respect to the lower traveling body 1 by being hydraulically driven by the swivel hydraulic motor 2A. That is, the swing hydraulic motor 2A as the drive element drives the upper swing body 3 as the driven element.

The upper swivel body 3 may be electrically driven by an electric motor (hereinafter, “swivel motor”) instead of the swivel hydraulic motor 2A. That is, the swivel motor is a drive element that drives the upper swivel body 3 as the driven portion, like the swivel hydraulic motor 2A.

The boom 4 is pivotally attached to the center of the front portion of the upper swing body 3 so as to be upright, an arm 5 is pivotally attached to the tip of the boom 4 so as to be vertically rotatable, and an end attachment is attached to the tip of the arm 5. The bucket 6 is pivotally attached so as to be vertically rotatable. The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 as hydraulic actuators, respectively.

The bucket 6 is an example of an end attachment, and the tip of the arm 5 has another end attachment, for example, a slope bucket, a dredging bucket, or a breaker, instead of the bucket 6 depending on the work content or the like. Etc. may be attached.

The cabin 10 is a driver's cab on which the operator is boarded, and is mounted on the front left side of the upper swing body 3.

The excavator 100 operates the driven elements such as the lower traveling body 1, the upper turning body 3, the boom 4, the arm 5, and the bucket 6 in response to the operation of the operator boarding the cabin 10. Further, the excavator 100 may be remotely controlled by an operator of a predetermined external device. Specifically, the excavator 100 receives the lower traveling body 1, the upper turning body 3, and the upper turning body 3 in response to the remote control signal corresponding to the remote control of the operator received from the external device through the communication device T1 mounted on the own machine. Driven elements such as the boom 4, arm 5, and bucket 6 may be operated.

Further, the excavator 100 realizes a function of automatically operating at least a part of driven elements such as the lower traveling body 1, the upper turning body 3, the boom 4, the arm 5, and the bucket 6 (hereinafter, “automatic driving function”). To do.

The automatic operation function is a function (so-called "semi-automatic operation") in which a driven element (hydraulic actuator) other than the driven element (hydraulic actuator) to be operated is automatically operated in response to an operator's operation on the operation device 26 or a remote control. Functions ”and“ machine control functions ”) may be included. In addition, the automatic operation function is a function that automatically operates at least a part of a plurality of driven elements (hydraulic actuators) on the premise that there is no operation or remote control of the operator's operation device 26 (so-called "fully automatic operation function"). ) May be included. Further, in the semi-automatic operation function and the fully automatic operation function, not only the operation content of the driven element (hydraulic actuator) to be automatically operated is automatically determined according to a predetermined rule, but also the excavator 100 is autonomous. A mode (so-called "autonomous driving function") is included in which various judgments are made and the operation contents of the driven element (hydraulic actuator) to be automatically operated are autonomously determined according to the judgment results. Good.

[Excavator configuration]
Next, in addition to FIG. 1, the detailed configuration of the excavator 100 according to the present embodiment will be described with reference to FIG.

FIG. 2 is a diagram schematically showing an example of the configuration of the excavator 100 according to the present embodiment, respectively.

In FIG. 2, the mechanical power system, the hydraulic oil line, the pilot line, and the electric control system are shown by double lines, solid lines, broken lines, and dotted lines, respectively. Hereinafter, the same applies to FIGS. 3 and 4 (FIGS. 4A to 4C).

As described above, the hydraulic drive system of the excavator 100 according to the present embodiment is a plurality of driving elements for driving each of a plurality of driven elements (lower traveling body 1, upper swinging body 3, boom 4, arm 5, bucket 6, etc.). Includes hydraulic actuators. The plurality of hydraulic actuators include traveling hydraulic motors 1L and 1R, swivel hydraulic motors 2A, boom cylinders 7, and arm cylinders 8 corresponding to the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, respectively. , And the bucket cylinder 9. The hydraulic drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

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

The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30. The regulator 13 includes regulators 13L and 13R, for example, as described later.

Like the engine 11, the main pump 14 is mounted on the rear part of the upper swing body 3 and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, the stroke length of the piston is adjusted by adjusting the tilt angle of the swash plate by the regulator 13 under the control of the controller 30, and the pump is discharged. The flow rate (discharge pressure) is controlled. The main pump 14 includes, for example, the main pumps 14L and 14R as described later.

The control valve 17 is mounted on the central portion of the upper swing body 3, for example, and controls the hydraulic drive system according to the operation of the operator or the control command corresponding to the automatic operation function of the excavator 100. It is a control device. As described above, the control valve 17 is connected to the main pump 14 via the high pressure hydraulic line. The control valve 17 uses the hydraulic oil supplied from the main pump 14 as a hydraulic actuator (running hydraulic motor) according to the operation state of the operation device 26, the content of the remote operation signal, or the control command by the automatic operation function of the excavator 100. It is selectively supplied to 1L, 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9). The control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

The control valve 171 corresponds to the traveling hydraulic motor 1L, the control valve 172 corresponds to the traveling hydraulic motor 1R, and the control valve 173 corresponds to the swing hydraulic motor 2A. Further, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8. Further, the control valve 175 includes, for example, control valves 175L and 175R as described later, and the control valve 176 includes, for example, control valves 176L and 176R as described later. Details of the control valves 171 to 176 will be described later (see FIG. 3).

The operating system of the excavator 100 according to the present embodiment includes a pilot pump 15 and an operating device 26. Further, the operation system of the excavator 100 includes a proportional valve 31 and a pressure reducing proportional valve 33 as a configuration related to the automatic operation function (machine control function) of the excavator 100.

The pilot pump 15 is mounted on the rear portion of the upper swing body 3, for example, and supplies pilot pressure to various hydraulic devices such as the proportional valve 31 via a pilot line. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump, and is driven by the engine 11 as described above.

The operation device 26 is provided near the driver's seat of the cabin 10 and allows the operator to operate the driven portion of the excavator 100 (lower traveling body 1, upper turning body 3, boom 4, arm 5, bucket 6, etc.). It is an operation input means. In other words, the operating device 26 is a hydraulic actuator (that is, traveling hydraulic motors 1L, 1R, swivel hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) in which the operator drives each driven unit. It is an operation input means for performing an operation.

As shown in FIG. 2, the operation device 26 is, for example, an electric type that outputs an electric signal (hereinafter, “operation signal”) corresponding to the operation content, and the operation signal is input to the controller 30. Then, the controller 30 outputs a control command corresponding to the operation signal to the proportional valve 31, so that the proportional valve 31 supplies the control valve 17 with a pilot pressure according to the operation content of the operation device 26. As a result, the control valve 17 can realize the operation of the excavator 100 according to the operation content of the operator with respect to the operating device 26. The operating device 26 includes, for example, a lever device for operating the arm 5 (arm cylinder 8). Further, the operating device 26 includes, for example, lever devices 26A to 26C for operating each of the boom 4 (boom cylinder 7), the bucket 6 (bucket cylinder 9), and the upper swing body 3 (swing hydraulic motor 2A) (FIG. 4A). -See FIG. 4C). Further, the operating device 26 includes, for example, a lever device and a pedal device for operating each of a pair of left and right crawlers (running hydraulic motors 1L, 1R) of the lower traveling body 1.

The control valves 171 to 176 in the control valve 17 may be electromagnetic solenoid type spool valves that are directly driven by a control command from the controller 30. Further, the operating device 26 may be a hydraulic pilot type that outputs a pilot pressure corresponding to the operation content by using the hydraulic oil supplied from the pilot pump 15. In this case, hydraulic oil is supplied to the operating device 26 from the pilot pump 15 through the pilot line, the pilot pressure corresponding to the operation content is output to the pilot line on the secondary side, and the control valve is passed through the shuttle valve. It is supplied to 17.

The proportional valve 31 is provided in the pilot line connecting the pilot pump 15 and the control valve 17, and the flow path area (cross-sectional area through which hydraulic oil can flow) can be changed. The proportional valve 31 operates in response to a control command input from the controller 30. As a result, the controller 30 applies the pilot pressure according to the operation content of the operator according to the operation signal input from the operation device 26 and the remote operation signal received from the external device via the proportional valve 31 and the control valve 17 It can act on the pilot port of the corresponding control valve inside. Further, the controller 30 supplies 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 even when the operator is not operated. it can. The proportional valve 31 includes, for example, proportional valves 31AL, 31AR, 31BL, 31BR, 31CL, 31CR as described later.

When the operating device 26 is a hydraulic pilot type, the pilot line on the secondary side of the proportional valve 31 is connected to the control valve 17 via the shuttle valve described above. In this case, the pilot pressure supplied from the shuttle valve to the control valve 17 has nothing to do with the pilot pressure according to the operation content output from the operation device 26 and the operation content of the operation device 26 output from the proportional valve 31. Which is the higher of the predetermined pilot pressure.

The pressure reducing proportional valve 33 is arranged in the pilot line between the proportional valve 31 and the control valve 17. The pressure reducing proportional valve 33 operates in response to a control command input from the controller 30. As a result, when the controller 30 determines that the braking operation of decelerating or stopping the hydraulic actuator is necessary based on the peripheral information acquisition device (for example, the output of the space recognition device S6), the controller 30 discharges the hydraulic oil of the pilot line to the tank. The pilot pressure can be reduced. Therefore, the controller 30 can move the spool of the control valve in the control valve 17 in the neutral direction regardless of the state of the proportional valve 31. Therefore, the pressure reducing proportional valve 33 is effective when it is desired to improve the braking characteristics. The reducing pressure proportional valve 33 includes, for example, the reducing pressure proportional valves 33AL, 33AR, 33BL, 33BR, 33CL, 33CR as described later.

When the operating device 26 is a hydraulic pilot type, the pressure reducing proportional valve 33 may be omitted.

The control system of the excavator 100 according to the present embodiment includes a discharge pressure sensor 28, a controller 30, a display device 40, an input device 42, a sound output device 43, and a storage device 47. Further, the control system of the excavator 100 according to the present embodiment includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning state sensor S5, a space recognition device S6, and the like. The positioning device P1 and the communication device T1 are included.

The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. The detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 28 is taken into the controller 30. The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R as described later.

The controller 30 (an example of a control device) is provided in the cabin 10, for example, and performs various controls related to the excavator 100. The function of the controller 30 may be realized by any hardware or a combination of any hardware and software. For example, the controller 30 includes a computer including a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and an interface device related to input / output. It is composed in the center. Further, the controller 30 may include, for example, a high-speed arithmetic circuit such as a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array) that is linked with a CPU. The controller 30 realizes various functions by executing various programs installed in the auxiliary storage device on the CPU, for example.

For example, the controller 30 sets a target rotation speed based on an operation mode or the like preset by a predetermined operation of an operator or the like, and performs drive control for rotating the engine 11 at a constant speed.

Further, for example, the controller 30 outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14.

Further, for example, the controller 30 controls the machine guidance function for guiding the manual operation of the excavator 100 by the operator, for example. Further, the controller 30 controls, for example, a machine control function that automatically assists the manual operation of the excavator 100 by the operator. The controller 30 includes a machine guidance unit 50 as a functional unit related to the machine guidance function and the machine control function.

A part of the function of the controller 30 may be realized by another controller (control device). That is, the function of the controller 30 may be realized in a manner distributed by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

The display device 40 is provided in the cabin 10 at a location that is easily visible to the seated operator, and displays various information images under the control of the controller 30. The display device 40 displays, for example, an image (hereinafter, “surrounding image”) showing the surrounding state of the excavator 100 based on the output (image information) of the camera as the space recognition device S6. The display device 40 is, for example, a liquid crystal display, an organic EL (Electroluminescence) display, or the like.

The input device 42 is provided within reach of the seated operator in the cabin 10, receives various operation inputs by the operator, and outputs a signal corresponding to the operation input to the controller 30. The input device 42 is, for example, a touch panel mounted on the display of the display device 40, a knob switch provided at the tip of a lever portion such as lever devices 26A to 26C, a button switch installed around the display device 40, a lever, and a toggle. , Rotating dial, etc. may be included. The signal corresponding to the operation content for the input device 42 is taken into the controller 30.

The sound output device 43 is provided in the cabin 10, for example, and outputs a predetermined sound (for example, a buzzer sound, a sound, or the like) under the control of the controller 30. The sound output device 43 is, for example, a speaker, a buzzer, or the like. The sound output device 43 outputs various information as sound in response to a voice output command from the controller 30.

The storage device 47 is provided in the cabin 10, for example, and stores various information under the control of the controller 30. The storage device 47 is a non-volatile storage medium such as a semiconductor memory. The storage device 47 may, for example, store information output by various devices during the operation of the excavator 100, or store information acquired through the various devices before the operation of the excavator 100 is started. May be good. Further, the storage device 47 may store data related to the target construction surface acquired through the communication device T1 or the like or set through the input device 42 or the like, for example. The data regarding the target construction surface may be set (saved) by the operator of the excavator 100, or may be set by the construction manager or the like.

The boom angle sensor S1 is attached to the boom 4 and detects the posture angle of the boom 4, for example, the elevation angle (hereinafter, “boom angle”) of the boom 4 with respect to the upper swing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), and the like. Further, the boom angle sensor S1 may include a potentiometer using a variable resistor, a cylinder sensor for detecting the stroke amount of the hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, and the like. Hereinafter, the same applies to the arm angle sensor S2 and the bucket angle sensor S3. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

The arm angle sensor S2 is attached to the arm 5 and detects the posture angle of the arm 5, for example, the rotation angle of the arm 5 with respect to the boom 4 (hereinafter, “arm angle”). The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

The bucket angle sensor S3 is attached to the bucket 6 and detects the posture angle of the bucket 6, for example, the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter, “bucket angle”). The detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30.

The airframe tilt sensor S4 detects the tilted state of the airframe (upper swivel body 3 or lower traveling body 1) with respect to the horizontal plane. The body tilt sensor S4 is attached to, for example, the upper swing body 3 and detects the tilt angles (hereinafter, “front-back tilt angle” and “left-right tilt angle”) of the upper swing body 3 around two axes in the front-rear direction and the left-right direction. To do. The airframe tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU, and the like. The detection signal corresponding to the tilt angle (front-back tilt angle and left-right tilt angle) by the aircraft tilt sensor S4 is taken into the controller 30.

The swivel state sensor S5 is attached to the upper swivel body 3 and outputs detection information regarding the swivel state of the upper swivel body 3. The swivel state sensor S5 detects, for example, the swivel angular velocity and the swivel angle of the upper swivel body 3. The swivel state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU, and the like.

When the body tilt sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc. capable of detecting angular velocities around three axes, the upper swivel body 3 is swiveled (for example, swiveled) based on the detection signal of the body tilt sensor S4. Angular velocity) may be detected. In this case, the turning state sensor S5 may be omitted.

The space recognition device S6 recognizes an object existing in the three-dimensional space around the excavator 100, and measures (calculates) the positional relationship such as the distance from the space recognition device S6 or the excavator 100 to the recognized object. To get. Further, the space recognition device S6 may recognize an object around the shovel 100 and measure the positional relationship between the recognized object and the space recognition device S6 or the shovel 100 based on the acquired information. The space recognition device S6 may include, for example, an ultrasonic sensor, a millimeter-wave radar, a monocular camera, a stereo camera, a LIDAR (Light Detecting and Ranging), a range image sensor, an infrared sensor, and the like. In the present embodiment, the space recognition device S6 is attached to the front recognition sensor S6F attached to the front end of the upper surface of the cabin 10, the rear recognition sensor S6B attached to the rear end of the upper surface of the upper swing body 3, and the left end of the upper surface of the upper swing body 3. The left recognition sensor S6L attached and the right recognition sensor S6R attached to the upper right end of the upper swing body 3 are included. Further, an upward recognition sensor that recognizes an object existing in the space above the upper swing body 3 may be attached to the excavator 100.

The space recognition device 70 may be configured to detect a predetermined object in a predetermined area set around the excavator 100. That is, the space recognition device 70 may be configured to be able to identify at least one of the type, position, shape, and the like of the object. For example, the space recognition device 70 may be configured to distinguish between a person and a non-human object. Further, the space recognition device 70 may be configured so as to be able to identify the type of terrain around the excavator 100. The type of terrain is, for example, a hole, a sloping surface, or a river. Further, the space recognition device 70 may be configured so as to be able to identify the type of obstacle. Types of obstacles can include, for example, electric wires, utility poles, people, animals, vehicles, work equipment, construction machinery, structures, fences and the like. Further, the space recognition device 70 may be configured so that the type or size of the dump truck as a vehicle can be specified. Further, the space recognition device 70 may be configured to detect a person by recognizing at least one of a helmet, a safety vest, work clothes, and the like. Further, the space recognition device 70 detects a person by recognizing predetermined identification information (for example, a mark, a QR code (registered trademark)) or the like in at least one of a helmet, a safety vest, work clothes, and the like. It may be configured as follows.

When the space recognition device S6 includes an image pickup device such as a monocular camera or a stereo camera, the output (captured image) of the image pickup device is input to the display device 40 and input to the controller 30 via the display device 40. You may.

The positioning device P1 measures the position of the excavator 100 (upper swing body 3). The positioning device P1 is, for example, a GNSS (Global Navigation Satellite System) module, detects the position of the upper swing body 3, and captures a detection signal corresponding to the position of the upper swing body 3 into the controller 30.

The communication device T1 connects to a predetermined communication line and communicates with an external device (for example, a management device 200 described later). The predetermined communication line may include, for example, a mobile communication network having a base station as a terminal, a satellite communication network using a communication satellite, an Internet network, and the like. Further, the predetermined communication line may include, for example, a short-range communication line conforming to a communication standard related to short-range communication such as WiFi and Bluetooth (registered trademark).

The machine guidance unit 50 controls the excavator 100 regarding the machine guidance function. Further, the machine guidance unit 50 controls the excavator 100 regarding the machine control function. Details will be described later.

[Excavator hydraulic system]
Next, the hydraulic system of the excavator 100 according to the present embodiment will be described with reference to FIGS. 3 and 4 (FIGS. 4A to 4C).

<Driving system components>
FIG. 3 is a diagram schematically showing an example of the configuration of the hydraulic system of the excavator 100 according to the present embodiment.

In FIG. 3, the mechanical power system, the hydraulic oil line, the pilot line, and the electric control system are shown by double lines, solid lines, broken lines, and dotted lines, respectively, as in the case of FIG.

In the hydraulic system of the excavator 100, the hydraulic circuit of the drive system that drives the hydraulic actuator is the hydraulic oil from the main pumps 14L and 14R, respectively, to the hydraulic oil tank via the center bypass oil passages 40L and 40R and the parallel oil passages 42L and 42R. To circulate.

The center bypass oil passage 40L starts from the main pump 14L, passes through the control valves 171, 173, 175L, and 176L arranged in the control valve 17 in order, and reaches the hydraulic oil tank.

The center bypass oil passage 40R starts from the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17 in order, and reaches the hydraulic oil tank.

The control valve 171 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the traveling hydraulic motor 1L and discharges the hydraulic oil discharged from the traveling hydraulic motor 1L to the hydraulic oil tank.

The control valve 172 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the traveling hydraulic motor 1R and discharges the hydraulic oil discharged from the traveling hydraulic motor 1R to the hydraulic oil tank.

The control valve 173 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

The control valve 174 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

The control valves 175L and 175R are spool valves that supply the hydraulic oil discharged by the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank, respectively.

The control valves 176L and 176R supply the hydraulic oil discharged by the main pumps 14L and 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

The control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of the hydraulic oil supplied to and discharged from the hydraulic actuator according to the pilot pressure acting on the pilot port, and the flow direction, respectively. To switch.

The parallel oil passage 42L supplies the hydraulic oil of the main pump 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage 40L. Specifically, the parallel oil passage 42L branches from the center bypass oil passage 40L on the upstream side of the control valve 171 and supplies the hydraulic oil of the main pump 14L in parallel with the control valves 171, 173, 175L, and 176R, respectively. It is configured to be possible. As a result, the parallel oil passage 42L supplies the hydraulic oil to the control valve further downstream when the flow of the hydraulic oil through the center bypass oil passage 40L is restricted or blocked by any of the control valves 171, 173, and 175L. it can.

The parallel oil passage 42R supplies the hydraulic oil of the main pump 14R to the control valves 172, 174, 175R and 176R in parallel with the center bypass oil passage 40R. Specifically, the parallel oil passage 42R branches from the center bypass oil passage 40R on the upstream side of the control valve 172, and supplies hydraulic oil for the main pump 14R in parallel with the control valves 172, 174, 175R, and 176R, respectively. It is configured to be possible. The parallel oil passage 42R can supply the hydraulic oil to the control valve further downstream when the flow of the hydraulic oil through the center bypass oil passage 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

The regulators 13L and 13R adjust the discharge amounts of the main pumps 14L and 14R by adjusting the tilt angles of the swash plates of the main pumps 14L and 14R, respectively, under the control of the controller 30.

The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and the detection signal corresponding to the detected discharge pressure is taken into the controller 30. The same applies to the discharge pressure sensor 28R. As a result, the controller 30 can control the regulators 13L and 13R according to the discharge pressures of the main pumps 14L and 14R.

In the center bypass oil passages 40L and 40R, negative control throttles (hereinafter referred to as “negative control throttles”) 18L and 18R are provided between the most downstream control valves 176L and 176R and the hydraulic oil tank. As a result, the flow of hydraulic oil discharged by the main pumps 14L and 14R is restricted by the negative control throttles 18L and 18R. Then, the negative control diaphragms 18L and 18R generate a control pressure (hereinafter, “negative control pressure”) for controlling the regulators 13L and 13R.

The negative control pressure sensors 19L and 19R detect the negative control pressure generated by the negative control apertures 18L and 18R, respectively, and the detection signal corresponding to the detected negative control pressure is taken into the controller 30.

The controller 30 may control the regulators 13L and 13R according to the discharge pressure of the main pumps 14L and 14R detected by the discharge pressure sensors 28L and 28R, and adjust the discharge amount of the main pumps 14L and 14R. For example, the controller 30 may reduce the discharge amount by controlling the regulator 13L according to the increase in the discharge pressure of the main pump 14L and adjusting the swash plate tilt angle of the main pump 14L. The same applies to the regulator 13R. As a result, the controller 30 controls the total horsepower of the main pumps 14L and 14R so that the absorption horsepower of the main pumps 14L and 14R, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11. be able to.

Further, the controller 30 may adjust the discharge amount of the main pumps 14L and 14R by controlling the regulators 13L and 13R according to the negative control pressure detected by the negative control pressure sensors 19L and 19R. For example, the controller 30 reduces the discharge amount of the main pump 14L as the negative control pressure of the negative control diaphragm 18L increases, and increases the discharge amount of the main pump 14L as the negative control pressure of the negative control throttle 18L decreases. Further, the controller 30 reduces the discharge amount of the main pump 14R as the negative control pressure of the negative control throttle 18R increases, and increases the discharge amount of the main pump 14R as the negative control pressure of the negative control throttle 18R decreases.

Specifically, in the standby state (state shown in FIG. 3) in which none of the hydraulic actuators in the excavator 100 is operated, the hydraulic oil discharged from the main pumps 14L and 14R passes through the center bypass oil passages 40L and 40R. Through it, it reaches the negative control aperture 18L and 18R. The flow of hydraulic oil discharged from the main pumps 14L and 14R increases the negative control pressure generated upstream of the negative control throttles 18L and 18R. As a result, the controller 30 reduces the discharge amount of the main pumps 14L and 14R to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass oil passages 40L and 40R. ..

On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged from the main pumps 14L and 14R flows into the operation target hydraulic actuator via the control valve corresponding to the operation target hydraulic actuator. The same applies to the case where any of the hydraulic actuators is operated by the automatic operation function. Then, the flow of the hydraulic oil discharged from the main pumps 14L and 14R reduces or eliminates the amount of the hydraulic oil reaching the negative control diaphragms 18L and 18R, and lowers the negative control pressure generated upstream of the negative control throttles 18L and 18R. As a result, the controller 30 can increase the discharge amount of the main pumps 14L and 14R, circulate sufficient hydraulic oil to the operation target hydraulic actuator, and reliably drive the operation target hydraulic actuator.

<Components of the operation system>

4A to 4C are diagrams schematically showing an example of a component related to an operation system in the hydraulic system of the excavator 100 according to the present embodiment. Specifically, FIG. 4A is a diagram showing an example of a component of an operation system related to the boom 4. Further, FIG. 4B is a diagram showing an example of a component of the operation system related to the bucket 6. Further, FIG. 4C is a diagram showing an example of a component of an operation system related to the upper swing body 3.

When the excavator 100 is remotely controlled, the lever devices 26A to 26C of FIGS. 4A to 4C are replaced with the communication device T1, and the controller 30 receives a remote control signal corresponding to the content of the remote control from the communication device T1. It is captured.

As shown in FIG. 4A, the lever device 26A is used by the operator to operate the boom 4 (boom cylinder 7). The lever device 26A outputs an electric signal (operation signal) according to the operation content (for example, the operation direction and the operation amount) to the controller 30.

The controller 30 is preset with a correspondence relationship with the control current to the proportional valve 31 according to the operation amount of the operation device 26 (for example, the tilt angle of the lever devices 26A to 26C). The proportional valve 31 corresponding to each of the individual lever devices (lever devices 26A to 26C, etc.) included in the operating device 26 is controlled based on the set correspondence.

The proportional valve 31AL operates according to the control current input from the controller 30. Specifically, the proportional valve 31AL uses the hydraulic oil discharged from the pilot pump 15 to apply the pilot pressure according to the control current input from the controller 30 to the pilot port on the right side of the control valve 175L and the control valve 175R. Output to the pilot port on the left side of. Thereby, the proportional valve 31AL can adjust the pilot pressure acting on the pilot port on the right side of the control valve 175L and the pilot port on the left side of the control valve 175R. For example, by inputting a control current corresponding to an operation in the raising direction of the boom 4 (hereinafter, “boom raising operation”) from the controller 30 to the lever device 26A, the proportional valve 31AL operates the operation content (operation) in the lever device 26A. The pilot pressure according to the amount) can be applied to the pilot port on the right side of the control valve 175L and the pilot port on the left side of the control valve 175R. Further, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26A, the proportional valve 31AL becomes the pilot port on the right side of the control valve 175L regardless of the operation content of the lever device 26A. Pilot pressure can be applied to the pilot port on the left side of the control valve 175R.

The proportional valve 31AR operates according to the control current input from the controller 30. Specifically, the proportional valve 31AR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the right side of the control valve 175R. Thereby, the proportional valve 31AR can adjust the pilot pressure acting on the pilot port on the right side of the control valve 175R. For example, when a control current corresponding to an operation in the lowering direction of the boom 4 with respect to the lever device 26A from the controller 30 (hereinafter, “boom lowering operation”) is input, the proportional valve 31 operates the operation content (operation) in the lever device 26A. A pilot pressure corresponding to the amount) can be applied to the pilot port on the right side of the control valve 175R. Further, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26A, the proportional valve 31 is the pilot port / on the right side of the control valve 175R regardless of the operation content of the lever device 26A. A pilot pressure corresponding to the operation content is applied to the pilot port on the right side of the control valve 175L and the pilot port on the left side of the control valve 175R. Further, when the boom lowering operation is performed, the lever device 26A outputs an operation signal according to the operation direction and the operation amount to the controller 30, and the pilot on the right side of the control valve 175R via the controller 30 and the proportional valve 31AR. Apply pilot pressure to the port according to the operation content.

In this way, the proportional valves 31AL and 31AR output to the secondary side so that the control valves 175L and 175R can be stopped at an arbitrary valve position according to the operating state of the lever device 26A under the control of the controller 30. The pilot pressure can be adjusted. Further, the proportional valves 31AL and 31AR output the pilot pressure to the secondary side under the control of the controller 30 so that the control valves 175L and 175R can be stopped at an arbitrary valve position regardless of the operating state of the lever device 26A. Can be adjusted.

The pressure reducing proportional valve 33AL is arranged in the pilot line between the proportional valve 31AL and the pilot port on the right side of the control valve 175L and the pilot port on the left side of the control valve 175R. For example, when the controller 30 determines that the deceleration or stop braking operation of the boom 4 (boom cylinder 7) is necessary as described above, the controller 30 reduces the pilot pressure by discharging the hydraulic oil of the pilot line to the tank. As a result, the spools of the control valves 175L and 175R can be moved in the neutral direction regardless of the state of the proportional valve 31AL. Therefore, the pressure reducing proportional valve 33AL is effective when it is desired to improve the braking characteristic with respect to the operation of the boom 4 in the raising direction.

In this embodiment, the excavator 100 does not necessarily have to include the proportional pressure reducing valve 33AL, and may be omitted. Hereinafter, the same applies to other pressure reducing proportional valves 33 (reducing pressure proportional valves 33AR, 33BL, 33BR, 33CL, 33CR, etc.).

The pressure reducing proportional valve 33AR is arranged in the pilot line between the proportional valve 31AR and the pilot port on the right side of the control valve 175R. For example, when the controller 30 determines that the deceleration or stop braking operation of the boom 4 (boom cylinder 7) is necessary as described above, the controller 30 depressurizes the pilot line by discharging the hydraulic oil of the pilot line to the tank. As a result, the spool of the control valve 175R can be moved in the neutral direction regardless of the state of the proportional valve 31AR. Therefore, the pressure reducing proportional valve 33AR is effective when it is desired to improve the braking characteristic with respect to the operation of the boom 4 in the lowering direction.

The controller 30 may forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the boom raising operation by controlling the proportional valve 31AR instead of controlling the pressure reducing proportional valve 33AL. Good. In this case, the pilot line on the secondary side of the proportional valve 31AR is connected not only to the pilot port on the right side of the control valve 175R but also to the pilot port on the left side of the control valve 175L. For example, the controller 30 may control the proportional valve 31AR and act on the pilot ports on the boom lowering side of the control valves 175L and 175R from the proportional valve 31AR when the boom raising operation is performed. As a result, the pilot pressure acts on the pilot ports on the boom lowering side of the control valves 175L and 175R in a form that opposes the pilot pressure acting on the boom raising side pilot ports of the control valves 175L and 175R from the proportional valve 31AL. Therefore, the controller 30 can forcibly bring the control valves 175L and 175R closer to the neutral position to suppress or stop the operation of the boom cylinder 7 corresponding to the boom raising operation. Similarly, the controller 30 controls the proportional valve 31AL instead of controlling the pressure reducing proportional valve 33AR to forcibly suppress or stop the operation of the boom cylinder 7 corresponding to the boom lowering operation. May be good.

The controller 30 controls the proportional valve 31AL in response to an operation signal or a remote operation signal corresponding to the boom raising operation by the operator. As a result, the controller 30 can supply the pilot pressure according to the content (operation amount) of the boom raising operation by the operator to the pilot port on the right side of the control valve 175L and the pilot port on the left side of the control valve 175R. Further, the controller 30 controls the proportional valve 31AR in response to an operation signal or a remote operation signal corresponding to the boom lowering operation by the operator. As a result, the controller 30 can supply the pilot pressure according to the content (operation amount) of the boom lowering operation by the operator to the pilot port on the right side of the control valve 175R. That is, the controller 30 controls the proportional valves 31AL and 31AR in response to the operation signal and the remote operation signal input from the lever device 26A and the communication device T1, and raises and lowers the boom 4 according to the operation content of the operator. It can be realized.

Further, the controller 30 controls the proportional valve 31AL regardless of the boom raising operation by the operator, and supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port on the right side of the control valve 175L and the pilot on the left side of the control valve 175R. It can be supplied to the port. Further, the controller 30 can control the proportional valve 31AR and supply the hydraulic oil discharged from the pilot pump 15 to the pilot port on the right side of the control valve 175R regardless of the boom lowering operation by the operator. That is, the controller 30 can automatically control the raising and lowering operation of the boom 4.

As shown in FIG. 4B, the lever device 26B is used by the operator to operate the bucket 6 (bucket cylinder 9). The lever device 26B outputs an operation signal according to the operation content (for example, the operation direction and the operation amount) to the controller 30.

The proportional valve 31BL operates according to the control current input from the controller 30. Specifically, the proportional valve 31BL uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the left side of the control valve 174. Thereby, the proportional valve 31BL can adjust the pilot pressure acting on the pilot port on the left side of the control valve 174. For example, when a control current corresponding to an operation in the closing direction of the bucket 6 with respect to the lever device 26B from the controller 30 (hereinafter, “bucket closing operation”) is input, the proportional valve 31BL can be operated by the lever device 26B. A pilot pressure corresponding to the amount) can be applied to the pilot port on the left side of the control valve 174. Further, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26B, the proportional valve 31BL is connected to the pilot port on the left side of the control valve 174 regardless of the operation content of the lever device 26B. Pilot pressure can be applied.

The proportional valve 31BR operates according to the control current output by the controller 30. Specifically, the proportional valve 31BR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the right side of the control valve 174. Thereby, the proportional valve 31BR can adjust the pilot pressure acting on the pilot port on the right side of the control valve 174. For example, when a control current corresponding to an operation in the opening direction of the bucket 6 with respect to the lever device 26B (hereinafter, “bucket opening operation”) is input from the controller 30, the proportional valve 31BR has an operation content (operation) in the lever device 26B. A pilot pressure corresponding to the amount) can be applied to the pilot port on the right side of the control valve 174. Further, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26B, the proportional valve 31BR is connected to the pilot port on the right side of the control valve 174 regardless of the operation content of the lever device 26B. Pilot pressure can be applied.

In this way, the proportional valves 31BL and 31BR output the pilot pressure to the secondary side so that the control valve 174 can be stopped at an arbitrary valve position according to the operating state of the lever device 26B under the control of the controller 30. Can be adjusted. Further, the proportional valves 31BL and 31BR can adjust the pilot pressure output to the secondary side so that the control valve 174 can be stopped at an arbitrary valve position regardless of the operating state of the lever device 26B.

The pressure reducing proportional valve 33BL is arranged in the pilot line between the proportional valve 31BL and the pilot port on the left side of the control valve 174. When, for example, the controller 30 determines that the braking operation of decelerating or stopping the bucket 6 (bucket cylinder 9) is necessary, the controller 30 reduces the pilot pressure by discharging the hydraulic oil of the pilot line to the tank. As a result, the spool of the control valve 174 can be moved in the neutral direction regardless of the state of the proportional valve 31BL. Therefore, the pressure reducing proportional valve 33BL is effective when it is desired to improve the braking characteristic for the operation of the bucket 6 in the closing direction.

The pressure reducing proportional valve 33BR is arranged in the pilot line between the proportional valve 31BR and the pilot port on the right side of the control valve 174. When, for example, the controller 30 determines that the braking operation of decelerating or stopping the bucket 6 (bucket cylinder 9) is necessary, the controller 30 depressurizes the pilot line by discharging the hydraulic oil of the pilot line to the tank. As a result, the spool of the control valve 174 can be moved in the neutral direction regardless of the state of the proportional valve 31BR. Therefore, the pressure reducing proportional valve 33BR is effective when it is desired to improve the braking characteristic with respect to the operation of the bucket 6 in the opening direction.

The controller 30 may forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket closing operation by controlling the proportional valve 31BR instead of controlling the pressure reducing proportional valve 33BL. Good. For example, the controller 30 may control the proportional valve 31BR from the proportional valve 31BR to act on the pilot port on the bucket opening side of the control valve 174 when the bucket closing operation is performed. As a result, the pilot pressure acts on the pilot port on the bucket opening side of the control valve 174 in a form that opposes the pilot pressure acting on the pilot port on the bucket closing side of the control valve 174 from the proportional valve 31BL. Therefore, the controller 30 can forcibly bring the control valve 174 closer to the neutral position to suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket closing operation. Similarly, the controller 30 controls the proportional valve 31BL instead of controlling the pressure reducing proportional valve 33BR to forcibly suppress or stop the operation of the bucket cylinder 9 corresponding to the bucket opening operation. May be good.

The controller 30 controls the proportional valve 31BL in response to an operation signal or a remote operation signal corresponding to the bucket closing operation by the operator. As a result, the controller 30 can supply the pilot pressure according to the content (operation amount) of the bucket closing operation by the operator to the pilot port on the left side of the control valve 174. Further, the controller 30 controls the proportional valve 31BR in response to an operation signal or a remote operation signal corresponding to the bucket opening operation by the operator. As a result, the controller 30 can supply the pilot pressure according to the content (operation amount) of the bucket opening operation by the operator to the pilot port on the right side of the control valve 174. That is, the controller 30 controls the proportional valves 31BL and 31BR in response to the operation signal and the remote operation signal input from the lever device 26B and the communication device T1 to realize the opening / closing operation of the bucket 6 according to the operation content of the operator. can do.

Further, the controller 30 can control the proportional valve 31BL and supply the hydraulic oil discharged from the pilot pump 15 to the pilot port on the left side of the control valve 174 regardless of the bucket closing operation by the operator. Further, the controller 30 can control the proportional valve 31BR and supply the hydraulic oil discharged from the pilot pump 15 to the pilot port on the right side of the control valve 174 regardless of the bucket opening operation by the operator. That is, the controller 30 can automatically control the opening / closing operation of the bucket 6.

As shown in FIG. 4C, the lever device 26C is used by the operator to operate the upper swing body 3 (swing hydraulic motor 2A). The lever device 26C outputs an operation signal according to the operation content (for example, the operation direction and the operation amount) to the controller 30.

The proportional valve 31CL operates according to the control current input from the controller 30. Specifically, the proportional valve 31CL uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the left side of the control valve 173. Thereby, the proportional valve 31CL can adjust the pilot pressure acting on the pilot port on the left side of the control valve 173. For example, the proportional valve 31CL is operated by the lever device 26C by inputting a control current corresponding to a leftward turning operation (hereinafter, “left turning operation”) of the upper swing body 3 with respect to the lever device 26C from the controller 30. A pilot pressure according to the content (operation amount) can be applied to the pilot port on the left side of the control valve 173. Further, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26C, the proportional valve 31CL is connected to the pilot port on the left side of the control valve 173 regardless of the operation content of the lever device 26C. Pilot pressure can be applied.

The proportional valve 31CR operates according to the control current output by the controller 30. Specifically, the proportional valve 31CR uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to the control current input from the controller 30 to the pilot port on the right side of the control valve 173. Thereby, the proportional valve 31CR can adjust the pilot pressure acting on the pilot port on the right side of the control valve 173. For example, when a control current corresponding to a rightward turning operation (hereinafter, “right turning operation”) of the upper swinging body 3 with respect to the lever device 26C is input from the controller 30, the proportional valve 31CR is set in the lever device 26C. A pilot pressure according to the operation content (operation amount) can be applied to the pilot port on the right side of the control valve 173. Further, by inputting a predetermined control current from the controller 30 regardless of the operation content of the lever device 26C, the proportional valve 31CR is connected to the pilot port on the right side of the control valve 173 regardless of the operation content of the lever device 26C. Pilot pressure can be applied.

In this way, the proportional valves 31CL and 31CR output the pilot pressure to the secondary side so that the control valve 173 can be stopped at an arbitrary valve position according to the operating state of the lever device 26C under the control of the controller 30. Can be adjusted. Further, the proportional valves 31CL and 31CR can adjust the pilot pressure output to the secondary side so that the control valve 173 can be stopped at an arbitrary valve position regardless of the operating state of the lever device 26C.

The pressure reducing proportional valve 33CL is arranged in the pilot line between the proportional valve 31CL and the pilot port on the left side of the control valve 173. When, for example, the controller 30 determines that the braking operation of decelerating or stopping the upper swing body 3 (swing hydraulic motor 2A) is necessary, the pilot pressure is reduced by discharging the hydraulic oil of the pilot line to the tank. As a result, the spool of the control valve 173 can be moved in the neutral direction regardless of the state of the proportional valve 31CL. Therefore, the pressure reducing proportional valve 33CL is effective when it is desired to improve the braking characteristics of the upper swing body 3 with respect to the left turning operation.

The pressure reducing proportional valve 33CR is arranged in the pilot line between the proportional valve 31CR and the pilot port on the right side of the control valve 173. When, for example, the controller 30 determines that the braking operation of decelerating or stopping the upper swing body 3 (swing hydraulic motor 2A) is necessary, the pilot line is depressurized by discharging the hydraulic oil of the pilot line to the tank. As a result, the spool of the control valve 173 can be moved in the neutral direction regardless of the state of the proportional valve 31CR. Therefore, the pressure reducing proportional valve 33CR is effective when it is desired to improve the braking characteristics of the upper swing body 3 with respect to the right turning operation.

The controller 30 controls the proportional valve 31CR instead of controlling the pressure reducing proportional valve 33CL to forcibly suppress or stop the operation of the turning hydraulic motor 2A corresponding to the left turning operation. May be good. For example, the controller 30 may control the proportional valve 31CR and act on the pilot port on the right turning side of the control valve 173 from the proportional valve 31CR when the left turning operation is performed. As a result, the pilot pressure acts on the pilot port on the right turning side of the control valve 173 in a form that opposes the pilot pressure acting on the pilot port on the left turning side of the control valve 173 from the proportional valve 31CL. Therefore, the controller 30 can forcibly bring the control valve 173 closer to the neutral position to suppress or stop the operation of the swing hydraulic motor 2A corresponding to the left turn operation. Similarly, the controller 30 forcibly suppresses or stops the operation of the swing hydraulic motor 2A corresponding to the right turn operation by controlling the proportional valve 31CL instead of controlling the pressure reducing proportional valve 33CR. You may.

The controller 30 controls the proportional valve 31CL in response to an operation signal or a remote control signal corresponding to the left turn operation by the operator, and controls the pilot pressure according to the content (operation amount) of the left turn operation by the operator in the control valve 173. It can be supplied to the pilot port on the left side. Further, the controller 30 controls the proportional valve 31CR in response to an operation signal or a remote control signal corresponding to the right turn operation by the operator, and applies a pilot pressure according to the content (operation amount) of the right turn operation by the operator. It can be supplied to the pilot port on the right side of the control valve 173. That is, the controller 30 controls the proportional valves 31CL and 31CR in response to the operation signal and the remote operation signal input from the lever device 26C and the communication device T1, and the swivel operation of the upper swivel body 3 according to the operation content of the operator. Can be realized.

Further, the controller 30 can control the proportional valve 31CL and supply the hydraulic oil discharged from the pilot pump 15 to the pilot port on the left side of the control valve 173 regardless of the left turning operation by the operator. Further, the controller 30 can control the proportional valve 31CR and supply the hydraulic oil discharged from the pilot pump 15 to the pilot port on the right side of the control valve 173 regardless of the right turning operation by the operator. That is, the controller 30 can automatically control the turning operation of the upper turning body 3 in the left-right direction.

Further, the components related to the operation system of the arm 5 (arm cylinder 8) and the components related to the operation of the left crawler (running hydraulic motor 1L) and the right crawler (running hydraulic motor 1R) are also related to the operation system of the boom 4 and the like. It may be configured in the same manner as the constituent parts (FIGS. 4A to 4C).

[Excavator machine guidance function and machine control function]
Next, the machine guidance function and the machine control function of the excavator 100 will be described with reference to FIG. 5 in addition to FIG.

FIG. 5 is a block diagram showing an outline of an example of the configuration related to the machine guidance function and the machine control function of the excavator 100.

The machine guidance unit 50 controls the machine guidance function as described above.

The machine guidance unit 50 displays work information such as the distance between the target construction surface and the tip of the attachment, specifically, the work part of the end attachment, in the cabin 10 through the display device 40, the sound output device 43, and the like. Tell the operator. The data regarding the target construction surface is stored in advance in the storage device 47 or the like, for example, as described above. The data regarding the target construction surface is represented by, for example, a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system has a three-dimensional orthogonality with the origin at the center of gravity of the earth, the X-axis in the direction of the intersection of the Greenwich meridian and the equator, the Y-axis in the direction of 90 degrees east longitude, and the Z-axis in the direction of the North Pole. It is an XYZ coordinate system. The operator may set an arbitrary point on the construction site as a reference point and set a target construction surface based on the relative positional relationship with the reference point through the input device 42 or the like. The working part of the bucket 6 as an end attachment is, for example, the toe of the bucket 6, the back surface of the bucket 6, or the like. Further, for example, when a breaker is adopted instead of the bucket 6 as the end attachment, the tip portion of the breaker corresponds to the work portion. The machine guidance unit 50 notifies the operator in the cabin 10 of work information through the display device 40, the sound output device 43, and the like, and guides the operator to operate the excavator 100 through the operation device 26. Further, when the excavator 100 is remotely controlled, the machine guidance unit 50 may transmit work information to an external device from which the remote control signal is transmitted through the communication device T1. As a result, the machine guidance unit 50 can guide the remote control of the excavator 100 through a display device, a sound output device, or the like installed in the external device.

Further, the machine guidance unit 50 controls the machine control function as described above.

The machine guidance unit 50 includes, for example, a lower traveling body 1, an upper turning body 3, a boom 4, an arm 5, and an arm 5 so that the working part of the bucket 6 moves along a predetermined target trajectory in response to an operator's operation. At least one of the buckets 6 is automatically operated. Specifically, the machine guidance unit 50 has a boom 4 so that the target construction surface and the work part (for example, the toe or the back surface) of the bucket 6 coincide with each other when the operator is performing an operation related to the excavation operation. At least one of the arm 5 and the bucket 6 may be operated automatically. Further, the machine guidance unit 50 turns upward to, for example, a predetermined work target (for example, a dump truck 60 (see FIG. 6) to be loaded with earth and sand, a slope to be constructed such as cutting or rolling). The upper swivel body 3 may be automatically swiveled so that the body 3 faces each other. Further, the machine guidance unit 50 may automatically travel the lower traveling body 1 so that the excavator 100 moves on a predetermined route, for example.

The machine guidance unit 50 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body tilt sensor S4, the space recognition device S6, the positioning device P1, the communication device T1, the input device 42, and the like. Then, for example, the machine guidance unit 50 calculates the distance between the bucket 6 and the predetermined work target based on the acquired information, and notifies the operator through the display device 40, the sound output device 43, and the communication device T1. You can. Further, the machine guidance unit 50 moves along the target construction surface so that the work part of the end attachment (for example, the toe or the back surface of the bucket 6) moves on the target trajectory based on the acquired information, for example. The behavior of the attachment may be controlled automatically. The machine guidance unit 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, and an automatic control unit 54 as detailed functional configurations related to the machine guidance function and the machine control function.

The position calculation unit 51 calculates the position of a predetermined positioning target. For example, the position calculation unit 51 calculates the coordinate points in the reference coordinate system of the work portion such as the tip of the toe or the back surface of the bucket 6. Specifically, the position calculation unit 51 calculates the coordinate points of the work portion of the bucket 6 from the boom angle, the arm angle, and the bucket angle.

The distance calculation unit 52 calculates the distance between two positioning targets. For example, the distance calculation unit 52 calculates the distance between the work site such as the toe or the back surface of the bucket 6 and the target construction surface. Further, the distance calculation unit 52 may calculate an angle (relative angle) between the back surface of the bucket 6 as a work portion and the target construction surface.

The information transmission unit 53 transmits (notifies) various information to the operator of the excavator 100 through predetermined notification means such as the display device 40, the sound output device 43, and the communication device T1. The information transmission unit 53 notifies the operator of the excavator 100 of the magnitude (degree) of various distances and the like calculated by the distance calculation unit 52. For example, using at least one of the visual information from the display device 40 and the auditory information from the sound output device 43, the distance (magnitude) between the work site of the bucket 6 and the target construction surface is transmitted to the operator. Further, the information transmission unit 53 uses at least one of the visual information by the display device 40 and the auditory information by the sound output device 43, and the relative angle (large) between the back surface of the bucket 6 as a work part and the target construction surface. You may tell the operator.

Specifically, the information transmission unit 53 uses the intermittent sound generated by the sound output device 43 to inform the operator of the magnitude of the distance (for example, vertical distance) between the work site of the bucket 6 and the target construction surface. In this case, the information transmission unit 53 may shorten the interval of the intermittent sound as the vertical distance becomes smaller, and lengthen the sensation of the intermittent sound as the vertical distance increases. Further, the information transmission unit 53 may use continuous sound, and may express the difference in the magnitude of the vertical distance while changing the pitch, strength, and the like of the sound. Further, the information transmission unit 53 may issue an alarm through the sound output device 43 when the work portion of the bucket 6 is located lower than the target construction surface, that is, exceeds the target construction surface. The alarm is, for example, a continuous sound that is significantly louder than the intermittent sound.

Further, the information transmission unit 53 displays as work information the size of the distance between the work part of the bucket 6 and the target construction surface, the size of the relative angle between the back surface of the bucket 6 and the target construction surface, and the like. It may be displayed in. Under the control of the controller 30, the display device 40 displays, for example, the work information received from the information transmission unit 53 together with the image information (surrounding image) captured from the space recognition device S6. The information transmission unit 53 may transmit the magnitude of the vertical distance to the operator by using, for example, an image of an analog meter, an image of a bar graph indicator, or the like.

The automatic control unit 54 automatically assists the manual operation of the excavator 100 by the operator by automatically operating the actuator that drives the driven element of the excavator 100. Specifically, the automatic control unit 54 controls the proportional valve 31 and individually and automatically adjusts the pilot pressure acting on the control valve in the control valve 17 corresponding to the plurality of hydraulic actuators. As a result, the automatic control unit 54 can automatically operate each of the hydraulic actuators.

The control related to the machine control function by the automatic control unit 54 may be executed, for example, when a predetermined switch NS included in the input device 42 is pressed. The switch NS may be arranged, for example, as a knob switch at the tip of the grip portion by the operator of the operating device 26 (for example, the lever device corresponding to the operation of the arm 5). Further, even when the excavator 100 is remotely controlled, the same knob switch installed in the remote control operation device used by the operator (hereinafter, "remote control operation device") is pressed and operated. , The machine control function may be enabled when the remote control operation device is operated. Hereinafter, the description will proceed on the premise that the machine control function is effective when a switch NS or a similar switch of the remote control operation device (hereinafter, a comprehensive MC (Machine Control) switch) is pressed.

For example, when the MC switch is pressed, the automatic control unit 54 sets the boom cylinder 7 and the bucket cylinder in accordance with the operation of the arm cylinder 8 in order to support the excavation work and the shaping work of the excavator 100 by the operator's operation. At least one of 9 is automatically expanded and contracted. Specifically, the automatic control unit 54 has a boom cylinder so that the target construction surface and the work part such as the toe or the back surface of the bucket 6 coincide with (contact) when the operator manually closes the arm. At least one of 7 and the bucket cylinder 9 is automatically expanded and contracted. In this case, the operator can close the arm 5 while aligning the toes of the bucket 6 with the target construction surface by simply performing the arm closing operation.

Further, when the MC switch is pressed, the automatic control unit 54 makes the upper swivel body 3 face a predetermined work target (for example, a dump truck 60 for loading earth and sand, a target construction surface for construction, etc.). Therefore, the swing hydraulic motor 2A may be automatically rotated. Hereinafter, the control by the controller 30 (automatic control unit 54) to make the upper swing body 3 face the target construction surface may be referred to as "face-to-face control". As a result, the operator or the like can make the upper swing body 3 face the work target only by pressing the MC switch or by operating the upper swing body 3 with the MC switch pressed. .. In addition, the operator can make the upper swivel body 3 face the work target and start the machine control function related to the soil removal work to the dump truck 60, the excavation work of the target construction surface, etc. just by pressing the MC switch. it can.

For example, when the upper swivel body 3 of the excavator 100 faces the dump truck 60 as a work target, the bucket 6 at the tip of the attachment is placed in the longitudinal direction of the dump truck 60 carrier, that is, before and after the dump truck 60 carrier. It is in a state where it can be moved along the axis of direction.

For example, when the upper swing body 3 of the excavator 100 faces the target construction surface as the work target, the tip of the attachment (for example, the toe or the back surface as the work part of the bucket 6) is moved according to the operation of the attachment. It is in a state where it can be moved along the inclination direction of the target construction surface. Specifically, the state in which the upper swivel body 3 of the excavator 100 faces the target construction surface is a state in which the operating surface of the attachment vertical to the swivel plane of the upper swivel body 3 includes the normal of the target construction surface (in other words). If so, it is in a state along the normal line).

In the face-to-face control with respect to the target construction surface (uphill slope), the automatic control unit 54, for example, is the left end vertical distance between the left end coordinate point of the tip of the bucket 6 and the target construction surface (hereinafter, simply "left end vertical distance"). When the right end vertical distance between the right end coordinate point of the tip of the bucket 6 and the target construction surface (hereinafter, simply "right end vertical distance") becomes equal, the excavator faces the target construction surface. Judge that Further, the automatic control unit 54 is not when the leftmost vertical distance and the rightmost vertical distance are equal (that is, when the difference between the leftmost vertical distance and the rightmost vertical distance becomes zero), but the difference is equal to or less than a predetermined value. When becomes, it may be determined that the excavator 100 faces the target construction surface.

Further, the automatic control unit 54 may operate the swing hydraulic motor 2A based on, for example, the difference between the leftmost vertical distance and the rightmost vertical distance in the face-to-face control with respect to the target construction surface (uphill slope). Specifically, when the lever device 26C is operated while the switch NS is pressed, it is determined whether or not the lever device 26C is operated in the direction in which the upper swing body 3 faces the target construction surface. For example, when the lever device 26C is operated in the direction in which the vertical distance between the toe of the bucket 6 and the target construction surface (uphill slope) increases, the automatic control unit 54 does not execute the face-to-face control. On the other hand, when the turning operation lever is operated in the direction in which the vertical distance between the toe of the bucket 6 and the target construction surface (uphill slope) becomes small, the automatic control unit 54 executes the face-to-face control. As a result, the automatic control unit 54 can operate the swing hydraulic motor 2A so that the difference between the leftmost vertical distance and the rightmost vertical distance becomes small. After that, when the difference becomes equal to or less than a predetermined value or becomes zero, the automatic control unit 54 stops the swing hydraulic motor 2A. Further, the automatic control unit 54 sets a turning angle at which the difference is equal to or less than a predetermined value or becomes zero as a target angle, and is based on the target angle and the current turning angle (specifically, the detection signal of the turning state sensor S5). The operation of the swing hydraulic motor 2A may be controlled so that the angle difference from the detected value) becomes zero. In this case, the turning angle is, for example, the angle of the front-rear axis of the upper turning body 3 with respect to the reference direction.

As described above, when the swivel motor is mounted on the excavator 100 instead of the swivel hydraulic motor 2A, the automatic control unit 54 performs face-to-face control with the swivel motor as the control target.

[Excavator operation continuation judgment function]
Next, with reference to FIGS. 6 and 7, the operation continuation determination function related to the excavation work of the excavator 100 according to the present embodiment will be described.

<Outline of excavation work>
FIG. 6 is a diagram illustrating a plurality of operations (sections) constituting the excavation work of the excavator.

As shown in FIG. 6, the excavation work includes an excavation operation section for excavating earth and sand and accommodating it in the bucket 6, a boom-raising turning operation section, and excavation (dumping) the earth and sand of the bucket 6 into the dump truck 60. Includes a dump) operation section and a boom lowering turning operation section.

In the excavation operation section, the excavator 100 greatly extends the attachment forward (operating state 610) in response to the operator's operation, and from that state, the arm 5 is operated in the closing direction (operating state 620) to excavate earth and sand. Start. Then, the excavator 100 continuously operates the arm 5 in the closing direction according to the operation of the operator, raises the boom 4 while closing the bucket 6 in a state where the arm 5 is closed to some extent (operating state 630). Sediment is stored in the bucket 6 (operating state 640).

When the excavation operation section is completed, the operation shifts to the boom-raising turning operation section according to the operator's operation.

In the boom raising and turning operation section, the excavator 100 raises the boom 4 and turns the upper turning body 3 in response to the operator's operation, and faces the loading platform 61 of the dump truck 60, which is the object of loading earth and sand. The upper swivel body 3 is swiveled to the state (operating state 650). In this case, the controller 30 recognizes the dump truck 60 and its position by using the output of the space recognition device S6. Further, the space recognition device S6 may recognize the dump truck 60 and its position, and the recognition result may be taken into the controller 30. Further, the controller 30 or the space recognition device S6 is not only the position of the dump truck 60, but also the position of the bottom of the loading platform 61, the position of the front panel 62, the position of the side seat 63 provided on the upper part of the tilted portion, and the like. You may recognize one.

When the boom raising turning operation section is completed, the operation shifts to the soil removal operation section.

In the soil removal operation section, the excavator 100 performs an opening operation of the arm 5 and an opening operation of the bucket 6 in response to the operation of the operator, and discharges the earth and sand contained in the bucket 6 to the loading platform of the dump truck.

When the soil removal operation section is completed, the boom lowering turning operation section is started according to the operator's operation.

In the boom lowering turning operation section, the excavator 100 performs the lowering operation of the boom 4 and the turning operation of the upper turning body 3 according to the operation of the operator, and turns the upper turning body 3 to the original position corresponding to the excavation operation. (Operating state 670).

The excavator 100 repeatedly performs a series of excavation operations including an excavation operation section, a boom raising turning operation section, a soil removal section, and a boom lowering turning operation section according to the operation of the operator. In this case, if the operator repeatedly causes the excavator 100 to perform a series of excavation operations, the excavator 100 repeats the same operations, which may cause habituation, drowsiness, or the like, resulting in an operation error or the like.

Further, the excavator 100 may perform a series of excavation work by an automatic operation function (for example, a machine control function). In this case, for example, the excavator 100 may automatically execute an operation different from the normal operation due to an abnormality such as a bug in a program corresponding to the automatic operation function while repeating a series of excavation work. There is sex.

<Details of operation continuation judgment function related to excavation work>
FIG. 7 is a diagram showing an example of permission / rejection of operation of the driven element, start condition of the operation section, and continuation condition of the operation section, which are set for each operation section in the excavation work of the excavator 100.

As shown in FIG. 7, in the excavator 100, the permission or disapproval of the operation of each driven element is set for each of a plurality of operation sections constituting the excavation work. Specifically, for each operation section, the operation of the driven element that is permitted (hereinafter, "permitted operation") and the operation of the driven element that is not permitted (that is, prohibited) (hereinafter, "prohibited operation"). And are set.

The setting contents are stored (registered) in advance in, for example, an auxiliary storage device inside the controller 30, an external storage device communicably connected to the controller 30, and the like. Hereinafter, the same may apply to the setting contents of the operation start condition and the operation continuation condition described later.

The controller 30 may grasp the operation of the excavator 100 based on the outputs of the sensors S1 to S5 and the space recognition device S6, and determine whether or not the excavation work is being performed. Further, the controller 30 may grasp the operation state of the excavator 100 based on, for example, the output (operation signal) of the operation device 26 or the remote control signal, and determine whether or not the excavation work is being performed. Further, the controller 30 may, for example, grasp the surrounding terrain, the presence or absence of the dump truck 60, and the like based on the output of the space recognition device S6, and determine whether or not the excavation work is being performed. Further, the controller 30 determines whether or not the excavation work is being performed by comprehensively considering the operation and operation state of the excavator 100 and the surrounding conditions of the excavator 100 (terrain, presence or absence of the dump truck 60, etc.). You may. Further, the controller 30 can perform the excavation work by, for example, receiving a predetermined operation from the operator through the input device 42 and the communication device T1 to know that the excavation work has been performed or that the excavation work has been completed. It may be determined whether or not it is performed.

Then, when the excavation work is being performed, the controller 30 grasps the operation of the excavator 100 based on the outputs of the sensors S1 to S5 and the space recognition device S6, determines the current operation section, and ends the operation section. May be judged. Further, for example, the controller 30 grasps the operation state of the excavator 100 based on the output (operation signal) of the operation device 26 and the remote control signal, determines the current operation section, and determines the end of the operation section. You may. Further, the controller 30 may determine the current operation section or determine the end of the operation section by comprehensively considering the operation and the operation state of the excavator 100. As a result, the controller 30 determines the current operation section, selects the setting content regarding the permission or disapproval of the operation of the driven element according to the current operation section, determines the end of the operation section, and sets the next operation section. It is possible to select the setting regarding the permission or disapproval of the operation of the combined driven element.

For example, when the excavator 100 is in any operation section of the excavation work, the controller 30 considers the operation to be invalid and does not output a control command to the proportional valve 31 even if an operation corresponding to the prohibited operation is performed. You can do it. Further, the controller 30 is, for example, a proportional valve corresponding to an operation in a direction opposite to the direction of the operation when the excavator 100 is in any operation section of the excavation work and an operation corresponding to the prohibited operation is performed. A control command may be output to 31. Even if the pilot pressure corresponding to the operation content acts on one pilot port of the control valve, by applying the same pilot pressure to the other pilot port of the control valve, the control valve is maintained in the neutral position and the driven element. This is because it is possible to suppress the prohibited operation of. Further, even when the control command corresponding to the prohibited operation is output to the proportional valve 31 by the automatic operation function, the controller 30 may perform the same control as these. As a result, the controller 30 can ensure the effectiveness of setting the prohibited operation for each of a plurality of operation sections constituting the series of excavation work.

In the excavation operation section, the raising and lowering operations of the boom 4, the raising and lowering operations of the arm 5, and the raising and lowering operations of the bucket 6 are permitted. This is because the excavation operation is realized by the operation of the entire attachment composed of the boom 4, the arm 5, and the bucket 6.

On the other hand, in the excavation operation section, the turning operation of the upper turning body 3 is not permitted (that is, prohibited). In the excavation operation, the turning motion of the upper swinging body 3 is unnecessary, and when the upper swinging body 3 turns, the reaction force from the ground acts on the bucket 6 and makes the posture state of the excavator 100 unstable. This is because there is a possibility that it will end up. As a result, even if the operator mistakenly makes a turning operation in the excavation operation section or a control command corresponding to the turning operation of the upper turning body 3 is output due to an abnormality in the automatic operation function. , The turning stop state of the upper turning body 3 can be maintained. Therefore, when a series of excavation work is repeatedly performed, the safety of the excavator 100 in the excavation operation section can be improved.

In the excavation operation section, instead of prohibiting the turning operation of the upper turning body 3, the excavator is in such a manner that the operation content of the upper turning body 3 and the operation for the control command by the automatic operation function are relatively slower than usual. The turning motion of 100 may be limited. Further, in the excavation operation section, the excavator 100 is prohibited from turning, but the operation content of the upper turning body 3 and the amount of movement for the control command by the automatic operation function are relatively smaller than usual. The turning motion of the may be restricted. That is, instead of limiting the operation of the upper swivel body 3 in the form of maintaining the swivel stop state, the movement of the upper swivel body 3 is restricted in the form of limiting the operation speed and the amount of movement while allowing the swivel operation. You may. Hereinafter, the same may apply to prohibited operations in other operation sections.

Further, in the boom raising turning operation section, the turning operation of the upper turning body 3 and the raising operation of the boom 4 are permitted.

On the other hand, in the boom raising and turning operation section, the boom 4 lowering operation, the arm 5 opening / closing operation, and the bucket 6 opening / closing operation are not permitted (that is, prohibited). This is because these operations are unnecessary in the boom raising and turning operation. Further, in the boom raising turning operation, the upper swivel body 3 turns in the direction in which the attachment approaches the dump truck 60. Therefore, when the attachment operation other than the boom 4 raising operation is performed, the dump truck 60 and the attachment come into contact with each other. This is because there is a possibility that such a situation may occur. Further, in the boom raising and turning operation, if the attachment operation other than the boom 4 raising operation is performed, the earth and sand contained in the bucket 6 may be spilled. As a result, in the boom raising turning operation section, for example, when the operator performs an erroneous operation corresponding to the prohibited operation, unnecessary operations other than the turning operation of the upper swing body 3 and the raising operation of the boom 4 are not performed. can do. Further, the same effect can be obtained when a control command corresponding to the prohibited operation is output due to an abnormality in the automatic operation function. Therefore, when a series of excavation work is repeatedly performed, the safety of the excavator 100 in the boom raising turning operation section can be improved.

Further, in the soil removal operation section, the raising operation of the boom 4, the opening operation of the arm 5, and the opening operation of the bucket 6 are permitted. This is because the soil removal operation is realized by the opening operation of the arm 5 and the opening operation of the bucket 6. Further, the boom 4 may be raised in order to separate the bucket 6 from the loading platform of the dump truck 60 during the soil discharge operation.

On the other hand, in the soil removal operation section, the lowering operation of the boom 4, the closing operation of the arm 5, and the closing operation of the bucket 6 are not permitted (that is, prohibited). This is because these operations are unnecessary in the soil removal operation. Further, in the earth removal operation, the position of the bucket 6 is moved above the loading platform of the dump truck 60. Therefore, when these operations are performed, the position of the bucket 6 may be lowered and come into contact with the loading platform. Is. Thereby, in the soil removal operation section, for example, when the operator performs an erroneous operation corresponding to the prohibited operation, it is possible to prevent an unnecessary operation from being performed. Further, the same effect can be obtained when a control command corresponding to the prohibited operation is output due to an abnormality in the automatic operation function. Therefore, when a series of excavation work is repeatedly performed, the safety of the excavator 100 in the soil removal operation section can be improved.

In the boom lowering turning operation section, the turning operation of the upper swing body 3, the lowering operation of the boom 4, the opening / closing operation of the arm 5, and the opening / closing operation of the bucket 6 are permitted. This is because in the boom lowering turning operation, the arm 5 and the bucket 6 may be operated in preparation for the next excavation operation section. Further, in the boom lowering operation section, unlike the case of the boom raising turning operation, the upper swivel body 3 turns in the direction in which the attachment moves away from the dump truck 60, so that contact with the dump truck 60 is a problem even if the attachment operates. This is because it is unlikely to become.

On the other hand, in the boom lowering turning operation section, the raising operation of the boom 4 is not permitted (that is, prohibited). Thereby, in the boom lowering turning operation section, for example, when the operator mistakenly performs the boom raising operation, it is possible to prevent an unnecessary boom raising operation from being performed. Further, the same effect can be obtained when a control command corresponding to the raising operation of the boom 4 is output due to an abnormality in the automatic operation function. Therefore, when a series of excavation work is repeatedly performed, the safety of the excavator 100 in the boom lowering turning operation section can be improved.

Further, as shown in FIG. 7, in the excavator 100, among a plurality of operation sections constituting a series of excavation work, the boom-up turning operation section, the soil removal operation section, and the boom-down turning operation section are respectively. The start condition of the operation section is set.

As for the excavation operation section, a start condition of a form applied at the time of transition from the boom lowering turning operation section may be set.

When any of the operation sections in the series of excavation work is completed, the controller 30 determines whether or not the start condition of the next operation section is satisfied when the start condition is set in the next operation section. Then, when the start condition is satisfied, the controller 30 permits the start of the next operation section. Specifically, the controller 30 permits the operation of the excavator 100 corresponding to the next operation section based on the setting contents of the permitted operation and the prohibited operation in the next operation section.

On the other hand, the controller 30 does not allow the start of the next operation section if the start condition of the next operation section is not satisfied. Specifically, the controller 30 keeps the setting contents of the permitted operation and the prohibited operation in the previous operation section valid. For example, when the start condition of the boom raising turning operation is not satisfied, the setting contents of the permitted operation and the prohibited operation corresponding to the excavation operation are valid, so that the excavator 100 cannot perform the turning operation and the boom is raised. The turning motion cannot be started. Further, when the start condition of the soil discharge operation is not satisfied, the setting contents of the permit operation and the prohibition operation corresponding to the boom raising and turning operation are valid, so that the excavator 100 opens the arm 5 and the bucket 6. It is not possible to start the soil discharge operation. Further, when the start condition of the boom lowering turning operation is not satisfied, the setting contents of the permission operation and the prohibition operation corresponding to the soil discharge operation are valid, so that the excavator 100 cannot perform the turning operation and the boom. The downward turning operation cannot be started. As a result, the controller 30 can prevent the excavator 100 from shifting to the next operation section unless the start condition of the next operation section is satisfied.

Further, when the start condition of the next operation section is not satisfied, the controller 30 may notify the operator through the display device 40 or the sound output device 43 that the start condition is not satisfied. Further, when the excavator 100 is remotely controlled, the controller 30 may transmit the same notification information directed to the operator to the external device through the communication device T1. As a result, the operator can understand the reason why the next operation section cannot be performed, so that the operator's discomfort can be eliminated while ensuring the safety of the excavator 100. Further, the controller 30 can prompt the operator to perform an operation for satisfying the start condition and induce the operator to satisfy the start condition.

The start conditions of the boom raising turning operation section are "the bucket 6 is grounded (the bucket 6 is away from the ground)" and "the bucket angle is closed more than a predetermined angle". It is possible to suppress a situation in which the upper swivel body 3 starts a swivel operation when the bucket 6 is not separated from the ground and the posture state of the excavator 100 becomes unstable due to a reaction force from the ground. Further, it is possible to suppress a situation in which the upper swivel body starts a swivel operation when the bucket 6 is not closed to some extent and earth and sand are spilled from the bucket 6. Therefore, when a series of excavation work is performed, the safety of the excavator 100 at the time of transition from the excavation operation to the boom raising turning operation can be improved.

The controller 30 determines whether or not the bucket 6 is grounded by calculating the position of the bucket 6 (the position of the work portion) based on, for example, the measured values of the boom angle, the arm angle, and the bucket angle. You can. Further, the controller 30 may determine, for example, whether or not the bucket 6 is grounded based on the output of the space recognition device S6 (specifically, the front recognition sensor S6F). Further, the controller 30 may determine whether or not the bucket angle is closed more than a predetermined angle, for example, based on the measured value of the bucket angle. Further, the controller 30 may determine whether or not the bucket angle is closed more than a predetermined angle based on the output of the space recognition device S6 (front recognition sensor S6F).

The start condition of the soil removal operation section is "the bucket 6 is on the loading platform of the dump truck 60". As a result, it is possible to suppress a situation in which the earth and sand contained in the bucket 6 is discharged when the bucket 6 is not on the loading platform of the dump truck 60. Therefore, when a series of excavation work is performed, it is possible to improve the safety of the excavator 100 at the time of transition from the boom raising turning operation to the soil discharging operation.

The controller 30 may determine whether or not the bucket 6 is on the dump truck 60 based on, for example, the output (image information) of the space recognition device S6 (front recognition sensor S6F). Further, the controller 30 calculates the position of the bucket 6 (the position of the work portion) based on the measured values of the boom angle, the arm angle, the bucket angle, and the turning angle, for example. Then, the controller 30 may be compared with the position of the dump truck 60 (the position of the bottom of the loading platform 61, the front panel 62, the side seat 63, etc.) calculated from the output of the space recognition device S6 at the start of the excavation work.

The start condition of the boom lowering turning operation section is "there is no residual soil in the bucket 6". As a result, it is possible to suppress a situation in which the upper swivel body 3 swivels and the earth and sand scatter while the bucket 6 has residual soil. Therefore, when a series of excavation work is performed, the safety of the excavator 100 at the time of transition from the soil removal operation to the boom lowering turning operation can be improved. Further, the start condition of the boom lowering turning operation section may include "the bucket 6 is opened from a predetermined angle".

Further, as shown in FIG. 7, in the excavator 100, the continuation condition of the operation section is set for the boom raising turning operation section among the plurality of operation sections constituting the series of excavation work.

When the operation of the excavator 100 is in the boom raising turning operation section, the controller 30 determines whether or not the continuation condition is satisfied. Then, the controller 30 permits the continuation of the boom raising and turning operation when the continuation condition is satisfied. Specifically, the controller 30 keeps the setting contents of the permitted operation and the prohibited operation corresponding to the boom raising and turning operation valid.

On the other hand, when the continuation condition is not satisfied, the controller 30 prohibits the continuation of the boom raising and turning operation section and suspends the boom raising and turning operation. Specifically, the controller 30 temporarily invalidates the setting contents of the permitted operation and the prohibited operation corresponding to the boom lowering turning operation section, and permits only the operation of the driven element necessary for satisfying the continuation condition. , Other operations are prohibited.

The continuation condition of the boom raising turning operation section is "the height of the bucket 6 from the ground is equal to or higher than a predetermined height". The continuation condition is, for example, when the distance between the dump truck 60 and the bucket 6 becomes close to some extent (for example, when the distance becomes less than or equal to a predetermined distance or when the turning angle of the upper swivel body 3 from the start of the operating section is set. It may be applied when it exceeds a predetermined threshold value). Further, the predetermined height of the continuation condition is variable (specifically, increases as the turning angle increases) according to the turning angle of the upper turning body 3 from the start of the operation section. There may be. As a result, it is possible to suppress a situation in which the height of the bucket 6 from the ground is lower than the uppermost end of the loading platform of the dump truck 60, the dump truck 60 approaches the dump truck 60, and the dump truck 60 and the bucket 6 collide. it can. Therefore, when a series of excavation work is performed, the safety of the excavator 100 in the boom raising turning operation section can be further improved.

When the continuation condition of the boom raising and turning operation section is not satisfied, the controller 30 may allow only the raising operation of the boom 4 among the operations of all the driven elements. Thereby, for example, the operator can perform a boom raising operation to raise the height of the bucket 6 from the ground to satisfy the continuation condition. Therefore, the controller 30 permits the continuation of the boom raising operation when the continuation condition is satisfied with the raising operation of the boom 4, and the excavator 100 restarts the boom raising turning operation again in response to the operator's operation. Can be done.

Further, continuation conditions may be set for the excavation operation section, the soil removal operation section, and the boom lowering turning operation section.

For example, the continuation condition of the soil removal operation section may include "the bucket 6 is separated from the front panel 62 by a predetermined distance or more". Further, the continuation condition of the soil discharge operation section may include "the bucket 6 is at a predetermined height or higher from the bottom of the loading platform 61". Further, the continuation condition of the soil removal operation section may include "the dump truck 60 is stopped (that is, the vehicle speed is substantially zero)".

As described above, in the present embodiment, in the excavator 100 (controller 30), a portion (driven element) whose operation is restricted is set for each of a series of a plurality of operation sections corresponding to the excavation work.

As a result, it is possible to suppress a situation in which an unnecessary operation of the driven element is executed in each operation section due to an erroneous operation of the operator or an abnormality of the automatic operation function. Therefore, it is possible to improve the safety of the excavator 100 when a series of a plurality of operation sections are repeatedly performed.

Further, in the present embodiment, in the excavator 100 (controller 30), the start conditions of the operation section (for example, the boom raising turning operation section, the soil discharging operation section, and the boom lowering turning operation section) are set.

As a result, by setting the start condition from the viewpoint of the safety of the excavator 100, it is possible to prevent the excavator 100 from shifting to the next operation section in a state where the safety of the excavator 100 is not ensured. Therefore, the safety of the excavator 100 can be further improved when a series of a plurality of operation sections are repeatedly performed.

Further, in the present embodiment, in the excavator 100, the continuation condition of the operation in the operation section (for example, the boom raising turning operation section) is set.

As a result, by setting the continuation condition from the viewpoint of the safety of the excavator 100, it is possible to prevent the current operation section from being continued without ensuring the safety of the excavator 100. Therefore, the safety of the excavator 100 can be further improved when a series of a plurality of operation sections are repeatedly performed.

In the present embodiment, the driven element whose operation is restricted, the start condition of the operation section, and the continuation condition of the operation section are set for each of a series of a plurality of operation sections constituting the excavator 100 excavation work. , The same setting may be made for a series of a plurality of operation sections corresponding to other operations. For example, a series of multiple operations included in the loading work of loading the earth and sand of the excavated mountain into a dump truck, and the finishing work of smoothing the fine irregularities of the ground on the toes and the back of the bucket 6 while moving the bucket 6 back and forth. Similar settings may be made for the section.

Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various aspects are within the scope of the gist of the present invention described in the claims. Can be transformed / changed.

1 Lower traveling body 1L, 1R Running hydraulic motor 2A Swing hydraulic motor 3 Upper swivel body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 26 Operating device 26A to 26C Lever device 30 Controller 50 Machine guidance unit 60 Dump truck 100 excavator

Claims (7)

A part where movement is restricted is set for each of a series of predetermined movement sections.
Excavator. The start condition of the operation section is set,
The excavator according to claim 1. The operation continuation condition in the operation section is set.
The excavator according to claim 1 or 2. The plurality of operation sections include operation sections corresponding to the boom-up turning operation included in the series of excavation work.
The start condition of the operation section corresponding to the boom raising turning operation is that the bucket is grounded and the bucket is closed from a predetermined angle.
The excavator according to claim 2. The plurality of operation sections include operation sections corresponding to the boom-up turning operation included in the series of excavation work.
The operation continuation condition of the operation section corresponding to the boom-up turning operation is that the bucket is raised above a predetermined height.
The excavator according to claim 3. The plurality of operation sections include operation sections corresponding to soil removal operations included in a series of excavation operations.
In the operation section corresponding to the soil discharge operation, a setting is made to limit the operation of the boom in the lowering direction.
The excavator according to any one of claims 1 to 5. The plurality of operation sections include operation sections corresponding to the boom lowering turning operation included in the series of excavation work.
The start condition of the operation section corresponding to the boom lowering turning operation is that there is no residual soil in the bucket.
The excavator according to claim 2 or 4.

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